A1sd75m1 Ib66715i
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thành trung phạmSAFETY INSTRUCTIONS
(Always read these instructions before using this equipment.)
Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
The instructions given in this manual are concerned with this product. For the safety instructions of the
programmable controller system, please read the CPU module User's Manual.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
Indicates that incorrect handling may cause hazardous conditions,
! DANGER resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
! CAUTION resulting in medium or slight personal injury or physical damage.
Note that the ! CAUTION level may lead to a serious consequence according to the circumstances.
Always follow the instructions of both levels because they are important to personal safety.
Please save this manual to make it accessible when required and always forward it to the end user.
[Design Instructions]
! DANGER
Provide a safety circuit outside the programmable controller so that the entire system will
operate safely even when an external power supply error or PLC fault occurs.
Failure to observe this could lead to accidents for incorrect outputs or malfunctioning.
(1) Configure an emergency stop circuit and interlock circuit such as a positioning upper
limit/lower limit to prevent mechanical damage outside the PLC.
(2) The machine zero point return operation is controlled by the zero point return direction and
zero point return speed data. Deceleration starts when the near-point dog turns ON. Thus,
if the zero point return direction is incorrectly set, deceleration will not start and the
machine will continue to travel. Configure an interlock circuit to prevent mechanical
damage outside the PLC.
(3) When the module detects an error, normally deceleration stop or sudden stop will take
place according to the parameter stop group settings.
Set the parameters to the positioning system specifications.
Make sure that the zero point return parameter and positioning data are within the
parameter setting values.
A-1
[Design Instructions]
! CAUTION
Do not bundle or adjacently lay the control wire or communication cable with the main circuit or
power wire.
Separate these by 100mm or more.
Failure to observe this could lead to malfunctioning caused by noise.
[Mounting Instructions]
! CAUTION
Use the PLC within the general specifications environment given in this manual.
Using the PLC outside the general specification range environment could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
Always securely insert the module latches at the bottom of the module into the fixing holes on
the base unit. (Always screw the AnS Series module onto the base unit with the specified
torque.)
Improper mounting of the module could lead to malfunctioning, faults or dropping.
Securely connect the external device connection connector, SSCNET connection connector
and peripheral device connection connector into the module connector until a click is heard.
Improper connection could lead to a connection fault, and to incorrect inputs and outputs.
When not connecting the external device, always install a cover on the connector section.
Failure to observe this could lead to malfunctioning.
[Wiring Instructions]
! DANGER
Always confirm the terminal layout before connecting the wires to the module.
Make sure that foreign matter such as cutting chips and wire scraps does not enter the module.
Failure to observe this could lead to fires, faults or malfunctioning.
[Startup/Maintenance Instructions]
! DANGER
Switch off all phases of the externally supplied power used in the system before cleaning or
tightening the screws.
Failure to turn all phases OFF could lead to electric shocks.
A-2
[Startup/Maintenance Instructions]
! CAUTION
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
Switch off all phases of the externally supplied power used in the system before installing or
removing the module.
Failure to turn all phases OFF could lead to module trouble or malfunctioning.
Before starting test operation, set the parameter speed limit value to the slowest value, and
make sure that operation can be stopped immediately if a hazardous state occurs.
Always make sure to touch the grounded metal to discharge the electricity charged in the body,
etc., before touching the module.
Failure to do so may cause a failure or malfunctions of the module.
[Precautions for use]
! CAUTION
Note that when the reference axis speed is designated for interpolation operation, the speed of
the partner axis (2nd axis) may be larger than the set speed (larger than the speed limit value).
[Disposal Instructions]
! CAUTION
When disposing of the product, handle it as industrial waste.
A-3
REVISIONS
* The manual number is given on the bottom left of the back cover.
Print Date * Manual Number Revision
Feb., 1997 IB (NA)-66715-A Initial print
Feb., 1998 IB (NA)-66715-B Complete review
Mar., 1999 IB (NA)-66715-C Additional Function
Section 4.28 (Parameter Initialization), Section 4.29 (Adding
Servo Monitor Items), Section 4.3.3(5) (Adjacent passing mode
of interpolation operation during locus control), Section 4.6.2
(Restart when servo OFF changes to ON)
Partial correction addition
Chapter 1, Section 2.2, Section 4.1, Section 4.2.1, Section
4.2.9, Fig. 4.10, Section 4.4.2, Section 4.7.2, Section 4.7.4,
Section 4.12.1, Section 4.13, Chapter 5, Section 5.1, Section
5.5, Section 5.5.2, Section 8.2.4, Section 8.2.7, Section 8.2.8,
Section 8.2.9, Section 8.3.2 (Buffer memory: 873, 973, 1073),
Section 8.4, Section 10.1, Section 12.2.2, Section 18.1.1,
Appendix 2.2
Additional Section
Section 1.5 (Section 1.5 was altered to Section 1.6 and Section
1.6 to Section 1.7)
Oct., 2003 IB (NA)-66715-D Complete review
Feb., 2004 IB (NA)-66715-E Partial correction addition
Section 5.6.2, Section 7.1.2, Section 14.1, Section 14.2.1,
Appendix 7
Aug., 2004 IB (NA)-66715-F Partial correction addition
SAFETY INSTRUCTION, Section 4.3.1, Section 4.4.2, Section
5.6.2, Section 5.7.2, Section 8.2.6, Section 13.4, Section
14.2.1, Appendix 2.2, Appendix 7
Jun., 2005 IB(NA)-66715-G Partial correction addition
Section 5.1.2, Section 5.5, Section 5.6.2, Section 6.1, Section
6.5.6, Section 8.1.1, Section 8.2.5, Section 8.2.6, Section 8.3.1,
Section 8.4, Section 9.1.2, Section 9.1.5, Section 9.2.6, Section
9.2.10, Section 10.3.9, Section 11.3.1, Section 12.2.1. Section
12.4.3, Section 12.4.4, Section 12.5.2, Section 12.7.1, Section
12.7.5, Section 14.1, Section 14.2.1
Jul., 2006 IB(NA)-66715-H Partial correction addition
Section 12.5.2, INDEX
A-4
* The manual number is given on the bottom left of the back cover.
Print Date * Manual Number Revision
Sep., 2007 IB(NA)-66715-I Partial correction
Section 5.1.2, Section 5.6.1, Section 5.7.1, Section 6.5.3,
Section 6.5.5, Section 9.1.2, Section 9.2.9, Section 9.2.10,
Section 10.3.2, Section 10.5.1, Section 12.5.1, Section 12.5.2,
Section 12.7.1,, Section 12.7.2, Section 12.7.7, Section 14.3.2,
Section 14.3.3, Section 14.3.4, Section 14.3.5, Section 14.3.6
Japanese Manual Version SH-3607-M
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which
may occur as a result of using the contents noted in this manual.
© 1997 MITSUBISHI ELECTRIC CORPORATION
A-5
INTRODUCTION
Thank you for purchasing the Mitsubishi general-purpose programmable controller MELSEC-A Series.
Always read through this manual, and fully comprehend the functions and performance of the A Series PLC
before starting use to ensure correct usage of this product.
CONTENTS
SAFETY INSTRUCTIONS...............................................................................................................................A-1
REVISIONS ......................................................................................................................................................A-4
INTRODUCTION..............................................................................................................................................A-6
CONTENTS......................................................................................................................................................A-6
About Manuals ...............................................................................................................................................A-13
Conformation to the EMC and Low Voltage Directives ................................................................................A-13
Using This Manual (1) ....................................................................................................................................A-14
Using This Manual (2) ....................................................................................................................................A-15
Using This Manual (3) ....................................................................................................................................A-17
Generic Terms and Abbreviations .................................................................................................................A-18
Enclosed Parts ...............................................................................................................................................A-19
SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING
1. PRODUCT OUTLINE 1-1 to 1-20
1.1 Positioning control...................................................................................................................................... 1-2
1.1.1 Features of AD75 ................................................................................................................................ 1-2
1.1.2 Purpose and applications of positioning control................................................................................. 1-6
1.1.3 Mechanism of positioning control ....................................................................................................... 1-8
1.1.4 Outline design of positioning system ................................................................................................ 1-10
1.1.5 Communicating signals between AD75 and each module .............................................................. 1-12
1.2 Flow of system operation......................................................................................................................... 1-14
1.2.1 Flow of all processes......................................................................................................................... 1-14
1.2.2 Outline of starting .............................................................................................................................. 1-16
1.2.3 Outline of stopping ............................................................................................................................ 1-18
1.2.4 Outline for restarting.......................................................................................................................... 1-19
2. SYSTEM CONFIGURATION 2-1 to 2-10
2.1 General image of system........................................................................................................................... 2-2
2.2 List of configuration devices ...................................................................................................................... 2-4
2.3 Applicable system ...................................................................................................................................... 2-6
2.4 Precautions for configuring system ........................................................................................................... 2-7
2.4.1 Precautions for mounting base unit .................................................................................................... 2-7
2.4.2 Precautions according to module version ......................................................................................... 2-7
2.4.3 Precautions for using 3-axis module ................................................................................................. 2-8
2.4.4 Precautions for configuring absolute position detection system ....................................................... 2-8
2.4.5 Precautions for machine zero point return control in absolute position detection system ............... 2-8
2.4.6 Precautions for using servo amplifier MR-J2S-B, MR-J2-03B5 ....................................................... 2-9
A-6
3. SPECIFICATIONS AND FUNCTIONS 3-1 to 3-20
3.1 General specifications................................................................................................................................ 3-2
3.2 Performance specifications........................................................................................................................ 3-3
3.3 List of functions .......................................................................................................................................... 3-4
3.3.1 AD75 control functions ........................................................................................................................ 3-4
3.3.2 AD75 main functions ........................................................................................................................... 3-6
3.3.3 AD75 auxiliary functions and common functions ............................................................................... 3-8
3.3.4 Combination of AD75 main functions and auxiliary functions ......................................................... 3-10
3.4 Specifications of input/output signals with PLC CPU ............................................................................ 3-12
3.4.1 List of input/output signals with PLC CPU........................................................................................ 3-12
3.4.2 Details of input signals (AD75 PLC CPU) ................................................................................... 3-13
3.4.3 Details of output signals (PLC CPU AD75) ................................................................................. 3-15
3.5 Specifications of interfaces with external devices................................................................................... 3-16
3.5.1 Electrical specifications of input signals ........................................................................................... 3-16
3.5.2 Signal layout for external device connection connector................................................................... 3-17
3.5.3 List of input signal details ................................................................................................................. 3-18
3.5.4 Interface internal circuit .................................................................................................................... 3-19
4. INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT 4-1 to 4-20
4.1 Outline of installation, wiring and maintenance......................................................................................... 4-2
4.1.1 Installation, wiring and maintenance procedures............................................................................... 4-2
4.1.2 Names of each part............................................................................................................................. 4-3
4.1.3 Handling precautions .......................................................................................................................... 4-5
4.2 Installation .................................................................................................................................................. 4-7
4.2.1 Precautions for installation.................................................................................................................. 4-7
4.3 Wiring.......................................................................................................................................................... 4-8
4.3.1 Precautions for wiring.......................................................................................................................... 4-8
4.3.2 Wiring the external device connection connector pins..................................................................... 4-12
4.4 Confirming the installation and wiring...................................................................................................... 4-16
4.4.1 Items to confirm when installation and wiring are completed .......................................................... 4-16
4.4.2 Single module test............................................................................................................................. 4-17
4.5 Maintenance............................................................................................................................................. 4-20
4.5.1 Precautions for maintenance ............................................................................................................ 4-20
4.5.2 Disposal instructions ......................................................................................................................... 4-20
5. DATA USED FOR POSITIONING CONTROL 5-1 to 5-186
5.1 Types of data.............................................................................................................................................. 5-2
5.1.1 Parameters and data required for control........................................................................................... 5-2
5.1.2 Setting items for positioning parameters ............................................................................................ 5-4
5.1.3 Setting items for zero point return parameters................................................................................... 5-6
5.1.4 Setting items for servo parameters..................................................................................................... 5-7
5.1.5 Setting items for positioning data........................................................................................................ 5-9
5.1.6 Setting items for start block data ...................................................................................................... 5-11
5.1.7 Setting items for condition data ........................................................................................................ 5-12
5.1.8 Types and roles of monitor data ....................................................................................................... 5-13
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5.1.9 Types and roles of control data ........................................................................................................ 5-17
5.2 List of parameters .................................................................................................................................... 5-22
5.2.1 Basic parameters 1 ........................................................................................................................... 5-22
5.2.2 Basic parameters 2 ........................................................................................................................... 5-26
5.2.3 Detailed parameters 1....................................................................................................................... 5-28
5.2.4 Detailed parameters 2....................................................................................................................... 5-38
5.2.5 Zero point return basic parameters .................................................................................................. 5-47
5.2.6 Zero point return detailed parameters .............................................................................................. 5-54
5.2.7 Servo parameters for MR-H-B (MR-H-BN) ..................................................................................... 5-58
5.2.8 Servo parameters for MR-J-B .......................................................................................................... 5-68
5.2.9 Servo parameters for MR-J2-B ........................................................................................................ 5-78
5.2.10 Servo parameters for MR-J2S-B ................................................................................................... 5-88
5.2.11 Servo parameters for MR-J2-03B5 ............................................................................................. 5-104
5.3 List of positioning data ........................................................................................................................... 5-112
5.4 List of start block data ............................................................................................................................ 5-127
5.5 List of condition data .............................................................................................................................. 5-131
5.6 List of monitor data................................................................................................................................. 5-136
5.6.1 System monitor data ....................................................................................................................... 5-136
5.6.2 Axis monitor data............................................................................................................................. 5-146
5.7 List of control data.................................................................................................................................. 5-168
5.7.1 System control data ........................................................................................................................ 5-168
5.7.2 Axis control data.............................................................................................................................. 5-174
6. SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 6-1 to 6-38
6.1 Precautions for creating program .............................................................................................................. 6-2
6.2 List of devices used.................................................................................................................................... 6-4
6.3 Creating a program .................................................................................................................................... 6-8
6.3.1 General configuration of program....................................................................................................... 6-8
6.3.2 Positioning control operation program................................................................................................ 6-9
6.4 Positioning program examples ................................................................................................................ 6-12
6.5 Program details ........................................................................................................................................ 6-21
6.5.1 Initialization program ......................................................................................................................... 6-21
6.5.2 Start details setting program ............................................................................................................. 6-22
6.5.3 Start program..................................................................................................................................... 6-23
6.5.4 Continuous operation interrupt program........................................................................................... 6-31
6.5.5 Restart program ................................................................................................................................ 6-33
6.5.6 Stop program..................................................................................................................................... 6-36
7. MEMORY CONFIGURATION AND DATA PROCESS 7-1 to 7-18
7.1 Configuration and roles of AD75 memory................................................................................................. 7-2
7.1.1 Configuration and roles of AD75 memory .......................................................................................... 7-2
7.1.2 Buffer memory area configuration ...................................................................................................... 7-5
7.2 Data transmission process ........................................................................................................................ 7-6
A-8
SECTION 2 CONTROL DETAILS AND SETTING
8. ZERO POINT RETURN CONTROL 8-1 to 8-24
8.1 Outline of zero point return control ............................................................................................................ 8-2
8.1.1 Two types of zero point return control ................................................................................................ 8-2
8.2 Machine zero point return .......................................................................................................................... 8-4
8.2.1 Outline of the machine zero point return operation............................................................................ 8-4
8.2.2 Machine zero point return method...................................................................................................... 8-5
8.2.3 Zero point return method (1): Near-point dog method ...................................................................... 8-7
8.2.4 Zero point return method (2): Near-point dog method 2) .................................................................. 8-9
8.2.5 Zero point return method (3): Count method 1) ............................................................................... 8-11
8.2.6 Zero point return method (4): Count method 2) .............................................................................. 8-14
8.2.7 Zero point return method (5): Count method 3) .............................................................................. 8-16
8.2.8 Zero point return method (6): Data setting method ......................................................................... 8-18
8.3 High-speed zero point return ................................................................................................................... 8-19
8.3.1 Outline of the high-speed zero point return operation ..................................................................... 8-19
8.4 Positioning to the zero point .................................................................................................................... 8-21
9. MAIN POSITIONING CONTROL 9-1 to 9-64
9.1 Outline of main positioning controls........................................................................................................... 9-2
9.1.1 Data required for main positioning control.......................................................................................... 9-3
9.1.2 Operation patterns of main positioning controls................................................................................. 9-4
9.1.3 Designating the positioning address................................................................................................. 9-13
9.1.4 Confirming the current value............................................................................................................. 9-14
9.1.5 Control unit "degree" handling .......................................................................................................... 9-16
9.1.6 Interpolation control........................................................................................................................... 9-19
9.2 Setting the positioning data .................................................................................................................... 9-22
9.2.1 Relation between each control and positioning data ....................................................................... 9-22
9.2.2 1-axis linear control ........................................................................................................................... 9-23
9.2.3 2-axis linear interpolation control ...................................................................................................... 9-25
9.2.4 1-axis fixed-dimension feed control .................................................................................................. 9-29
9.2.5 2-axis fixed-dimension feed control (interpolation) ......................................................................... 9-31
9.2.6 2-axis circular interpolation control with auxiliary point designation ................................................ 9-34
9.2.7 2-axis circular interpolation control with center point designation ................................................... 9-40
9.2.8 Speed control .................................................................................................................................... 9-47
9.2.9 Speed/position changeover control .................................................................................................. 9-50
9.2.10 Current value change...................................................................................................................... 9-57
9.2.11 JUMP command.............................................................................................................................. 9-62
10. ADVANCED POSITIONING CONTROL 10-1 to 10-24
10.1 Outline of advanced positioning control ................................................................................................ 10-2
10.1.1 Data required for advanced positioning control ............................................................................. 10-3
10.1.2 "Start block data" and "condition data" configuration..................................................................... 10-4
A-9
10.2 Advanced positioning control execution procedure ............................................................................. 10-6
10.3 Setting the start block data .................................................................................................................... 10-7
10.3.1 Relation between various controls and start block data ................................................................ 10-7
10.3.2 Block start (normal start) ................................................................................................................ 10-8
10.3.3 Condition start ............................................................................................................................... 10-10
10.3.4 Wait start........................................................................................................................................ 10-11
10.3.5 Simultaneous start ....................................................................................................................... 10-12
10.3.6 Stop................................................................................................................................................ 10-13
10.3.7 Repeated start (FOR loop) .......................................................................................................... 10-14
10.3.8 Repeated start (FOR condition) ................................................................................................... 10-15
10.3.9 Restrictions when using the NEXT start....................................................................................... 10-16
10.4 Setting the condition data .................................................................................................................... 10-17
10.4.1 Relation between various controls and the condition data .......................................................... 10-17
10.4.2 Condition data setting examples .................................................................................................. 10-19
10.5 Start program for advanced positioning control .................................................................................. 10-20
10.5.1 Starting advanced positioning control .......................................................................................... 10-20
10.5.2 Example of a start program for advanced positioning control ..................................................... 10-21
11. MANUAL CONTROL 11-1 to 11-26
11.1 Outline of manual control ...................................................................................................................... 11-2
11.1.1 Two manual control methods.......................................................................................................... 11-2
11.2 JOG operation........................................................................................................................................ 11-4
11.2.1 Outline of JOG operation ................................................................................................................ 11-4
11.2.2 JOG operation execution procedure .............................................................................................. 11-7
11.2.3 Setting the required parameters for JOG operation....................................................................... 11-8
11.2.4 Creating start programs for JOG operation.................................................................................. 11-10
11.2.5 JOG operation example ................................................................................................................ 11-13
11.3 Manual pulse generator operation....................................................................................................... 11-17
11.3.1 Outline of manual pulse generator operation............................................................................... 11-17
11.3.2 Manual pulse generator operation execution procedure ............................................................. 11-21
11.3.3 Setting the required parameters for manual pulse generator operation ..................................... 11-22
11.3.4 Creating a program to enable/disable the manual pulse generator operation............................ 11-23
12. CONTROL AUXILIARY FUNCTIONS 12-1 to 12-104
12.1 Outline of auxiliary functions.................................................................................................................. 12-2
12.1.1 Outline of auxiliary functions ........................................................................................................... 12-2
12.2 Auxiliary functions specifically for machine zero point returns ............................................................. 12-4
12.2.1 Zero point return retry function ....................................................................................................... 12-4
12.2.2 Zero point shift function ................................................................................................................ 12-10
12.3 Functions for compensating the control .............................................................................................. 12-13
12.3.1 Backlash compensation function .................................................................................................. 12-13
12.3.2 Electronic gear function ................................................................................................................ 12-15
12.3.3 Near pass mode function .............................................................................................................. 12-20
12.3.4 Follow up processing function ...................................................................................................... 12-24
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12.4 Functions to limit the control ................................................................................................................ 12-25
12.4.1 Speed limit function....................................................................................................................... 12-25
12.4.2 Torque limit function...................................................................................................................... 12-27
12.4.3 Software stroke limit function........................................................................................................ 12-30
12.4.4 Hardware stroke limit function ...................................................................................................... 12-36
12.4.5 Servo ON/OFF function ................................................................................................................ 12-38
12.5 Functions to change the control details............................................................................................... 12-43
12.5.1 Speed change function ................................................................................................................. 12-43
12.5.2 Override function ........................................................................................................................... 12-50
12.5.3 Acceleration/deceleration time change function .......................................................................... 12-53
12.5.4 Torque change function ................................................................................................................ 12-56
12.6 Absolute position restoration function ................................................................................................. 12-58
12.6.1 Outline of absolute position restoration function .......................................................................... 12-58
12.6.2 Absolute position restoration mode switching function................................................................ 12-65
12.7 Other functions ..................................................................................................................................... 12-70
12.7.1 Step function.................................................................................................................................. 12-70
12.7.2 Skip function .................................................................................................................................. 12-75
12.7.3 M code output function.................................................................................................................. 12-78
12.7.4 Teaching function.......................................................................................................................... 12-82
12.7.5 Command in-position function ...................................................................................................... 12-92
12.7.6 Acceleration/deceleration processing function............................................................................. 12-95
12.7.7 Indirectly specification function ..................................................................................................... 12-99
13. COMMON FUNCTIONS 13-1 to 13-12
13.1 Outline of common functions ................................................................................................................. 13-2
13.2 Parameter initialization function............................................................................................................. 13-3
13.3 Execution data backup function ............................................................................................................ 13-5
13.4 LED display function .............................................................................................................................. 13-7
13.5 Clock data function............................................................................................................................... 13-11
14. TROUBLESHOOTING 14-1 to 14-80
14.1 Error and warning details ....................................................................................................................... 14-2
14.2 List of errors ........................................................................................................................................... 14-6
14.2.1 Errors detected by AD75................................................................................................................. 14-6
14.2.2 Errors detected by MR-H-B (MR-H-BN)....................................................................................... 14-26
14.2.3 Errors detected by MR-J-B ........................................................................................................... 14-34
14.2.4 Errors detected by MR-J2-B ......................................................................................................... 14-42
14.2.5 Errors detected by MR-J2S-B....................................................................................................... 14-50
14.2.6 Errors detected by MR-J2-03B5 ................................................................................................... 14-58
14.3 List of warnings .................................................................................................................................... 14-64
14.3.1 Warnings detected by AD75 ......................................................................................................... 14-64
14.3.2 Warnings detected by MR-H-B (MR-H-BN) ................................................................................. 14-70
14.3.3 Warnings detected by MR-J-B...................................................................................................... 14-72
14.3.4 Warnings detected by MR-J2-B.................................................................................................... 14-74
14.3.5 Warnings detected by MR-J2S-B ................................................................................................. 14-76
14.3.6 Warnings detected by MR-J2-03B5 ............................................................................................. 14-78
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14.4 Start during error history ...................................................................................................................... 14-80
APPENDICES Appendix-1 to Appendix-62
Appendix 1 External dimension drawing ............................................................................................Appendix-2
Appendix 2 Format sheets .................................................................................................................Appendix-4
Appendix 2.1 Positioning module operation chart..........................................................................Appendix-4
Appendix 2.2 Parameter setting value entry table .........................................................................Appendix-6
Appendix 2.3 Positioning data setting value entry table [data No. to ] ................................Appendix-26
Appendix 3 Positioning data (No. 1 to 100), List of buffer memory addresses ..............................Appendix-27
Appendix 4 Comparisons with old versions of
A1SD75M1/A1SD75M2/A1SD75M3, and AD75M1/AD75M2/AD75M3 models .....Appendix-30
Appendix 5 MELSEC Explanation of positioning terms ..................................................................Appendix-32
Appendix 6 Positioning control troubleshooting ..............................................................................Appendix-48
Appendix 7 List of buffer memory addresses ..................................................................................Appendix-54
INDEX Index-1 to Index-12
A - 12
About Manuals
The following manuals are also related to this product.
In necessary, order them by quoting the details in the tables below.
Related
MANUALS
Manual Number
Manual Name
(Model Code)
AD75M1/M2/M3 Positioning Module User's Manual (Hardware)
IB-66735
The AD75M1/M2/M3 positioning module performance specifications, input interface, names of each part
(13J885)
and startup procedures, etc., are explained. (Enclosed with module)
A1SD75M1/M2/M3 Positioning Module User's Manual (Hardware)
IB-66734
The A1SD75M1/M2/M3 positioning module performance specifications, input interface, names of each
(13J884)
part and startup procedures, etc., are explained. (Enclosed with module)
Positioning module software package type SW1IVD-AD75P Operating Manual
The methods of creating data (parameters, positioning data, etc.), transmitting the data to the module, IB-66714
monitoring the positioning and testing, etc., using the above software package are explained. (13J915)
(Enclosed with each software package product)
GX Configurator-AP Version 1 Operating Manual
The methods of creating data (parameters, positioning data, etc.), transmitting the data to the module, IB-66900
monitoring the positioning and testing, etc., using the above software package are explained. (13J948)
(Enclosed with each software package product)
Conformation to the EMC and Low Voltage Directives
For details on making Mitsubishi PLC conform to the EMC directive and low voltage
instruction when installing it in your product, please refer to Chapter 3, “EMC Directive
and Low Voltage Instruction” of the using PLC CPU module User's Manual
(Hardware).
The CE logo is printed on the rating plate on the main body of the PLC that conforms
to the EMC directive and low voltage instruction.
To make this product conform to the EMC directive and low voltage instruction, please
refer to section 4.3.1 “Precautions for wiring”
A - 13
Using This Manual (1)
The symbols used in this manual are shown below.
Pr.* ....... Symbol indicating positioning parameter, zero point return
parameter and servo parameter item.
Da.* ....... Symbol indicating positioning data, start block data and condition
data item.
Md.* ....... Symbol indicating monitor data item.
Cd.* ....... Symbol indicating control data item.
(A serial No. is inserted in the * mark.)
Indication of values in this manual
• The buffer memory address, error code and warning code are indicated in a
decimal value.
• The X/Y device is indicated in a hexadecimal value.
• The setting data and monitor data is indicated in a decimal or hexadecimal value.
An “H” attached at the end of the value indicates a hexadecimal value.
(Examples)
10 Decimal
10H Hexadecimal
A - 14
Using This Manual (2)
The methods for reading this manual are shown below.
1) → 2) → 3) → 4) → 5) → Test operation → 6) → Actual operation
Chapter 1 PRODUCT OUTLINE
1) Understand the product functions and specifications,
and design the system.
Chapter 2 SYSTEM CONFIGURATION
Chapter 3 SPECIFICATIONS AND
FUNCTIONS
Chapter 4 INSTALLATION, WIRING AND
MAINTENANCE OF THE 2) Install and wire the product
PRODUCT
Chapter 5 DATA USED FOR 3) Set the parameters
POSITIONING CONTROL
SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING
4) While referring to lists in "SECTION 2" and "Chapter 5",
set the data required for each control
Chapter 8 ZERO POINT RETURN
CONTROL
Chapter 9 MAIN POSITIONING
CONTROL
5.1 Types of data
5.2 List of parameters
SECTION 2 CONTROL DETAILS AND SETTING
Chapter 10 ADVANCED
5.3 List of positioning data POSITIONING CONTROL
5.4 List of start block data
5.5 List of condition data
5.6 List of monitor data
Chapter 11 MANUAL CONTROL
5.7 List of control data
Chapter 12 CONTROL AUXILIARY
FUNCTIONS
Chapter 13 COMMON FUNCTIONS
5) Create a sequence program for control
Chapter 6 SEQUENCE PROGRAM USED
FOR POSITIONING CONTROL Chapter 14 TROUBLESHOOTING
6) Remedies for "Errors" and "Warnings"
Chapter 7 MEMORY CONFIGURATION
AND DATA PROCESS
* Understand the data process in the AD75 as necessary.
A - 15
MEMO
A - 16
Using This Manual (3)
The contents of each chapter are shown below.
SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING
1 PRODUCT The basic contents for understanding positioning control using AD75 are
OUTLINE described. 1
2 SYSTEM
CONFIGURATION
The devices required for positioning control using AD75 are described. 2
3 SPECIFICATIONS
AND FUNCTIONS
The AD75 functions and performance specifications, etc., are described. 3
4 INSTALLATION,
WIRING AND The procedures for installing and wiring the AD75, the precautions and
MAINTENANCE OF maintenance are described. 4
THE PRODUCT
List of parameters Pr.
The setting items, setting details and List of positioning data
5 DATA USED FOR range, default values, and setting List of start block data Da.
POSITIONING destination buffer memory address for List of condition data 5
CONTROL the parameters and data required for
positioning control are described. List of monitor data Md.
List of control data Cd.
6 SEQUENCE
PROGRAM USED The sequence program required for positioning control is described.
FOR POSITIONING (Create an actual program using this program as a reference.) 6
CONTROL
7 MEMORY
CONFIGURATION The AD75 memory configuration and data process are described.
AND DATA (Read this as required.) 7
PROCESS
SECTION 2 CONTROL DETAILS AND SETTING
8 ZERO POINT
RETURN The details and settings for zero point return control are described. 8
CONTROL
9 MAIN
The details and examples of settings for "Main positioning control" using the
POSITIONING
"Positioning data" are described. 9
CONTROL
10 ADVANCED
The details and examples of settings for "Advanced positioning control" using the
POSITIONING
"Positioning data" are described. 10
CONTROL
11 MANUAL The settings and sequence programs required for JOG operation or manual pulse
CONTROL generator operation are described. 11
12 CONTROL
The settings and sequence programs required for using the auxiliary functions are
AUXILIARY
described. 12
FUNCTIONS
13 COMMON The settings and sequence programs required for using the common functions
FUNCTIONS are described. 13
14 TROUBLESHOOTING The errors and warnings detected by the AD75 and servo amplifier are described. 14
A glossary and list of buffer memory addresses are described. (Read this as
APPENDICES APPENDICES
required.)
A - 17
Generic Terms and Abbreviations
Unless specially noted, the following generic terms and abbreviations are used in this
manual.
Generic term/abbreviation Details of generic term/abbreviation
PLC CPU Generic term for PLC CPU on which AD75 can be mounted.
AD75 Generic term for positioning module AD75M1, AD75M2, AD75M3, A1SD75M1, A1SD75M2,
and A1SD75M3.
The module type is described to indicate a specific module.
Peripheral device Generic term for DOS/V personal computer that can run the following "AD75 Software
Package".
AD75 software package Generic term for "SW1IVD-AD75P type positioning module software package" and "GX
Configurator-AP Version 1 (SW0D5C-AD75P-E)."
SSCNET Abbreviation for AD75 - servo amplifier high-speed serial communication "Servo System
Controller NETwork".
Servo amplifier (Servo) Generic term for servo amplifier corresponding SSCNET connection.
Motor Abbreviation for servomotor.
Position/speed command Generic term for position command and speed command output from AD75 to servo amplifier.
(A pulse train is converted into numerical data, and the result is output on SSCNET.)
Manual pulse generator Abbreviation for manual pulse generator (prepared by user).
Data link system Abbreviation for MELSECNET (II) and MELSECNET/B data link system.
Network system Abbreviation for MELSECNET/10 network system.
I/F Abbreviation for interface.
17-segment LED 17-segment display mounted on upper front of AD75.
DOS/V personal computer IBM PC/AT R
and compatible DOS/V compliant personal computer.
Personal computer Generic term for DOS/V personal computer.
Workpiece Generic term for moving body such as workpiece and tool, and for various control targets.
Axis 1, axis 2, axis 3 Indicates each axis connected to AD75.
1-axis, 2-axis, 3-axis Indicates the number of axes. (Example: 2-axis = Indicates two axes such as axis 1 and axis 2,
axis 2 and axis 3, and axis 3 and axis 1.)
A - 18
Enclosed Parts
The AD75 product configuration is shown below.
Quantity
Part name A1SD75M1 A1SD75M2 A1SD75M3
AD75M1 AD75M2 AD75M3
External device connection connector
1 2 3
(10136-3000VE, Sumitomo 3M)
Connector cover (10336-56 F0-008, Sumitomo 3M) 1 2 3
AD75 1
A1SD75M1/M2/M3, AD75M1/M2/M3
1
Positioning Module User's Manual (Hardware)
A - 19
MEMO
A - 20
SECTION 1
SECTION 1
PRODUCT SPECIFICATIONS AND HANDLING
SECTION 1 is configured for the following purposes (1) to (5).
(1) To understand the outline of positioning control, and the AD75 specifications
and functions
(2) To carry out actual work such as installation and wiring
(3) To set parameters and data required for positioning control
(4) To create a sequence program required for positioning control
(5) To understand the memory configuration and data transmission process
Read "SECTION 2" for details on each control.
Chapter 1 PRODUCT OUTLINE ...................................................................................1-1 to 1-20
Chapter 2 SYSTEM CONFIGURATION .......................................................................2-1 to 2-10
Chapter 3 SPECIFICATIONS AND FUNCTIONS ........................................................3-1 to 3-18
Chapter 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT .....4-1 to 4-20
Chapter 5 DATA USED FOR POSITIONING CONTROL ......................................... 5-1 to 5-186
Chapter 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL.............6-1 to 6-38
Chapter 7 MEMORY CONFIGURATION AND DATA PROCESS...............................7-1 to 7-18
MEMO
1
Chapter 1
PRODUCT OUTLINE
The purpose and outline of positioning control using AD75 are explained in this chapter.
By understanding "What can be done", and "Which procedures to use" beforehand, the
positioning system can be structured smoothly.
1.1 Positioning control ..........................................................................................................1-2
1.1.1 Features of AD75..............................................................................................1-2
1.1.2 Purpose and applications of positioning control ..............................................1-6
1.1.3 Mechanism of positioning control.....................................................................1-8
1.1.4 Outline design of positioning system..............................................................1-10
1.1.5 Communicating signals between AD75 and each module............................1-12
1.2 Flow of system operation .............................................................................................1-14
1.2.1 Flow of all processes ......................................................................................1-14
1.2.2 Outline of starting............................................................................................1-16
1.2.3 Outline of stopping ..........................................................................................1-18
1.2.4 Outline for restarting .......................................................................................1-19
1-1
1 PRODUCT OUTLINE
MELSEC-A
1.1 Positioning control
1.1.1 Features of AD75
The features of the AD75 are shown below.
(1) Connection to servo amplifier by SSCNET
(a) Having the SSCNET interface for connection to the servo amplifier (MR-H-
B (MR-H-BN), MR-J-B, MR-J2-B, MR-J2S-B, MR-J2-03B5), the AD75 can
be connected directly to the Mitsubishi servo amplifier on the SSCNET.
(b) The SSCNET cables are used for connection between the AD75 and servo
amplifier or between the servo amplifiers, saving the wiring.
(c) The servo parameters can be set on the AD75 side and transferred to the
servo amplifier by the SSCNET.
(d) The error definition that the servo has can be checked in the AD75 buffer
memory.
RS-422 cable
RS-232 RS-422 conversion cable
Peripheral device
(Refer to Section 2.1)
SSCNET
Machine system input:
6 points/axis
Manual pulse generator:
(MR-HDP-01) 1 pc./axis
SSCNET SSCNET
Servo amplifier
corresponding SSCNET Terminal connector
MR-H-B(MR-H-BN) MR-TM (MR-H-B
MR-J-B (MR-H-BN), MR-J-B)
MR-J2-B MR-A-TM (MR-J2-B,
MR-J2S-B MR-J2S-B,
MR-J2-03B5 MR-J2-03B5)
1-2
1 PRODUCT OUTLINE
MELSEC-A
(2) Ease of compatibility with absolute position detection system
(a) Connection of an absolute position corresponding servo system supports
an absolute position detection system.
(b) Once a zero point position is established, zero point return operation is not
necessary at power-on.
(c) In the absolute position detection system, a zero point position can be
established by a data setting method machine zero point return.
This eliminates the need for wiring of near-point dogs, etc.
(d) By setting the absolute position restoration mode to the "infinite length
mode", infinite length positioning control in the control unit "degree" can be
realized in the absolute position detection system.
(3) Control by machine system input
External inputs, such as the external start, stop and speed/position changeover,
enable positioning control without use of sequence programs.
(4) Lineup of 1-axis to 3-axis modules
(a) There are six types of positioning modules for 1-axis to 3-axis control.
Select according to the PLC CPU type and the required No. of control axes.
(b) There is one slot used to mount each AD75 onto the base unit. The number
of input/output points occupied by the PLC CPU is 32 points each.
There is no limit to the No. of mounted modules as long as the total is within
the PLC CPU No. of input/output points.
(5) Ample positioning control functions
(a) Various functions required for the positioning system, such as positioning
control to random position, fixed-dimension feed control and uniform speed
control are provided.
1) Up to 600 positioning data items containing the positioning address,
control method and operation pattern, etc., can be set for each axis.
Positioning for each axis is carried out using this positioning data. (2-
axis interpolation control, and multiple axes using simultaneous start is
possible.)
2) Linear control (3-axis simultaneous execution possible) is possible with
positioning for each axis. This control can carry out independent
positioning with one positioning data item, or can carry out continuous
positioning with continuous execution of multiple positioning data items.
3) With multiple axes positioning, linear interpolation control or circular
interpolation control using two axes is possible. This control can carry
out independent positioning with one positioning data item, or can carry
out positioning with continuous execution of multiple positioning data
items.
1-3
1 PRODUCT OUTLINE
MELSEC-A
(b) The control method designated with each positioning data includes position
control, speed control and speed/position changeover control.
(c) Continuous positioning with multiple positioning data items is possible with
the operation pattern set by the user using positioning data.
With the above multiple positioning data as one block, continuous
positioning of multiple blocks is possible.
(d) The zero point return control has been strengthened.
1) The near-point dog method (two types), count method (three types),
and data setting method (one type) zero point return methods have
been prepared as the "machine zero point return" zero point return
method.
2) To realize zero point return control to the machine zero point from a
random position, the zero point return retry function has been prepared.
(The machine zero point is the position used as the start point for
control such as positioning control. The machine zero point is
established with the machine zero point return in item 1) above.)
(e) Automatic trapezoidal acceleration/deceleration and S-pattern
acceleration/deceleration have been prepared as the
acceleration/deceleration methods. The user can select from automatic
trapezoidal acceleration/deceleration or S-pattern acceleration/deceleration.
(6) High-speed starting process
To quicken the process when starting positioning, the start processing time has
been reduced to 20ms.
When operation using simultaneous start function or interpolation operation is
executed, no start delay is generated between the target axes.
(Example) When operation is started with the simultaneous start function for axes
1 and 3: No start delay between axes 1 and 3.
When interpolation operation is started for axes 2 and axis 3: No start
delay between axes 2 and 3.
(7) Easy maintenance
The maintenance of the AD75 has been improved with the following matters.
(a) The various data, such as the positioning data and parameters, are stored
on a flash ROM in the AD75.
This allows the data to be held without a battery.
(b) The error display, machine system input state can be confirmed with the
17-segment display.
(c) The primary diagnosis has been improved by detailing the error details.
(d) Up to 16 history items each for the error and warning information can be
held, so the details of the errors and warnings that have occurred can be
confirmed easily.
1-4
1 PRODUCT OUTLINE
MELSEC-A
MEMO
1-5
1 PRODUCT OUTLINE
MELSEC-A
1.1.2 Purpose and applications of positioning control
"Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter,
generically called "workpiece") at a designated speed, and accurately stopping it at the
target position. The main application examples are shown below.
Punch press (X, Y feed positioning)
Gear and ball screw
320mm 160mm
15m/min • To punch insulation material or leather, etc.,
Y axis X axis (2000r/min)
servomotor
Y axis as the same shape at a high yield, positioning
Y axis is carried out with the X axis and Y axis
Press 15m/min servos.
punching (1875r/min)
12 s • After positioning the table with the X axis
Press head X axis
servo, the press head is positioned with the Y
Gear and rack & pinion axis servo, and is then punched with the
X axis press.
Servo servomotor PLC
amplifier
MELSEC-A
• When the material type or shape changes, the
AD75
press head die is changed, and the positioning
Servo pattern is changed.
amplifier
X axis
Y axis
Y axis
Palletizer
Conveyor control • Using the servo for one axis, the palletizer is
Conveyor positioned at a high accuracy.
Servomotor • The amount to lower the palletizer according to
(with brakes)
the material thickness is saved.
Position detector
G
Reduction
Servo amplifier gears Palletizer
Ball screw Unloader control
(From AD75)
PLC
MELSEC-A
AD75
Compact machining center (ATC magazine positioning)
• The ATC tool magazine for a compact
Servomotor
machining center is positioned.
Coupling Reduction • The relation of the magazine's current value
gears
ATC tool and target value is calculated, and positioning
magazine
is carried out with forward run or reverse run to
Servo achieve the shortest access time.
amplifier
Positioning
pin Tool
(12 pcs., 20 pcs.)
Rotation direction Rotation direction
for calling for calling
PLC 11, 12, 1, 2 or 3 17 to 20, 1 to 5
MELSEC-A
Current Current
AD75 value value
retrieval retrieval
position position
Rotation direction Rotation direction
for calling 5, 6, 7, 8, 9 or 10 for calling 7 to 16
<No. of tools: 12> <No. of tools: 20>
1-6
1 PRODUCT OUTLINE
MELSEC-A
Lifter (Storage of Braun tubes onto aging rack)
Unloader • During the aging process of braun tubes,
Loader/unloader storage onto the rack is carried out by
positioning with the servo.
B conveyor • The up/down positioning of the lifter is carried
Aging rack
out with the 1-axis servo, and the horizontal
Lifter C position of the aging rack is positioned with the
conveyor
Counter- A conveyor Servo amplifier
2-axis servo.
weight
G2
Reduction
gears Loader Positioning module
Servomotor AD75
G1
Servomotor
(with brakes)
Servo amplifier PLC MELSEC-A
Index table (High-accuracy indexing of angle)
• The index table is positioned at a high accuracy
AD75
PLC using the 1-axis servo.
MELSEC-A
Digital switch
Servo
amplifier
Index table
Detector
Worm gears Servomotor
Inner surface grinder
• The grinding of the workpiece's inner surface
Motor
Servomotor 1M Workpiece is controlled with the servo and inverter.
G Grinding stone
Inverter Motor
• The rotation of the workpiece is controlled with
G
1M the 1-axis inverter, and the rotation of the
Servo grinding stone is controlled with the 2-axis
amplifier Inverter inverter. The workpiece is fed and ground with
Fix the grinding the 3-axis servo.
AC220V stone, feed the
60Hz workpiece, and grind.
PLC Operation panel
MELSEC-A a. Total feed d. Rough grind-
a d amount (mm) ing speed (mm/s)
b. Finishing e. Fine grinding
b e feed amount (mm) speed (mm/s)
c c. Compensation
amount (mm)
AD75
1-7
1 PRODUCT OUTLINE
MELSEC-A
1.1.3 Mechanism of positioning control
Positioning control using the AD75 is carried out with "SSCNET". In the positioning
system using the AD75, various software and devices are used for the following roles.
The AD75 realizes complicated positioning control when it reads in various signals,
parameters and data and is controlled with the PLC CPU.
This section explains positioning control as performed by pulse train output for ease of
understanding. (Because of the SSCNET connection type, the AD75 outputs to the
servo amplifier the data (position/speed commands) resultant from conversion of pulse
trains into numerical values.)
In numerical data-based commands and pulse train-based commands, the concepts of
the movement amount and speed are the same.
Stores the created program.
The AD75 outputs the start signal and
Creates control order and stop signal following the stored program.
conditions as a sequence
program. AD75 errors, etc., are detected.
GPP function
software PLC CPU
package
Inputs signals such as the start
signal, stop signal, limit signal and
control changeover signal to the AD75.
External signal Issues commands by
AD75 outputting pulses.
AD75 positioning
software
module Manual pulse
package
generator
Sets the parameters and
positioning data for control. Stores the parameter and data.
Outputs the start command for Outputs position/speed command to the servo according
JOG operation, etc., during test to the instructions from the PLC CPU, AD75 softwar
operation with the test mode. package, external signals and manual pulse generator.
Servo
Monitors the positioning operation. amplifier
Receives commands from AD75, and drives
the servomotor.
Outputs the monitor data that indicates the
servo amplifier status.
Servomotor
Carries out the actual work according to commands
from the servo amplifier.
Workpiece
1-8
1 PRODUCT OUTLINE
MELSEC-A
The principle of "position control" and "speed control" operation is shown below.
Position control
The total number of pulses in a pulse train required to move the designated distance
is obtained in the following manner.
Total number of
pulses in a pulse Designated distance No. of pulses required
train required to for servomotor to rotate
move designated Movement amount of machine (load) once
distance side when motor rotates once
* The No. of pulses required for the servomotor to rotate once is the "pulse encoder
resolution" described in the servomotor catalog specification list.
When this total number of pulses in a pulse train is issued from the AD75 to the servo
amplifier, control to move the designated distance can be executed.
The machine side movement amount when one pulse is issued to the servo amplifier is
called the "movement amount per pulse". This value is the min. value for the workpiece
to move, and is also the electrical positioning precision.
Speed control
The above "total number of pulses in a pulse train" is an element required for
movement distance control, but when carrying out positioning control or speed
control, the speed must also be controlled.
This "speed" is controlled by the "pulse train frequency".
Pulse frequency This area is the total
[pps] No. of commanded
pulse train.
A
Positioning Servo Servomotor
module amplifier
Detector
(Pulse
encoder)
Speed = Pulse frequency Feedback pulse ta td (s)
Movement amount = No. of pulses
Feedback pulses =
0.4 1.2 0.4
Pulses generated by detector
Movement amount t = 2
Fig.1.1 Relationship between position control and speed control
POINT
The AD75 controls the position with the "total number of pulses in a pulse train",
and the speed with the "pulse train frequency".
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1 PRODUCT OUTLINE
MELSEC-A
1.1.4 Outline design of positioning system
The outline of the positioning system operation and design, using the AD75, is shown
below.
PLC CPU AD75 Servo amplifier corresponding SSCNET (refer to section 2.2) Servomotor
Position/speed + Position + Speed + Current
Inverter M
command S S control control control
Control S S - - -
command C Position/speed C
N command N Current feedback
OS E
Monitor data E Control command
Read, T T
Monitor data
write, I I Speed feedback
etc. / / Interface PLG
SSCNET F Position feedback
F
Interface
External input signals (refer to section 3.5.3)
FLS (Upper limit)
RLS (Lower limit)
CHG (Speed/position changeover)
STOP (Stop command)
STRT (External start)
DOG (Near-point dog)
Fig.1.2 Outline of the operation of positioning system using AD75
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1 PRODUCT OUTLINE
MELSEC-A
A : Movement amount per pulse (mm/pulse)
Vs : Command speed (pulse/s)
V n : Pulse encoder resolution (pulse/rev)
Workpiece
Pulse encoder L : Worm gear lead (mm/rev)
Worm gear
(PLG) R : Deceleration ratio
R Table V : Movable section speed (mm/s)
L N : Motor speed (r/min)
Servomotor
K : Position loop gain (1/s)
P
P0 ε : Deviation counter droop pulse amount
P0 : Zero point (pulse)
P : Address (pulse)
Fig.1.3 System using worm gears
(1) Movement amount per pulse
L
A= [mm/pulse]
R× n
(2) Command speed
V
Vs = [pulse /s]
A
(3) Deviation counter droop pulse amount
Vs
ε= K
[pulse]
The movement amount per pulse is indicated with (1), and the [position/speed
command] × [movement amount per pulse] is the movement amount. The command
speed is calculated with (2) using the movable section speed and movement amount per
pulse.
The relation of the command speed and deviation counter droop pulses is shown in
(3).
As the positioning command unit, (mm), (inch), (degree) or (pulse) can be selected
independently for the 1 to 3 axes of the AD75.
Thus, if the data such as the movement amount per pulse, acceleration/deceleration
time, positioning speed, and positioning address are set to match the positioning
command unit, the operation will be carried out within the AD75 for the target
positioning address. The position/speed command will be output, and positioning will
be executed.
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1 PRODUCT OUTLINE
MELSEC-A
1.1.5 Communicating signals between AD75 and each module
The outline of signal communication between the AD75 and PLC CPU, peripheral
device, servo amplifier, etc. is shown below.
AD75
PLC CPU
PLC READY signal Servo status
Y1D
AD75 READY signal Servo ON
X0
Position/speed command
All axes servo ON signal
Y15 SSCNET
interface
Zero point Servo
Foward run JOG start signal amplifier
Y16, Y18, Y1A
Monitor data
Y17, Y19, Y1B
Reverse run JOG start signal
Upper/lower limit signal
External
Near-point dog signal signal
Positioning start signal
Y10,Y11,Y12
Positioning complete signal
X7, X8, X9
Manual pulse generator A-phase Manual
External pulse
Manual pulse generator B-phase generator
BUSY signal interface
X4, X5, X6 Interface with
Start complete signal
X1, X2, X3 PLC CPU Speed/position changeover signal
Axis stop signal Stop signal External
Y13, Y14, Y1C
External start signal signal
M code ON signal
XD,XE,XF
Parameter write/read
Positioning data write/read
Positioning start information write/read
Error detection signal Zero point return operation (test)
XA,XB,XC Peripheral
device JOG operation (test) Peripheral
interface Positioning operation (test) device
Data write/read Operation monitor
AD75 PLC CPU
The AD75 and PLC CPU communicate the following data via the base unit.
Direction
AD75 PLC CPU PLC CPU AD75
Communication
Signal related to commands such as PLC
Signal indicating AD75 state, such as AD75
Control signal * READY signal, all axes servo ON signal,
READY signal, BUSY signal.
various start signals, stop signals
Parameter, positioning data, positioning Parameter, positioning data, positioning
Data (read/write)
start information, monitor data, control data start information, control data
* Refer to the section "3.4 Specifications of input/output signals with PLC CPU" for details.
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1 PRODUCT OUTLINE
MELSEC-A
AD75 Peripheral device
The AD75 and peripheral device communicate the following data via the peripheral
device connection connector.
Direction
AD75 Peripheral device Peripheral device AD75
Communication
Parameter, positioning data, positioning Parameter, positioning data, positioning
Data (read/write)
start information start information
Zero point return control start command
Positioning control start command
Test operation – JOG operation start command
Manual pulse generator operation
enable/disable command
Operation monitor Monitor data –
AD75 Servo amplifier
The AD75 and servo amplifier communicate the following data via the SSCNET
connection connector.
Direction
AD75 Servo amplifier Servo amplifier AD75
Communication
Signals related to commands such as Signals indicating the states of servo
Control signal
servo ON ON/OFF, zero point pass, etc.
Position/speed Commands that specify the position and
–
command speed calculated in the AD75
Data indicating the deviation counter value,
Monitor data –
servo amplifier state, etc.
AD75 Manual pulse generator
The AD75 and manual pulse generator communicate the following data via the
external device connection connector.
Direction
AD75 Manual pulse generator Manual pulse generator AD75
Communication
Manual pulse generator A-phase, manual
Pulse signal –
pulse generator B-phase
AD75 External signal
The AD75 and external signal communicate the following data via the external
device connection connector.
Direction
AD75 External signal External signal AD75
Communication
• Signals from detector such as near-point
dog signal, upper/lower limit signal
Control signal – • Control signals from external device such
as stop signal, external start signal,
speed/position changeover signal
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1 PRODUCT OUTLINE
MELSEC-A
1.2 Flow of system operation
1.2.1 Flow of all processes
The positioning control processes, using the AD75, are shown below.
AD75 software GPP function soft-
AD75 Servo, etc. PLC CPU
package ware package
1)
Design Understand the functions and performance, and determine the positioning operation method
(system design)
2)
Installation, wiring, single module test
3) 4)
Setting of the:
· Parameters Creation of sequence
· Positioning data program for operation
· Start block data
· Condition data Refer to (Note)
Preparation
5) 6)
Writing of setting data Writing of program
7) 8)
Servo starting up
Monitoring with Monitoring and
test operation, debugging of
and debugging operation
of setting data Test operation program
9)
Operation Monitor Actual operation Monitor
(Note)
When not using the
AD75 software
package, carry out
10) Maintenance setting, monitoring
and debugging of
Maintenance the data in 3) with
the GPP function
software package.
11) Disposal
1 - 14
1 PRODUCT OUTLINE
MELSEC-A
The following work is carried out with the processes shown on the left page.
Details Reference
• Chapter 1
Understand the product functions and usage methods, the configuration devices • Chapter 2
1)
and specifications required for positioning control, and design the system. • Chapter 3
• Chapter 8 to Chapter 13
Install the AD75 onto the base unit, wire the AD75 and external connection devices
2) (servo amplifier, etc.), and connect the AD75 and peripheral devices. Check that • Chapter 4
the AD75 operates correctly. (Single module test)
• Chapter 5
Using the AD75 software package, set the parameters, positioning data, start block • Chapter 8 to Chapter 13
3)
data and condition data required for the positioning control to be executed. • AD75 Software Package
Operating Manual
Using the GPP function software package, create the sequence program required • Chapter 6
4) for positioning operation. (When not using the AD75 software package, also create • GPP Function Software
the sequence program for setting data.) Package Operating Manual
• Chapter 7
Write the parameters and positioning data, etc., created with the AD75 software
5) • AD75 Software Package
package into the AD75.
Operating Manual
Using the GPP function software package, write the created sequence program into • Chapter 7
6) the PLC CPU. (When not using the AD75 software package, also write in the • GPP Function Software
sequence program for setting data.) Package Operating Manual
Carry out test operation and adjustments in the test mode to check the servo
amplifier setting status and external connection device operation status, and to • AD75 Software Package
7)
confirm that the designated positioning operation is executed correctly. (Debug the Operating Manual
set "parameters" and "positioning data", etc.)
Carry out test operation and adjustment to confirm that the designated positioning
• GPP Function Software
8) operation is executed correctly. (Debug the created sequence program. When not
Package Operating Manual
using the AD75 software package, also debug the set data.
• Chapter 5
• Chapter 14
Actually operate the positioning operation. At this time, monitor the operation state • AD75 Software Package
9)
as required. If an error or warning occurs, remedy. Operating Manual
• GPP Function Software
Package Operating Manual
10) Service the AD75 as required. • Chapter 4
11) Dispose of the AD75. • Chapter 4
1 - 15
1 PRODUCT OUTLINE
MELSEC-A
1.2.2 Outline of starting
The outline for starting each control is shown with the following flowchart.
* It is assumed that each module is installed, and the required system configuration,
etc., has been prepared.
Flow of starting
Installation and connection of module
Preparation
Setting of hardware
Control Main position- Advanced posi- Zero point return
tioning control Manual control
functions ing control control
·Position control ·B lock start ·Machine zero point ·JOG operation
·Speed control ·C ondition start return control
·W ait sta rt
·Speed/position ·S im ultaneous start ·High-speed zero
changeover control ·S to p ·Manual pulse generator operation
point return control
·Other control ·R epetitive start
Positioning
Set the positioning parameters. )
Pr.1 to Pr.44 , Pr.150 )
parameters
Zero point return Set the zero point return parameters.
parameters )
Pr.45 to Pr.59 )
Servo Set the servo parameters. Pr.100 to Pr.138 , Pr.149 )
)
parameters
Positioning Set the positioning data.
data )
Da.1 to Da.9 )
Set the positioning
Positioning start information.
start information
Da.10 to Da.18 )
)
Set the JOG speed
Control data Set the positioning start No. )
Cd.11 )
Cd.19 )
)
Set the positioning
starting point No. Set the manual pulse
)
Cd.31 )
generator enable flag to "1".
Cd.22 )
)
Set the manual pulse generator
1 pulse input magnification.
Cd.23 )
)
Input the start signal.
Method (1) Turn ON the AD75 start signal from the Turn the AD75 JOG Operate the
Start signal PLC CPU start signal ON from manual pulse
Method (2) Turn the AD75 external start signal ON the PLC CPU generator
Control start
Operation
Control end
Stop
1 - 16
1 PRODUCT OUTLINE
MELSEC-A
Setting method
: Indicates the sequence program that must be created.
<AD75 software package>
Set with AD75 software package Write
* Set the parameter and data for executing this function,
and the auxiliary functions that need to be set beforehand. AD75
<GPP function software package>
Create sequence program Write
PLC CPU Write
for setting data
* When set with the "AD75 software package",
this does not need to be created.
<GPP function software package>
Create sequence program for
executing main function
* Create sequence program for
outputting control signals, such
as start signal, to AD75.
Write
Operation sequence program PLC CPU
<GPP function software package>
· Clock data setting
· Speed change Create a sequence
· Current value change program for the
· Torque limit auxiliary functions.
· Restart, etc.
1 - 17
1 PRODUCT OUTLINE
MELSEC-A
1.2.3 Outline of stopping
Each control is stopped in the following cases.
(1) When each control is completed normally.
(2) When Servo alarm ( Md.116 Servo status: b13) turns ON
(3) When the PLC READY signal is turned OFF (When "parameter error" or "watch
dog timer error" occurs in PLC CPU.)
(4) When an error occurs.
(5) When control is intentionally stopped (Stop signal from PLC CPU turned ON, stop
from peripheral device, etc.)
The outline for the stopping process in these cases is shown below. (Excluding (1) for
normal stopping.)
Stop process
Zero point return
Axis Manual control
control
operation
Stop status after High- Main Advanced
Stop cause
axis stopping Machine speed positioning positioning
JOG
Manual
zero point zero control control pulse
( Md.35 ) return opera-
point generator
tion
control return operation
control
Servo alarm
turns ON and
Servo ON turns Each During Immediate
Forced stop OFF Immediate stop
axis error stop
( Md.116 Servo
status: b1, b13)
Hardware stroke
Fatal stop limit upper/lower Each During Deceleration stop/sudden stop Deceleration
(Stop group 1) limit error axis error (Select with Pr.38 ) stop
occurrence
Software stroke
limit upper/lower Each
limit error axis
Emergency occurrence Deceleration stop/sudden stop
During Deceleration
stop
PLC READY error (Select with Pr.39 ) stop
(Stop group 2)
signal OFF All
"Stop" input from axes
peripheral device
Axis error
detection (Error
Relatively safe other than stop
Each During
stop group 1 or 2) axis error
(Stop group 3)
Error in test
mode Deceleration stop/sudden stop Deceleration
"Stop signal" ON (Select with Pr.40 ) stop
from external
Intentional stop source Each When
(Stop group 3) "Axis stop signal" axis stopped
ON from PLC
CPU
1 - 18
1 PRODUCT OUTLINE
MELSEC-A
1.2.4 Outline for restarting
When a stop cause has occurred during operation with position control causing the
axis to stop, positioning to the end point of the positioning data can be restarted from
the stopped position by using the " Cd.13 Restart command".
When " Cd.13 Restart command" is ON
(1) If the " Md.35 Axis operation status" is stopped, positioning to the end point of
the positioning data will be restarted from the stopped position regardless of
the absolute method or incremental method.
(2) When " Md.35 Axis operation status" is not stopped, the warning "restart not
possible" (warning code: 104) will be applied, and the restart command will be
ignored.
[Example for incremental method]
The restart operation when the axis 1 movement amount is 300, and the axis 2
movement amount is 600 is shown below.
Axis 1 Axis 1
Stop position due to stop cause Stop position due to stop cause
400 Designated end 400 Stop position
Start point point position Restart after restart
address
200 200
Operation
100 100 during restart
Axis 2 Axis 2
100 300 700 100 300 700
Reference
If the positioning start signal [Y10 to Y12]/external start signal is turned ON while
the " Md.35 Axis operation status" is waiting or stopped, positioning will be
restarted from the start of the positioning start data regardless of the absolute
method or incremental method.
(Same as normal positioning.)
[Example for incremental method]
The positioning start operation when the axis 1 movement amount is 300 and the
axis 2 movement amount is 600 is shown below.
Axis 1 Axis 1
Stop position due to stop cause
Stop position due to stop cause 500 Stop position
after start
400 Designated Positioning
Start point end point start
address position
200 200 Operation dur-
ing positioning
100 100 start
Axis 2 Axis 2
100 300 700 100 300 900
1 - 19
1 PRODUCT OUTLINE
MELSEC-A
MEMO
1 - 20
Chapter 2
2
SYSTEM CONFIGURATION
In this chapter, the general image of the system configuration of the positioning control
using AD75, the configuration devices, applicable CPU module and the precautions of
configuring the system are explained.
Prepare the required configuration devices to match the positioning control system.
2.1 General image of system ...............................................................................................2-2
2.2 List of configuration devices...........................................................................................2-4
2.3 Applicable system...........................................................................................................2-6
2.4 Precautions for configuring system................................................................................2-7
2.4.1 Precautions for mounting base unit..................................................................2-7
2.4.2 Precautions according to module version........................................................2-7
2.4.3 Precautions for using 3-axis module................................................................2-8
2.4.4 Precautions for configuring absolute position detection system .....................2-8
2.4.5 Precautions for machine zero point return control in absolute position
detection system ...............................................................................................2-8
2.4.6 Precautions for using servo amplifier MR-J2S-B, MR-J2-03B5......................2-9
2-1
2 SYSTEM CONFIGURATION
MELSEC-A
2.1 General image of system
The general image of the system, including the AD75, PLC CPU and peripheral
devices is shown below.
(The Nos. in the illustration refer to the "No." in section "2.2 List of configuration
devices".
Extension 2
Main base unit *
cable
Positioning
module
1
1
CPU module* I/O module
5 Conversion cable
* Only when using
A1SD75M
RS-422 cable
Extension
system
6 RS-232 cable
6
Converter *3
REMARK
*1 Refer to section "2.3 Applicable system" for the CPU modules that can be used.
*2 Refer to the CPU module User's Manual for the base units that can be used.
*3 Refer to the AD75 Software Package Operating Manual.
*4 Refer to section "2.2 List of configuration devices" for the usable servo amplifiers.
2-2
2 SYSTEM CONFIGURATION
MELSEC-A
7
Servo
Terminal connector amplifier
corresponding
Motor
Battery
SSCNET*4
7
Servo
amplifier
corresponding
Motor
SSCNET*4
Manual pulse generator
8
SSCNET cable
10
Cable
9 Machine system input (switch)
· Near-point dog
· Limit switch
· External start signal
· Speed/position
changeover signal
· Stop signal
AD75TU
4
Peripheral
device AD75 software package
2
3
SW1IVD
Personal -AD75P-E
computer
SW0D5C
-AD75P-E
(Refer to the AD75 Software Package
Operating Manual for details.)
2-3
2 SYSTEM CONFIGURATION
MELSEC-A
2.2 List of configuration devices
The positioning system using the AD75 is configured of the following devices.
No. Part name Type Remarks
AD75M1 75M
AD75M2
AD75M3 No. of control axes
1 Positioning module
A1SD75M1
A1SD75M2 · AD ....... Building block type
· A1SD ... Compact building block type
A1SD75M3
AD75 software SW1IVD-AD75P-E DOS/V personal computer software package
2
package SW0D5C-AD75P-E For details, refer to the GX Configurator-AP Operating Manual.
DOS/V personal (Prepared by user)
3 Personal computer
computer Refer to the AD75 Software Package Operating Manual for details.
Unit for setting, monitoring and testing the AD75 parameters and
4 Teaching unit AD75TU *1
positioning data.
A1SD75-C01H
5 Conversion cable Length 30cm Cable for connecting RS-422 cable and A1SD75M .
A1SD75-C01HA
RS-232 cable for connecting AD75 with DOS/V personal computer, and
Connection cable
6 – RS-232/RS-422 converter. (Prepared by user)
(converter)
Refer to the AD75 Software Package Operating Manual for details.
MR-H-B (MR-H-BN)
MR-J-B
Servo amplifier
7 corresponding MR-J2-B (Prepared by user)
SSCNET MR-J2S-B *
2
2
MR-J2-03B5 *
Manual pulse (Prepared by user)
8 –
generator Recommended: MR-HDP01 (Mitsubishi Electric)
Cable for connecting AD75 with manual pulse generator or machine
Connection cable
9 – system input signal. (Prepared by user)
(prepared by user)
Refer to manual of connected device.
Cable for connection between the AD75 and servo amplifier
corresponding SSCNET or between the servo amplifiers corresponding
MR-HBUS M SSCNET. (Prepared by user) 0.5m, 1m, 5m
10 SSCNET cable
MR-J2HBUS M-A The SSCNET cable changes depending on the connected servo
amplifier. Refer to the Specifications and Installation Guide or Instruction
Manual of the used servo amplifier.
*1 There are data that cannot be set to the servo parameters and some positioning parameters.
For the data that can be set, refer to the manual of the teaching unit.
Use a sequence program to set the data that cannot be set with the teaching unit.
*2 Set some servo parameters using a sequence program.
(Refer to section "5.2.10 Servo parameters for MR-J2S-B" or "5.2.11 Servo parameters for MR-J2-03B5".)
2-4
2 SYSTEM CONFIGURATION
MELSEC-A
Specifications list of recommended manual pulse generator
Item Specifications
Model name MR-HDP01
Pulse resolution 25pulse/rev (100 pulse/rev after magnification by 4)
Voltage-output (power supply voltage -1V or more),
Output method
Output current = Max. 20mA
Power supply voltage 4.5 to 13.2VDC
Current consumption 60mA
Life time 100 revolutions (at 200r/min)
Radial load : Max. 19.6N
Permitted axial loads
Thrust load : Max. 9.8N
Operation temperature -10 to 60 (14 to 140 )
Weight 0.4 (0.88) [kg(lb)]
Number of max. revolution Instantaneous Max. 600r/min. normal 200r/min
Pulse signal status 2 signals : A phase, B phase, 90 phase difference
Friction torque 0.1N/m (at 20 (68 ))
2-5
2 SYSTEM CONFIGURATION
MELSEC-A
2.3 Applicable system
The CPU module and remote I/O station applicable for the AD75 are shown below.
CPU module
For A1SD75M1/
AD75
For AD75M1/AD75M2/AD75M3 A1SD75M2/
PLC CPU *1
A1SD75M3
• A0J2CPU • A2UCPU (-S1) • A1SCPU
• A0J2HCPU • A3UCPU • A1SJCPU (-S3)
• A4UCPU • A2SCPU
• A1CPU • A2ASCPU (-S1)
• A2CPU (-S1) • A73CPU (-S3) *2 • A52GCPU
• A3CPU
• A81CPU • A1SHCPU
• A1NCPU • A52GCPU • A2SHCPU
• A2NCPU (-S1) • A1SJHCPU
ACPU • A3NCPU • A1SCPU
• A1SJCPU-S3
• A3MCPU
• A3HCPU • A2SCPU
• A2ASCPU (-S1)
• A2ACPU (-S1)
• A3ACPU • A1SHCPU
• A2SHCPU
• A1SJHCPU
• A2USHCPU-S1
• Q2ACPU (-S1) • Q3ACPU • Q2ASCPU (-S1)
• Q2ASHCPU (-S1)
QnACPU • Q2ASCPU (-S1) • Q4ACPU
• Q2ASHCPU (-S1) • Q4ARCPU
Q02CPU-A
QCPU
– Q02HCPU-A
(A mode) Q06HCPU-A
*1 Including PLC CPU with link function.
*2 When using the A73CPU(-S3), mount the AD75M1, AD75M2 or AD75M3 on the
extension base unit.
Remote I/O station (MELSECNET/10, MELSECNET (II), MELSECNET/B)
The AD75M1/AD75M2/AD75M3 and A1SD75M1/A1SD75M2/A1SD75M3
positioning modules are applicable for the data link system (MELSECNET (II)/B) and
network system (MELSECNET/10) remote I/O station, with the exception of
A0J2P25/R25 (remote I/O station).
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2 SYSTEM CONFIGURATION
MELSEC-A
2.4 Precautions for configuring system
The following precautions apply when configuring the positioning system using the
AD75.
• Precautions for mounting base unit
• Precautions according to module version
• Precautions for using 3-axis module
• Precautions for configuring absolute position detection system
• Precautions for using servo amplifier MR-J2S-B, MR-J2-03B5
2.4.1 Precautions for mounting base unit
The AD75 can be mounted in a random slot of the main base unit or extension
base unit. Note that the following precautions must be observed.
(1) When mounting the AD75 in an extension base unit that has no power supply,
take special care to the power capacity and the voltage drop.
(2) The AD75M1/AD75M2/AD75M3 cannot be mounted into the final slot at the
7th extension stage of the A3CPU.
(3) The AD75M1/AD75M2/AD75M3 cannot be mounted into the main base unit of
the A73CPU(-S3).
Simultaneous start and interpolation operation with the axis controlled by the
A73(S3)CPU/A373CPU PCPU is not possible.
(4) When mounting onto the PLC CPU or base unit, refer to the User's Manual of
the PLC CPU being used.
POINT
One slot is required for mounting the AD75 onto the base unit. The No. of
input/output points occupied in respect to the PLC CPU is 32 points. When
assigning the I/O with the parameters, set as "special 32 points".
There is no limit to the No. of mounted modules as long as the total is within the
PLC CPU's No. of input/output points.
2.4.2 Precautions according to module version
Some AD75 cannot be used depending on the module version. Refer to "Appendix
4 Comparison with old versions of A1SD75M1/A1SD75M2/A1SD75M3, and
AD75M1/AD75M2/AD75M3 models" for details.
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2 SYSTEM CONFIGURATION
MELSEC-A
2.4.3 Precautions for using 3-axis module
When configuring a positioning system using a 3-axis module (A1SD75M3,
AD75M3), the following precautions must be observed.
(1) No. of FROM/TO commands executed in one scan
(Refer to section "6.1 Precautions for creating program" for details.)
The No. of FROM/TO commands (during 16-bit transmission), DFRO/DTO
commands (during 32-bit transmission) and special function module device
(U \G ) executed in one scan will be as follows.
• When carrying out circular interpolation control or S-pattern
acceleration/deceleration: 4 times/axis
• When CHG signal is simultaneously input for two axes with speed/position
changeover control: 4 times/axis
• Control other than the above: 10 times/axis
(2) Execution of speed/position changeover control
If there is a timing at which the CHG signal is input simultaneously for 3 axes
with the speed/position changeover control, split the AD75. (Example: Split
into 1-axis and 2-axis.)
Furthermore, machine vibration could occur because of the speed fluctuation.
2.4.4 Precautions for configuring absolute position detection system
There are the following precautions for configuring an absolute position detection
system.
• Infinite length feed control, e.g. control in the given direction only, is not allowed.
• Restrictions on the usable ranges of the movement amount, etc. according to the
zero point address and feedback pulse count.
Refer to section "12.6 Absolute position restoration function" for details.
2.4.5 Precautions for machine zero point return control in absolute position detection system
When machine zero point return control is executed in the absolute position
detection system, access is made to the FeRAM (Ferroelectric Random Access
Memory). (Refer to section 12.6.)
(The FeRAM is a memory capable of fast read and write and non-volatile storage,
i.e. data are not lost when power is switched off. Further it is operable at low
voltage and features that a rewritable count is more than several orders of
2
magnitude greater than those of the flash ROM and E PROM.)
9
The FeRAM access count is maximum 9.9999 10 times.
9
When the FeRAM access count exceeds 9.9999 10 times, the absolute position
(zero point position) cannot be restored normally at a system startup (power on,
reset, etc.).
(Refer to "Appendix 4" for the zero point position storage destination and access
count for the absolute position detection system, which change depending on the
module version.)
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2 SYSTEM CONFIGURATION
MELSEC-A
2.4.6 Precautions for using servo amplifier MR-J2S-B, MR-J2-03B5
There are the following precautions for use of the servo amplifier MR-J2S-B, MR-
J2-03B5.
• The parameters, whose specifications and setting ranges have been changed
from those of the MR-J2-B by extension/addition/deletion, cannot be set from the
peripheral device.
For the items/ranges that can be set from the peripheral device, refer to section
"5.2.10 Servo parameters for MR-J2S-B" or "5.2.11 Servo parameters for
MR-J2-03B5".
Use a sequence program to set the items/ranges that cannot be set from the
peripheral device.
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2 SYSTEM CONFIGURATION
MELSEC-A
MEMO
2 - 10
Chapter 3
SPECIFICATIONS AND FUNCTIONS
The various specifications of the AD75 are explained in this chapter.
The "General specifications", "Performance specifications", "List of functions",
"Specifications of input/output signals with PLC CPU", and the "Specifications of interfaces
with external devices", etc., are described as information required when designing the
positioning system.
Confirm each specification before designing the positioning system.
3.1 General specifications ....................................................................................................3-2
3.2 Performance specifications ............................................................................................3-3
3.3 List of functions ..............................................................................................................3-4
3.3.1 AD75 control functions......................................................................................3-4
3.3.2 AD75 main functions.........................................................................................3-6
3.3.3 AD75 auxiliary functions and common functions.............................................3-8
3.3.4 Combination of AD75 main functions and auxiliary functions .......................3-10
3.4 Specifications of input/output signals with PLC CPU..................................................3-12
3.4.1 List of input/output signals with PLC CPU .....................................................3-12
3.4.2 Details of input signals (AD75 PLC CPU) .................................................3-13
3.4.3 Details of output signals (PLC CPU AD75) ...............................................3-15
3.5 Specifications of interfaces with external devices .......................................................3-16
3.5.1 Electrical specifications of input signals .........................................................3-16
3.5.2 Signal layout for external device connection connector ................................3-17
3.5.3 List of input signal details................................................................................3-18
3.5.4 Interface internal circuit...................................................................................3-19
3-1
3 SPECIFICATIONS AND FUNCTIONS
MELSEC-A
3.1 General specifications
The general specifications of the AD75 are given below.
Item Specifications
Working ambient temperature 0 to 55°C
Storage ambient temperature -20 to 75°C
Working ambient humidity 10 to 90% RH, with no dew condensation
Storage ambient humidity 10 to 90% RH, with no dew condensation
Frequency Acceleration Amplitude No. of sweeps
For 10 to 57Hz – 0.075mm
JIS B 3502, intermittent 10 times each in
2 X, Y and Z
Vibration resistance IEC 61131-2 vibration 57 to 150Hz 9.8m/s –
compliant directions
For 10 to 57Hz – 0.035mm (During 80
continuous 2 minutes)
vibration 57 to 150Hz 4.9m/s –
2
JIS B 3502, IEC 61131-2 compliant (147m/s , three times each in X, Y
Impact resistance
and Z directions)
Working atmosphere Must be no corrosive gases
3
Working altitude * 2,000m or less
Installation place Within control panel
Overvoltage category *1 II or less
2
Degree of contamination * 2 or less
*1 Indicates to which power distribution section, from the public power distribution network to the in-plant machine
device, the device is assumed to be connected to.
Category II applies to a device fed power from a fixed facility.
The withstand surge voltage level for a device with a rating up to 300V is 2500V.
*2 Exponential indicating the degree of conductive matter generated in the environment where device is used.
In the degree of contamination level 2, only non-conductive contaminants are generated. However, temporary
conductivity could occur due to rare condensation.
3
* Do not use or store the PLC in the environment where the pressure is higher than the atmospheric pressure at sea
level. Otherwise, malfunction may result. To use the PLC in high-pressure environment, contact your nearest
Mitsubishi representative.
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3 SPECIFICATIONS AND FUNCTIONS
MELSEC-A
3.2 Performance specifications
Model A1SD75M1 A1SD75M2 A1SD75M3
Item AD75M1 AD75M2 AD75M3
No. of control axes 1 axis 2 axes 3 axes
2-axis linear interpolation 2-axis linear interpolation
Interpolation function None
2-axis circular interpolation 2-axis circular interpolation
PTP (Point To Point) control, path control (both linear and arc can be set), speed control,
Control method
speed/position changeover control
Control unit mm, inch, degree, pulse
Set with peripheral device : 600 data (positioning data No. 1 to 600)/axis setting possible
Positioning data
Set with sequence program : 100 data (positioning data No. 1 to 100)/axis setting possible
Backup Parameters and positioning data can be saved on flash ROM (battery-less).
PTP control : Incremental method/absolute method
Positioning method Speed/position changeover : Incremental method
Path control : Incremental method/absolute method
When system is absolute position detection system (refer to
When system is not absolute
section 12.6)
position detection system
Feedback pulse count = 8192 Feedback pulse count = 16384
• -214748364.8 to • -26843545.6 to 26843545.5 • -53687091.2 to 53687091.1
Absolute method 214748364.7 (µ m) (µm) (µm)
• -21474.83648 to • -2684.35456 to 2684.35455 • -5368.70912 to 5368.70911
21474.83647 (inch) (inch) (inch)
• 0 to 359.99999 (degree) • 0 to 359.99999 (degree) • 0 to 359.99999 (degree)
Positioning range
• -2147483648 to • -268435456 to 268435455 • -536870912 to 536870911
2147483647 (pulse) (pulse) (pulse)
• -214748364.8 to
• -26843545.6 to 26843545.5 • -53687091.2 to 53687091.1
214748364.7 (µm)
• -21474.83648 to (µm) (µm)
Positioning
• -2684.35456 to 2684.35455 • -5368.70912 to 5368.70911
21474.83647 (inch)
Incremental method • (inch) (inch)
-21474.83648 to • 0 to 359.99999 (degree) • 0 to 359.99999 (degree)
21474.83647 (degree) • -268435456 to 268435455 • -536870912 to 536870911
• -2147483648 to
(pulse) (pulse)
2147483647 (pulse)
• 0 to 214748364.7 (µm) • 0 to 26843545.5 (µm) • 0 to 53687091.1 (µm)
Speed/position • 0 to 21474.83647 (inch) • 0 to 2684.35455 (inch) • 0 to 5368.70911 (inch)
changeover control • 0 to 21474.83647 (degree) • 0 to 359.99999 (degree) • 0 to 359.99999 (degree)
• 0 to 2147483647 (pulse) • 0 to 268435455 (pulse) • 0 to 536870911 (pulse)
0.01 to 6000000.00 (mm/min)
0.001 to 600000.000 (inch/min)
Speed command
0.001 to 600000.000 (degree/min)
1 to 1000000 (pulse/s)
Acceleration/
Automatic trapezoidal acceleration/deceleration, S-pattern acceleration/deceleration
deceleration process
Acceleration/ Changeover between 1 to 65535 (ms)/1 to 8388608 (ms) possible
deceleration time Four patterns can be set each for acceleration time and deceleration time
Sudden stop Changeover between 1 to 65535 (ms)/1 to 8388608 (ms) possible (Same range as
deceleration time acceleration/deceleration time)
External device connection 10136-3000VE (soldered type, accessory)
connector 10136-6000EL (crimp type, optional)
For 10136-3000VE : AWG#24 to #30 (approx. 0.05 to 0.2 SQ)
Applicable wire size
For 10136-6000EL : AWG#28 (approx. 0.08 SQ)
Max. output command speed 1Mpps
Max. connection distance
between servos (max.
30m
extension distance of
SSCNET connection cable)
Internal current
A1SD75M : 0.7A or less, AD75M : 0.7A or less
consumption (5VDC)
Flash ROM write count Maximum 100,000 times
2 2
E PROM/FeRAM access E PROM : Maximum 100,000 times
count in absolute position
FeRAM : Maximum 9.9999 × 10 times
9
detection system*
No. of occupied
32 points (I/O assignment: special function module 32 points)
input/output points
Outline dimensions A1SD75M :130(H) × 34.5(W) × 93.6(D)mm , AD75M :250(H) × 37.5(W) × 106(D)mm
Weight A1SD75M : 0.35kg , AD75M : 0.45kg
2
* Whether E PROM or FeRAM is built in changes depending on the hardware version of the module. (Refer to
Appendix 4.)
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3.3 List of functions
3.3.1 AD75 control functions
The AD75 has several functions. In this manual, the AD75 functions are categorized
and explained as follows.
Main functions
(1) Zero point return control
"Zero point return control" is a function that established the start point for
carrying out positioning control, and carries out positioning toward that start
point. This is used to return a workpiece, located at a position other than the
zero point when the power is turned ON or after positioning stop, to the zero
point. The "zero point return control" is preregistered in the AD75 as the
"Positioning start data No. 9001 (Machine zero point return)", and "Positioning
start data No. 9002 (High-speed zero point return). (Refer to "Chapter 8 ZERO
POINT RETURN CONTROL".)
(2) Main positioning control
This control is carried out using the "Positioning data" stored in the AD75.
Basic control, such as position control and speed control, is executed by
setting the required items in this "positioning data" and starting that positioning
data. An "operation pattern" can be set in this "positioning data", and with this
whether to carry out control with continuous positioning data (ex.: positioning
data No. 1, No. 2, No. 3, ...) can be set. (Refer to "Chapter 9 MAIN
POSITIONING CONTROL".)
(3) Advanced positioning control
This control executes the "positioning data" stored in the AD75 using the
"positioning start information". The following types of applied positioning
control can be carried out.
• Random blocks, handling several continuing positioning data items as
"blocks", can be executed in the designated order.
• "Condition judgment" can be added to position control and speed control.
• The positioning data having the same No. and set for multiple axes can be
started simultaneously. (Position/speed commands are output
simultaneously to multiple servos.)
• The designated positioning data can be executed repeatedly, etc.,
(Refer to "Chapter 10 ADVANCED POSITIONING CONTROL".)
(4) Manual control
By inputting a signal into the AD75 from an external source, the AD75 will
output a random position/speed command and carry out control. Use this
manual control to move the workpiece to a random position (JOG operation),
and to finely adjust the positioning (manual pulse generator operation), etc.
(Refer to "Chapter 11 MANUAL CONTROL".)
Auxiliary functions
When executing the main functions, control compensation, limits and functions can
be added. (Refer to "Chapter 12 CONTROL AUXILIARY FUNCTIONS".)
Common functions
Common control using the AD75 for "parameter initialization" or "backup of
execution data" can be carried out. (Refer to "Chapter 13 COMMON
FUNCTIONS".)
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Main functions Auxiliary functions
Zero point return control Control registered in AD75
(Functions characteristic to
[Positioning start No.] machine zero point return)
Zero point return retry function
[9001] Machine zero point return
Zero point shift function
[9002] High-speed zero point return
<Functions that compensate
control>
Backlash compensation function
Electronic gear function
Main positioning control Control using "Positioning data" Near pass mode function
Follow up processing function
<Control method> <Operation
·1-axis linear control pattern> <Functions that limit control>
·2-axis linear interpolation control Speed limit function
·1-axis fixed-dimension feed Independent
Position control control positioning control Torque limit function
·2-axis fixed-dimension feed (positioning complete)
control Software stroke limit function
Speed control
·2-axis circular interpolation Continuous Hardware stroke limit function
control positioning control
Servo ON/OFF function
Speed/position changeover control
Continuous path
·Current value change control <Functions that change
Other control
·JUMP command
control details>
Speed change function
Override function
Control using "positioning data" Acceleration/deceleration
Advanced positioning control + "positioning start information" time change function
Torque change function
Block start (Normal start)
Condition start <Other functions>
Wait start
Step function
[Positioning start Simultaneous start
Main positioning Skip function
control information] Stop
Repeated start M code output function
(FOR loop)
Teaching function
Repeated start
(FOR condition) Command in-position function
Acceleration/deceleration
process function
Indirectly specification
Manual control function
Control with signals input from external source
[Positioning start signal]
JOG start signal ON JOG operation
Pulse input from manual
Manual pulse generator
pulse generator operation
Common functions
Parameter initialization function Execution data backup function LED display function Clock data function
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3.3.2 AD75 main functions
The outline of the main functions for positioning control with the AD75 are described
below. (Refer to "SECTION 2" for details on each function.)
Reference
Main functions Details
section
Mechanically establishes the positioning start point.
return control
Machine zero point return control 8.2
Zero point
(Positioning start No.9001)
Positions to the zero point address ( Pr.47 ) stored in the
High-speed zero point return control AD75 with machine zero point return. 8.3
(Positioning start No.9002)
Linear control
(1-axis linear control) Positions with a linear path to the address set in the positioning 9.2.2
(2-axis linear interpolation data or the position designated with the movement amount. 9.2.3
control)
Fixed-dimension feed Positions the movement amount designated with the
control movement amount set in the positioning data.
Position
(1-axis fixed-dimension feed (With fixed-dimension feed control, the " Md.29 Current feed 9.2.4
control
control) value" is set to "0" when starting. With 2-axis fixed-dimension 9.2.5
(2-axis fixed-dimension feed feed control, the linear path will be fixed-dimension fed with
control) interpolation.
Main positioning control
Positions with an arc path to the address set in the positioning
2-axis circular interpolation 9.2.6
data, or the position designated with the movement amount,
control 9.2.7
auxiliary point or center point.
Continuously outputs the pulses corresponding to the
Speed control 9.2.8
command speed set in the positioning data.
First, carries out speed control, and then carries out position
Speed/position changeover control control (positioning of designated movement amount) by 9.2.9
turning the "speed/position changeover signal" ON.
Changes the Current feed value ( Md.29 ) to the address set
in the positioning data.
The following two methods can be used.
Current value change (The machine feed value cannot be changed.) 9.2.10
Other • Current value change using positioning data
control
• Current value change using current value change start No.
(No. 9003)
Unconditionally or conditionally jumps to designated positioning
JUMP command 9.2.11
data No.
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Reference
Main functions Details
section
With one start, executes the positioning data in a random block
Block start (Normal start) 10.3.2
with the set order.
Carries out condition judgment set in the "condition data" for
the designated positioning data, and then executes the "start
block data".
Condition start 10.3.3
When the condition is established, the "start block data" is
executed. When not established, that "start block data" is
ignored, and the next point's "start block data" is executed.
Advanced positioning control
Carries out condition judgment set in the "condition data" for
the designated positioning data, and then executes the "start
block data".
Wait start 10.3.4
When the condition is established, the "start block data" is
executed. When not established, stops the control until the
condition is established. (Waits.)
Simultaneously executes the positioning data having the No.
Simultaneous start for the axis designated with the "condition data". (Outputs 10.3.5
position/speed commands at the same timing.)
Stop Stops the positioning operation. 10.3.6
Repeats the program from the start block data set with the
Repeated start (FOR loop) "FOR loop" to the start block data set in "NEXT" for the 10.3.7
designated No. of times.
Repeats the program from the start block data set with the
Repeated start (FOR condition) "FOR condition" to the start block data set in "NEXT" until the 10.3.8
conditions set in the "condition data" are established.
Outputs a position/speed command to the servo amplifier while
JOG operation 11.2
the JOG start signal is ON.
Manual
control
Outputs the position/speed command to the servo amplifier
Manual pulse generator operation according to the input pulses from the manual pulse generator. 11.3
(Carry out fine adjustment, etc., at the pulse level.)
With the "main positioning control" ("advanced positioning control"), whether or not to
continuously execute the positioning data can be set with the "operation pattern".
Outlines of the "operation patterns" are given below.
Reference
Da.1 Operation pattern Details
section
When "independent positioning control" is set for the operation
Independent positioning control pattern of the started positioning data, only the designated
(positioning complete) positioning data will be executed, and then the positioning will
end.
When "continuous positioning control" is set for the operation
pattern of the started positioning data, after the designated
Continuous positioning control 9.1.2
positioning data is executed, the program will stop once, and
then the next following positioning data will be executed.
When "continuous path control" is set for the operation pattern
of the started positioning data, the designated positioning data
Continuous path control
will be executed, and then without decelerating, the next
following positioning data will be executed.
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3.3.3 AD75 auxiliary functions and common functions
Auxiliary functions
The functions that assist positioning control using the AD75 are described below.
(Refer to "SECTION 2" for details on each function.)
Reference
Auxiliary function Details
section
This function retries the machine zero point return with the
Zero point return retry upper/lower limit switches during machine zero point return. This
Functions 12.2.1
function allows machine zero point return to be carried out even if the axis is
characteristic not returned to before the near-point dog with JOG operation, etc.
to machine
zero point After returning to the machine zero point, this function
return compensates the position by the designated distance from the
Zero point shift function 12.2.2
machine zero point position and sets that position as the zero point
address.
This function compensates the mechanical backlash.
Backlash compensation
Position/speed commands equivalent to the set backlash amount 12.3.1
function
are output each time the movement direction changes.
By setting the movement amount per pulse, this function can freely
change the machine movement amount per commanded pulse.
Functions that Electronic gear function 12.3.2
When the movement amount per pulse is set, a flexible positioning
compensate system that matches the machine system can be structured.
control
This function suppresses the machine vibration when the speed
Near pass mode function 12.3.3
changes during continuous path control in the interpolation control.
This function monitors the motor rotation amount (real current
Follow up processing
value) of the motor in a servo OFF status and reflects it on the 12.3.4
function
current feed value.
If the command speed exceeds " Pr.7 Speed limit value" during
Speed limit function control, this function limits the commanded speed to within the 12.4.1
" Pr.7 Speed limit value" setting range.
If the torque generated by the servomotor exceeds " Pr.18
Torque limit setting value" during control, this function limits the
Torque limit function 12.4.2
generated torque to within the " Pr.18 Torque limit setting value"
setting range.
Functions that If a command outside of the upper/lower limit stroke limit setting
Software stroke limit
limit control range, set in the parameters, is issued, this function will not 12.4.3
function
execute positioning for that command.
Hardware stroke limit This function carries out deceleration stop with the limit switch
12.4.4
function connected to the AD75 external device connection connector.
This function performs all axes servo ON/OFF using the all axes
servo ON signal (Y15).
Servo ON/OFF function 12.4.5
This function performs the servo ON/OFF of each axis using
" Cd.100 Servo OFF command".
This function changes the speed during positioning.
Set the new speed in the speed change buffer memory ( Cd.16
Speed change function 12.5.1
New speed value), and change the speed with the Speed change
request ( Cd.17 ).
Functions that This function changes the speed within a percentage of 1 to 300%
change control Override function during positioning. This is executed using " Cd.18 Positioning 12.5.2
details operation speed override".
Acceleration/deceleration This function changes the acceleration/deceleration time during
12.5.3
time change function speed change.
Torque change function This function changes the "torque limit value" during control. 12.5.4
1 This function restores the absolute position of the axis at servo
Absolute position restoration function * 12.6
power-on.
*1 The "servomotor with absolute position detector that can configure an absolute position detection system" is required.
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Reference
Auxiliary function Details
section
This function temporarily stops the operation to confirm the
positioning operation during debugging, etc.
Step function 12.7.1
The operation can be stopped at each "automatic deceleration" or
"positioning data".
This function stops (decelerates to a stop) the positioning being
Skip function executed when the skip signal is input, and carries out the next 12.7.2
positioning.
This function issues an auxiliary work (clamp or drill stop, tool
M code output function change, etc.) according to the code No. (0 to 32767) set for each 12.7.3
positioning data.
This function stores the address positioned with manual control into
Other functions Teaching function the positioning address having the designated positioning data No. 12.7.4
( Cd.5 ).
At each automatic deceleration, this function calculates the
remaining distance for the AD75 to reach the positioning stop
Command in-position position, and when the value is less than the set value, sets the
12.7.5
function "command in-position flag".
When using another auxiliary work before ending the control, use
this function as a trigger for the auxiliary work.
Acceleration/deceleration
This function adjusts the control acceleration/deceleration. 12.7.6
process function
Indirectly specification
This function specifies indirectly and starts the positioning data No. 12.7.7
function
Common functions
The outline of the functions executed as necessary are described below.
(Refer to "SECTION 2" for details on each function.)
Reference
Common functions Details
section
This function returns the "setting data" stored in the AD75 flash
ROM to the default values.
Parameter initialization function The following two methods can be used. 13.2
1) Method using sequence program
2) Method using AD75 software package
This functions stores the "setting data", currently being executed,
into the flash ROM.
Execution data backup function 13.3
1) Method using sequence program
2) Method using AD75 software package
This function displays the AD75 operation state, signal state and
error details on the 17-segment LED on the front of the main
LED display function module. 13.4
The display details can be changed with the mode switch on the
front of the main module.
This function sets the PLC CPU clock data in the AD75. This used
Clock data function 13.5
for the various history data.
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3.3.4 Combination of AD75 main functions and auxiliary functions
With positioning control using the AD75, the main functions and auxiliary functions can
be combined and used as necessary. A list of the main function and auxiliary function
combinations is given below.
Functions characteristic
Auxiliary functions to machine zero point
return
Zero point shift function
Zero point return retry
function
Combination with
Main functions
operation pattern.*1
Machine zero point return control
Zero point return
control
High-speed zero point return control – –
1-axis linear control – –
2-axis linear
– –
interpolation control
1-axis fixed-dimension (Continuous path control
Position control feed control – –
cannot be set)
2-axis fixed-dimension
(Continuous path control
feed control – –
cannot be set)
(interpolation)
Main positioning 2-axis circular
control – –
interpolation control
(Only independent positioning
Speed control – –
control can be set)
(Continuous path control
Speed/position changeover control – –
cannot be set)
(Continuous path control
Current value change – –
cannot be set)
Other control
(Independent positioning
JUMP command – –
control cannot be set)
JOG operation – –
Manual control
Manual pulse generator operation – –
: Always combine, : Combination possible, : Combination limited, : Combination not possible, –: Setting invalid
1
* The operation pattern is one of the "positioning data" setting items.
*2 Change the current value using the positioning data. Disabled for a start of positioning start No. 9003.
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3 SPECIFICATIONS AND FUNCTIONS
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Functions that
Functions that limit Functions that change
compensate Other functions
control control details
control
ion time change function
Backlash compensation
Torque change function
Acceleration/ decelerat-
Electronic gear function
Speed change function
M code output function
Acceleration/decelera-
Indirectly specification
Command in-position
Hardware stroke limit
tion process function
Torque limit function
Software stroke limit
Speed limit function
Teaching function
Override function
Near pass mode
Step function
Skip function
function
function
function
function
function
function
– – – – – – – – – – – – – – – – *2
– – – – – – – – – – – – – – – –
REMARK
• The "common functions" are functions executed as necessary. (These are not combined
with the control.)
• "Advanced positioning control" is a control used in combination with the "main positioning
control". For combinations with the auxiliary functions, refer to the combinations of the "main
positioning control" and auxiliary functions.
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3.4 Specifications of input/output signals with PLC CPU
3.4.1 List of input/output signals with PLC CPU
The AD75 uses 32 input points and 32 output points for exchanging data with the PLC
CPU.
The input/output signals for when the AD75 is mounted in slot No. 0 of the main base
unit are shown below.
Device X refers to the signals input from the AD75 to the PLC CPU, and device Y
refers to the signals output from the PLC CPU to the AD75.
Signal direction: AD75 PLC CPU Signal direction: PLC CPU AD75
Device No. Signal name Device No. Signal name
X0 AD75 READY Y0
X1 Axis 1
X2 Axis 2 Start complete
X3 Axis 3
X4 Axis 1
X5 Axis 2 BUSY
X6 Axis 3
X7 Axis 1
Use prohibited
X8 Axis 2 Positioning complete
X9 Axis 3
XA Axis 1
XB Axis 2 Error detection
XC Axis 3
XD Axis 1
XE Axis 2 M code ON
XF Axis 3 YF
X10 Y10 Axis 1
Y11 Axis 2 Positioning start
Y12 Axis 3
Y13 Axis 1
Axis stop
Y14 Axis 2
Y15 All axes servo ON
Y16 Axis 1 Forward run JOG start
Y17 Axis 1 Reverse run JOG start
Use prohibited
Y18 Axis 2 Forward run JOG start
Y19 Axis 2 Reverse run JOG start
Y1A Axis 3 Forward run JOG start
Y1B Axis 3 Reverse run JOG start
Y1C Axis 3 Axis stop
Y1D PLC READY
Y1E
Use prohibited
X1F Y1F
Important
[Y1E], [Y1F], [Y0 to YF] and [X10 to X1F] are used by the system, and cannot be used by the
user.
If used, the operation of the AD75 will not be guaranteed.
Note that when the AD75 is mounted on the remote I/O station, [YD] to [YF] can be turned
OFF in the user program.
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3.4.2 Details of input signals (AD75 PLC CPU)
The ON/OFF timing and conditions, etc., of the input signals are shown below.
Device
Signal name Details
No.
X0 AD75 READY OFF : READY • When the PLC READY signal [Y1D] turns from OFF to ON, the parameter setting
complete range is checked, and if there is no error, this signal turns OFF.
ON : Not • When the PLC READY signal [Y1D] turns OFF, this signal turns ON.
ready/WDT
error *3 • When a WDT error occurs, this signal turns ON.
• This is used for the interlock with the sequence program, etc.
ON
PLC READY signal
OFF
[Y1D]
AD75 READY signal ON
[X0] OFF
X1 Axis 1 Start OFF : Starting • When the positioning start signal turns ON, and the AD75 starts the positioning
X2 Axis 2 complete incomplete process, this signal turns ON.
X3 Axis 3 ON : Start (The start complete signal also turns ON during zero point return control.)
complete ON
Positioning start signal
OFF
[Y10]
Start complete signal ON
[X1] OFF
X4 Axis 1 BUSY *1 OFF : Not BUSY • This signal turns ON at the start of positioning, zero point return or JOG, and turns
X5 Axis 2 ON : BUSY OFF after the " Da.8 Dwell time" has passed after positioning stop. (This signal
X6 Axis 3 remains ON during positioning.) This signal turns OFF when stopped with step
operation.
• During manual pulse generator operation, this signal turns ON while the " Cd.22
Manual pulse generator enable flag" is ON.
• This signal turns OFF at an error complete or stop.
X7 Axis 1 Positioning OFF : Positioning • This signal turns ON for the time set in " Pr.41 Positioning complete signal output
X8 Axis 2 complete *2 incomplete
time" from the time that each positioning data No. positioning control is completed.
X9 Axis 3 ON : Positioning
(This does not turn ON when " Pr.41 Positioning complete signal output time" is 0.)
complete
• If positioning is started (including zero point return), JOG operation or manual pulse
generator operation start is executed while this signal is ON, the signal will turn OFF.
• This signal will not turn ON when speed control or positioning is canceled midway.
• After the BUSY signal [X4,X5,X6] turns OFF, the positioning complete signal
[X7,X8,X9] turns ON.
ON
BUSY Signal [X4,X5,X6] OFF
ON
Positioning complete Signal [X7,X8,X9] OFF
XA Axis 1 Error OFF : No error
• This signal turns ON when an error listed in section 14.1 occurs, and turns OFF
XB Axis 2 detection ON : Error
occurrence when the error is reset.
XC Axis 3
XD Axis 1 M code ON OFF : No M code • In the WITH mode, this signal turns ON when the positioning data is started, and in
XE Axis 2 setting the AFTER mode, this signal turns ON when the positioning data positioning is
XF Axis 3 ON : M code set completed.
• This signal turns OFF with the " Cd.14 M code OFF request".
• When there is no M code designated (when " Da.9 M code" is 0), this signal will
remain OFF.
• With using continuous path control for the positioning operation, the positioning will
continue even when this signal does not turn OFF. However, a warning will occur.
(Warning code: 503)
• When the PLC READY signal [Y1D] turns OFF, the M code ON signal will also turn
OFF.
• If operation is started while the M code is ON, an error will occur. (Error code: 536)
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3 SPECIFICATIONS AND FUNCTIONS
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Important
*1 When position control of movement amount 0 is executed, the BUSY signal also turns ON. However,
since the ON time is short, the ON status may not be detected in the sequence program.
*2 AD75 positioning complete refers to when the output of position/speed commands from AD75 is
completed.
Thus, even if the AD75 positioning complete signal turns ON, the system may continue to operate.
*3 If WDT error occurs, status of I/O signals cannot be checked by the monitor function of GX
Configurator-AP.
To check the status of WDT error by the AD75 READY signal [X0], use the device monitor of GX
Developer.
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3.4.3 Details of output signals (PLC CPU AD75)
The ON/OFF timing and conditions, etc., of the output signals are shown below.
Device
Signal name Details
No.
Y10 Axis 1 Positioning OFF : No positioning • Zero point return or positioning operation is started.
Y11 Axis 2 start start request • The positioning start signal is valid at the rising edge, and carries
Y12 Axis 3 ON : Positioning start out starting.
requested • When the positioning start signal turns ON during BUSY, the
warning “start during operation” (warning code: 100) will occur.
Y13 Axis 1 Axis stop OFF : No axis stop • When the axis stop signal turns ON, the zero point return control,
Y14 Axis 2 request positioning control, JOG operation and manual pulse generator
Y1C Axis 3 ON : Axis stop operation will stop.
requested Since ON/OFF is detected at intervals of 4ms, set the ON time to
4ms or longer when stopping the axis.
• By turning the axis stop signal ON during positioning operation,
the positioning operation will be "stopped".
• Whether to decelerate or suddenly stop for each stop group can
be selected with " Pr.38 Stop group 1 sudden stop selection" to
" Pr.40 Stop group 3 sudden stop selection".
• During interpolation control of the positioning operation, if the axis
stop signal for either axis turns ON, both axes will decelerate and
stop.
Y15 All axes servo ON OFF : Servo operation • This signal makes all axes servos operable.
not possible For servo ON/OFF, refer to section "12.4.5 Servo ON/OFF
ON : Servo operation function".
possible
Y16 Axis 1 Forward run OFF : JOG not started • When the JOG start signal is ON, JOG operation will be carried
Y17 Axis 1 JOG start ON : JOG started out at the " Cd.19 JOG speed". When the JOG start signal turns
Y18 Axis 2 Reverse run OFF, the system will decelerate and stop.
Y19 Axis 2 JOG start
Y1A Axis 3 Forward run
Y1B Axis 3 JOG start
Reverse run
JOG start
Forward run
JOG start
Reverse run
JOG start
Y1D PLC READY OFF : PLC READY (a) This signal notifies the AD75 that the PLC CPU is normal.
OFF • This is turned ON/OFF with the sequence program.
ON : PLC READY ON • The PLC READY signal is turned ON during positioning
control, zero point return control, JOG operation and manual
pulse generator operation, except for in the peripheral device
test mode.
(b) When data (parameters, etc) are changed, the PLC READY
signal will turn OFF depending on the item. (Refer to Chapter 7.)
(c) The following processes are carried out when the PLC READY
signal turns from OFF to ON.
• The parameter setting range is checked.
• The AD75 READY complete signal [X0] turns OFF.
(d) The following processes are carried out when the PLC READY
signal turns from ON to OFF.
In this case, the OFF time will be 100ms or more.
• The AD75 READY signal [X0] turns ON.
• The operating axis stops.
• The M code ON signal [XD to XF] for each axis turns OFF,
and "0" is stored in " Md.32 Valid M code".
(e) When parameters or positioning data (No.1 to 100) are written
from the peripheral device or PLC CPU to the flash ROM, the
PLC READY signal will turn OFF.
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3 SPECIFICATIONS AND FUNCTIONS
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3.5 Specifications of interfaces with external devices
3.5.1 Electrical specifications of input signals
Rated input Working ON OFF Input Response
Signal name
voltage/current voltage range voltage/current voltage/current resistance time
2.5VDC or more/ 1VDC or less/
5VDC/5mA 4.5 to 6.1VDC Approx. 1.5kΩ 1ms or less
3.5mA or more 0.1mA or less
1) Pulse width
4ms or more
Manual pulse
generator A phase
2ms
(PULSE or more
GENERATOR A)
2ms or more
Manual pulse
generator B phase (Duty ratio 50%)
(PULSE
2) Phase difference
GENERATOR B)
A phase When the A phase has advanced more than the
B phase, the positioning address (current value)
B phase increases.
1ms or more
Near-point dog signal
(DOG)
Stop signal (STOP)
Upper limit signal
(FLS)
Lower limit signal 19.2 to 17.5VDC or more/ 7VDC or less/
24VDC/5mA Approx. 4.7kΩ 4ms or less
(RLS) 26.4VDC 3.5mA or more 1.7mA or less
External start signal
(STRT)
Speed/position
changeover signal
(CHG)
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3.5.2 Signal layout for external device connection connector
The specifications of the connector section, which is the input interface for the AD75
and external device, are shown below.
The signal layout for the AD75 external device connection connector (for one axis) is
shown.
(The signal layout for the external device connection connector is the same for axis 1
to axis 3.)
Pin Signal direction Connection
Pin layout Signal name
No. AD75 – external destination
A1SD75M1/A1SD75M2/ 36 Common COM (External device)
A1SD75M3
(Main body side) 35 Common COM (External device)
34 Open
36 18
29 Open
28 Manual pulse generator PULSER B– Manual pulse
generator
27 Manual pulse generator PULSER A– Manual pulse
generator
26 Open
19 1
17 Open
16 External start signal * STRT (External device)
AD75M1/AD75M2/AD75M3
(Main body side)
15 Speed/position changeover signal CHG (External device)
14 Stop signal STOP (External device)
1 19
13 Lower limit signal RLS Limit switch
12 Upper limit signal FLS Limit switch
11 Near-point dog signal DOG Near-point dog
10 Manual pulse generator PULSE B+ Manual pulse
generator
9 Manual pulse generator PULSE A+ Manual pulse
generator
18 36 8 Open
1 Open
* The signal application follows " Pr.43 External start function selection".
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3 SPECIFICATIONS AND FUNCTIONS
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3.5.3 List of input signal details
The details of each AD75 external device connection connector (for 1 axis) signal are
shown below.
Signal name Pin No. Signal details
36 • Common for near-point dog signal, upper/lower limit, stop signal,
Common
35 speed/position changeover signal, and external start signal.
• Input the pulse signal from the manual pulse generator A phase and B
phase.
Manual pulse generator • If the A phase is advanced more than the B phase, the positioning
(B phase –) 28 address will increase at the rising edge and falling edge of each phase.
Manual pulse generator 27 • If the B phase is advanced more than the A phase, the positioning
(A phase –) address will decrease at the rising edge and falling edge of each phase.
[When increased] [When decreased]
A phase A phase
Manual pulse generator
(B phase +) 10
Manual pulse generator 9 B phase B phase
(A phase +)
Positioning Positioning
address +1+1+1+1+1+1+1+1 address -1 -1 -1 -1 -1 -1 -1 -1
• Use as the positioning start, speed change request and skip request
input signal from an external source.
External start signal 16
• Set which function to use the external start signal with in " Pr.43
External start function selection".
• Input the control changeover signal for the speed/position changeover
Speed/position changeover signal 15
control.
• Input when positioning is stopped.
• When this signal turns ON, the AD75 will stop the positioning being
Stop signal 14 executed.
After that, even if this signal turns from ON for OFF, the system will not
start.
• This signal is input from the limit switch installed at the stroke lower limit
position.
Lower limit signal 13 • Positioning will stop when this signal turns OFF.
• When zero point return retry function is valid, this will be the lower limit
for finding the near-point dog signal.
• This signal is input from the limit switch installed at the stroke upper limit
position.
Upper limit signal 12 • Positioning will stop when this signal turns OFF.
• When zero point return retry function is valid, this will be the upper limit
for finding the near-point dog signal.
• Use this for detecting the near-point dog during machine zero point
Near-point dog signal 11 return.
• The near-point dog signal is detected at turning from OFF to ON.
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3 SPECIFICATIONS AND FUNCTIONS
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3.5.4 Interface internal circuit
The outline diagram of the internal circuit for the AD75 external device connection
interface is shown below.
Pin Need for
External wiring Internal circuit Signal name
No. wiring *1
When not using
11 Near-point dog signal DOG
upper limit switch
12 Upper limit signal FLS
When not using
lower limit switch
13 Lower limit signal RLS
14 Stop signal STOP
Speed/position
15 CHG
changeover signal
16 External start signal STRT
24VDC
35
Common COM
36
(+)
PULSER A+
5V 9
Manual pulse generator
A A phase
(–)
5VDC PULSER A–
27
B
(+)
PULSER B+
0V 10
Manual pulse
generator Manual pulse generator
(MR-HDP01) B phase
(–)
PULSER B–
28
*1: The meaning of “O” and “Δ” in the “need for wiring” column is as follows.
• : Wiring is necessary in positioning.
• : Perform wiring when necessary.
*2: The terminal connected to the common line may be either positive or negative.
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3 SPECIFICATIONS AND FUNCTIONS
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MEMO
3 - 20
Chapter 4
INSTALLATION, WIRING AND MAINTENANCE OF
THE PRODUCT
The installation, wiring and maintenance of the AD75 are explained in this chapter.
Important information such as precautions to prevent malfunctioning of the AD75,
accidents and injuries as well as the proper work methods are described.
Read this chapter thoroughly before starting installation, wiring or maintenance,
and always following the precautions.
4.1 Outline of installation, wiring and maintenance .............................................................4-2
4.1.1 Installation, wiring and maintenance procedures ............................................4-2
4.1.2 Names of each part ..........................................................................................4-3
4.1.3 Handling precautions ........................................................................................4-5
4.2 Installation.......................................................................................................................4-7
4.2.1 Precautions for installation ...............................................................................4-7
4.3 Wiring ...........................................................................................................................4-8
4.3.1 Precautions for wiring .......................................................................................4-8
4.3.2 Wiring the external device connection connector pins ..................................4-11
4.4 Confirming the installation and wiring ..........................................................................4-15
4.4.1 Items to confirm when installation and wiring are completed........................4-15
4.4.2 Single module test ..........................................................................................4-16
4.5 Maintenance .................................................................................................................4-19
4.5.1 Precautions for maintenance..........................................................................4-19
4.5.2 Disposal instructions.......................................................................................4-19
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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4.1 Outline of installation, wiring and maintenance
4.1.1 Installation, wiring and maintenance procedures
The outline and procedures for AD75 installation, wiring and maintenance are shown
below.
STEP 1 Understand the "Handling precautions" and
Preparation Refer to "Names of each part" of the module (AD75)
section 4.1
STEP 2
Installing the Install the module (AD75) on the base unit.
Refer to
module section 4.2
STEP 3 * The cables used to connect the AD75 with the
Wire the external device connection machine system input (each input signal), and the
Refer to connector pins, and assemble the connector. AD75 with the manual pulse generator are
section 4.3 manufactured by soldering each signal wire onto the
Wiring the "external device connection connector" enclosed with
module the AD75.
STEP 4
Connect the cable to the module (AD75) Use the SSCNET cable to connect the AD75 and
servo amplifier.
Wire and connect the manufactured cable to AD75
after reading the precautions for wiring.
STEP 5 * Confirm that the AD75 functions properly
Carry out the single module test with the single module test.
Confirming the Refer to
installation and section 4.4
wiring
STEP 6 * Start up the servo using the AD75 software package.
Start up the servo.
Operation of the positioning system.
STEP 7 * Carry out maintenance as necessary.
Carry out maintenance
Refer to
Servicing the section 4.5
module
STEP 8 * When the AD75 is no longer necessary,
Dispose of the AD75 dispose of it with the specified methods.
Refer to
section 4.5
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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4.1.2 Names of each part
The names of each AD75 part are shown below.
For AD75M3 For A1SD75M3
A D75M3 A 1SD75M3
AX1
AX2
1) 17-segment LED AX3
AX1
MODE
AX1
AX2 2) Axis display LED
AX3 RS-422
MODE
3) Mode switch
4) Module version label
RS-422
5) Peripheral device connection
connector
AX2 AX3
A1SD75M3
6) External device connection
AX1
connector (36-pin connector)
AX1: Axis 1
AX2: Axis 2
AX3: Axis 3
AX3 AX2
7) SSCNET connection
connector
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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No. Name Details
Display the operating status (1)) of the target axis (2)) for that axis.
1) 17-segment LED RUN : The LED corresponding to the operating axis flickers.
TEST : The LEDs of all axes turn ON.
2) Axis display LED (AX1 to 3) IDL : OFF
ERR : The LED corresponding to the axis in error flickers.
Each time this switch is pressed, the details displayed on "1) 17-segment LED" and
"2) Axis display LED" will change.
[Display details]
Operation monitor 1 Operation monitor 2
3) Mode switch
Internal information 1
Input information n Internal information 2
(Refer to section "13.4 LED display function" for details on the displayed
information.)
This label indicates the module's software version and hardware version.
(Example)
4) Module version label A B
Indicates that software version is "B".
Indicates that hardware version is "A".
Peripheral device connection
5) Connector for connecting with peripheral device.
connector
External device connection
6) Connector for connecting mechanical system input and manual pulse generator.
connector
SSCNET connection
7) SSCNET connector for connection with the servo amplifier.
connector
Each AD75 interface is as shown below.
AD75M1 AD75M2 AD75M3 A1SD75M1 A1SD75M2 A1SD75M3
AX1 AX1 AX1
MODE MODE MODE
RS-422 RS-422 RS-422 RS-422 RS-422 RS-422
AX1 AX1 AX1
AX2 AX3 AX2
AX2 AX2 AX3
A1SD75M1 A1SD75M2 A1SD75M3
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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4.1.3 Handling precautions
Handle the AD75 and cable while observing the following precautions.
(1) Handling precautions
! CAUTION
Use the PLC within the general specifications environment given in this manual.
Using the PLC outside the general specification range environment could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
Do not directly touch the conductive section and electronic parts of the module.
Failure to observe this could lead to module malfunctioning or trouble.
When not connecting the external device or peripheral device, always install a cover on the
connector section.
Failure to observe this could lead to malfunctioning.
Make sure that foreign matter, such as cutting chips or wire scraps, do not enter the module.
Failure to observe this could lead to fires, trouble or malfunctioning.
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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(2) Other precautions
(a) Main body
• The main body case is made of plastic. Take care not to drop or apply
strong impacts onto the case.
• Do not remove the AD75 PCB from the case. Failure to observe this
could lead to faults.
(b) Cable
• Do not press on the cable with a sharp object.
• Do not twist the cable with force.
• Do not forcibly pull on the cable.
• Do not step on the cable.
• Do not place objects on the cable.
• Do not damage the cable sheath.
(c) Installation environment
Do not install the module in the following type of environment.
• Where the ambient temperature exceeds the 0 to 55°C range.
• Where the ambient humidity exceeds the 10 to 90%RH range.
• Where there is sudden temperature changes, or where dew condenses.
• Where there is corrosive gas or flammable gas.
• Where there are high levels of dust, conductive powder, such as iron
chips, oil mist, salt or organic solvents.
• Where the module will be subject to direct sunlight.
• Where there are strong electric fields or magnetic fields.
• Where vibration or impact could be directly applied onto the main body.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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4.2 Installation
4.2.1 Precautions for installation
The precautions for installing the AD75 are given below. Refer to this section as well
as section "4.1.3 Handling precautions" when carrying out the work.
(1) Precautions for installation
! DANGER
Switch off all phases of the externally supplied power used in the system before cleaning or
tightening the screws.
Failure to turn all phases OFF could lead to electric shocks.
! CAUTION
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
Switch off all phases of the externally supplied power used in the system before installing or
removing the module.
Failure to turn all phases OFF could lead to module trouble or malfunctioning.
Use the PLC within the general specifications environment given in this manual.
Using the PLC outside the general specification range environment could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
Always securely insert the module latches at the bottom of the module into the fixing holes on
the base unit. (Always screw the AnS Series module onto the base unit with the specified
torque.) Improper mounting of the module could lead to malfunctioning, faults or dropping.
(2) Precautions for mounting
When mounting the AD75 onto the base unit (main base unit, extension base
unit), observe the following points.
(a) Avoid mounting the AD75 onto an extension base unit (A5 B/A1S5 B) that
has no power supply module.
When mounting on this type of unit, take the power capacity and extension
cable voltage drop into consideration.
(b) If the temperature in the panel could exceed 55°C, consider forcibly
ventilating in the PLC panel.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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4.3 Wiring
The wiring precautions for the AD75 are described below. Be careful to observe the
following items together with the "Handling precautions" described in section 4.1.3.
4.3.1 Precautions for wiring
(1) Perform wiring of the AD75 correctly while checking the terminal arrangement.
(For the terminal arrangement of the external device connection connector, refer
to section "3.5.2 Signal layout for external device connection connector.")
(2) Solder or crimp the external device connection connector correctly.
An improperly soldered or crimped connector may cause malfunctions.
(3) Be careful to avoid entry of chips, wiring dust and so on inside the AD75.
Otherwise fire, failure or malfunction may be caused.
(4) Be sure to install a cover for the external device connection connector if no
external device is connected. Otherwise malfunction may be caused.
(5) Connect the external device connection connector, SSCNET connection
connector and peripheral device connection connector with the connector of the
AD75. Check that the connector snaps. An improperly connected connector will
cause poor continuity, possibly causing erroneous inputs or outputs.
(6) Do not pull the cable when removing the cable from the AD75 or servo amplifier.
Hold and pull the connector connected to the AD75 or servo amplifier. If the cable
connected to the AD75 or servo amplifier is pulled, a malfunction may be caused.
As well, the AD75, servo amplifier or cable may be broken.
(7) Disconnect the external device connection connector and SSCNET connection
connector when the system is stopped.
If the external device connection connector or SSCNET connection connector is
disconnected during operation of the system, the system will be stopped.
(8) Route the cables connected to the AD75, in a duct, or fix them. If cables are not
routed in the duct or no fixing measures are taken to them, drifting or moving
cables, breakage of the AD75, servo amplifier or cable due to a carelessly pulled
cable, or malfunction caused by a poorly connected cable may be caused.
(9) Do not tie the AD75 cable with the main circuit cable, power cable, or a load
cable for other than the programmable controller or do not route the AD75 cable
near them. Separate these by 100 mm as a measure. Otherwise noise, surge or
induction may cause a malfunction.
(10) When routing the AD75 cable near a power cable at a distance smaller than 100
mm, use a shielded cable for a countermeasure against noise. Connect the
shielding wire of the shielded cable securely to the panel of the AD75.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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[Shielding wire processing example]
Ground a 2mm2 or a thicker grounding wire
in the shortest path.
(Ground to the panel of the AD75 securely.)
Strip the sheath of the shielded cable.
Remove the shielding wires from the
shielded cable and solder them to the
grounding cable.
Wrap with insulating tape.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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(11) To comply with EMC directive and low voltage directive, use shielded cables and
AD75CK cable clamp (made by Mitsubishi Electric) to ground to the panel.
Inside control panel
AD75
20 to 30cm
AD75CK
[How to ground shilded cable using AD75CK]
Shielded cable
Shielding wires
Grounding terminal
Grounding terminal installation screw (M4x8 screw)
Screw for mounting to control cabinet (M4 screw)
AD75CK can ground up to four shielded cables having about 7 mm or smaller outside
diameters. (For details, refer to AD75CK cable clamp operation manual <IB-68682>.)
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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(12) The influence of noise may be reduced by installing ferrite cores to the cable
connected to the AD75 as a noise reduction technique.
For the noise reduction techniques related to connection with the servo amplifier,
also refer to the instruction manual of the servo amplifier.
(13) If compliance with the EMC directive is not required, the influence of external
noise may be reduced by making the configuration compliant with the EMC
directive.
For the configuration compliant with the EMC directive, refer to Chapter 3 "EMC
directive and low voltage directive" in the User's Manual (Hardware) of the used
CPU module.
(14) Installing ferrite cores and noise filter to the power supply line of the PLC as
noise reduction techniques may have effects on external noise.
(Example) • Ferrite cores
Type: ZCAT3035-1330 (TDK ferrite core)
• Noise filter
Type: MXB-1210-33 (DENSEI-LAMBDA noise filter)
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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4.3.2 Wiring the external device connection connector pins
The pins for the external device connection connector are wired in the following
manner.
..... Disassemble the connector section,
(1) Disassembling the connector section
and remove the connector.
(2) Connecting the connector and wire ..... Solder the wire onto the connector pin.
(3) Assembling the connector section ..... Assemble the connector section.
(1) Disassembling the connector section
(a) Loosen and remove screw A.
(Take care not to lose the screw and nut.)
(b) Open the connector cover from the connector side.
(c) Remove the connector and cable fixture.
A
Connector Cable fixture
section
Connector cover
Connector
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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(2) Connecting the connector and wire
* Refer to section "3.5 Specifications of interfaces with external devices" when
connecting.
(a) Loosen the cable fixture screw B, pass the cable through, and
then tighten screw B.
(Screw B may be removed once, and then tightened after sandwiching the
cable.)
(Take care not to lose the screw and nut.)
B
Pass the cable through
Cable fixture
Connector
(b) Solder the wire onto the connector.
Connector pin layout
Solder
18
36
Wire
17
35
20
2
19
* The applicable size of the wire to be connected is "AWG#24 to #30
(approx. 0.05 to 0.2SQ)".
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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(c) After connection, the state will be as shown below.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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(3) Assembling the connector section
(a) Fit the soldered connector and cable fixture into the connector
cover.
* The cable fixture acts as a stopper to protect the signal wire connection
section when the cable is pulled on. If the cable is not sufficiently
tightened with the cable fixture, wind insulation tape around the cable so
that it can be sufficiently tightened and pressed down.
(b) Sandwich the parts with the connector cover, and tigthen
screw A.
The following figure shows the case of the AD75M1/AD75M2/AD75M3.
* In the case of the A1SD75M1/A1SD75M2/A1SD75M3, the orientation of
the connector is opposite. (Refer to section "4.1.2 Names of each part".)
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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4.4 Confirming the installation and wiring
4.4.1 Items to confirm when installation and wiring are completed
Check the (1) and (2) points when completed with the AD75 installation and wiring.
(1) Does the AD75 operate correctly? ... "Single module test"
With the "single module test", correct operation of the AD75 is confirmed by the
LED displays on the AD75. (Change the mode switch following the procedures
given in section "4.4.2 Single module test", and confirm the details displayed on
each mode LED.)
Check that there are no faults in the AD75 with the single module test.
(2) Is the servo amplifier correctly wired and set? ... "Servo starting up"
In "servo starting up", check the following four points with the servo starting up
function of the AD75 software package. (To perform "servo starting up", the servo
parameters must be set and written to the AD75 using the AD75 software
package.)
• Checking of error/warning history
• Checking of servo parameters and peripheral device's servo parameters
• Checking of upper/lower limit switch operations
• Checking of motor speed
In this manual (1) "Single module test" is explained. Refer to the AD75 Software
Package Operating Manual for details on (2) "Servo starting up".
Important
If the AD75 is faulty, or when the required signals such as the near-point dog signal and stop signal are
not recognized, unexpected accidents such as "not decelerating at the near-point dog during machine
zero point return and colliding with the stopper", or "not being able to stop with the stop signal" may
occur.
The "single module test" and "servo starting up" must be carried out not only when structuring the
positioning system, but also when the system has been changed with module replacement or rewiring,
etc.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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4.4.2 Single module test
Whether the AD75 is operating correctly is confirmed with the LED displays on the
AD75 main body.
The "single module test" methods are described below.
The "single module test" can be carried out when there is no sequence program stored
in the PLC CPU, when there is no data stored in the AD75, and when the AD75 is
running.
Carry this test out after connecting the AD75, servo amplifier, servomotor and external
devices. The "mode switch", "17-segment LED" and "axis display LED" used in the
explanation refer to the AD75 switches and LEDs.
(Step 1) Turning ON the power
1) Stop the PLC CPU.
(When the AD75 is mounted on the remote station, stop the master station.)
2) Turn ON for the PLC CPU (when the AD75 is mounted on the remote
station, the mounted station and master station), and the power for the
servo amplifier and servomotor connected to the AD75.
3) The AD75 OS type [same displays as (Step 4)] will appear on the 17-
segment LED for one second.
4) After one second passes, the state will shift to the operation monitor 1
described in (Step 2).
(Step 2) Operation monitor 1
1) Depending on the AD75 state, one of the following will appear on the 17-
segment LED and axis display LED.
Confirm that the display matches the AD75 state.
17-segment
AD75 state Each axis' axis display LED (AX1 to 3)
LED
The LED corresponding to the operating axis
Running RUN
flickers.
In test mode TEST The LEDs of all axes turn ON.
Idle IDL OFF
The LED corresponding to the axis in error
Error occurrence ERR
flickers.
2) When the mode switch is pressed, the state will shift to the operation
monitor 2 described in (Step 3).
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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(Step 3) Operation monitor 2
1) The axis display LED for each axis will turn ON sequentially at an approx.
0.5 second interval.
One of the following states will appear on the 17-segment LED to indicate
the state of the axis for which the axis display LED is ON.
Confirm that the display matches each axis state.
17-segment
Axis state Remarks
LED
• State when power is turned
Idle IDLE
ON/operation has ended.
• State when positioning
Stopped STOP operation is temporarily
stopped.
In JOG operation JOG
In manual pulse generator operation MANP
In zero point return OPR
In position control POSI –
In speed control VELO
In speed control for speed/position changeover control V- P
In position control for speed/position changeover control V -P
• The execution is waiting due to
Waiting BUSY
the condition designation, etc.
• The error code appears in ***.
Error occurrence * E*** Refer to Chapter 14 for details
on the errors.
POINT
* When the PLC READY signal [Y1D] is ON, even if a parameter error occurs,
the error code will not appear on the 17-segment LED.
If the error code is not displayed on the 17-segment LED, check the error code
with the peripheral device or AD75 error code storage buffer memory. ( Md.33
Axis error No., Md.34 Axis warning No.)
2) When the mode switch is pressed, the state will shift to the internal
information 1 monitor state described in (Step 4).
(Step 4) Internal information 1 monitor
1) The AD75 OS type ("S000") will appear on the 17-segment LED for
reference.
2) The axis display LED for each axis will turn OFF.
3) When the mode switch is pressed, the state will shift to the internal
information 2 monitor state described in (Step 5).
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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(Step 5) Internal information 2 monitor
1) The AD75 OS version will appear on the 17-segment LED for reference.
[V000]
Version
2) The axis display LED for each axis will turn OFF.
3) When the mode switch is pressed, the state will shift to the input information
n monitor state described in (Step 6).
(Step 6) Input information n monitor
1) Each time the mode switch is pressed, the following input signal names will
sequentially appear on the 17-segment LED.
2) The signal state of each axis displayed on the 17-segment LED is displayed
with the axis display LED for each axis.
Confirm that the display matches each signal state.
• When signal is ON ........................ Axis display LED turns ON
• When signal is OFF....................... Axis display LED turns OFF
17-segment LED Target signal name Remarks
SVON Servo ON ( Md.116 Servo status: b1)
ULMT Upper limit signal Changes sequentially
LLMT Lower limit signal with each press of the
mode switch.
V-P Speed/position changeover signal
DOG Near-point dog signal
(Step 7) Shifting to operation monitor 1, and ending the operation
monitor
1) When the mode switch is pressed, the state will return to the operation
monitor 1 (Step 2).
Each time the mode switch is then pressed, the operation monitors between
(Step 2) and (Step 6) will be repeated.
2) To end the operation monitor, enter the monitor state between (Step 2) and
(Step 6) required by the user.
POINT
(1) The operation monitor described in this section is a function that allows the
AD75 state, control state of each axis and state of the input signals to be
confirmed. This monitor can be operated at any time.
(2) If the AD75 is not operating correctly, use the operation monitors as necessary.
(3) As another display on the above 17-segment LED, if a watch dog timer error
occurs in the AD75, "FALT" will appear.
If a watch dog timer error occurs in the AD75, the PLC CPU must be reset.
If the watch dog timer error still occurs in the AD75 even after resetting the PLC
CPU, the AD75 module must be replaced.
Contact your nearest dealer or sales office.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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4.5 Maintenance
4.5.1 Precautions for maintenance
The precautions for servicing the AD75 are given below. Refer to this section as well
as section "4.1.3 Handling precautions" when carrying out the work.
! DANGER
Switch off all phases of the externally supplied power used in the system before cleaning or
tightening the screws.
Failure to turn all phases OFF could lead to electric shocks.
! CAUTION
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
Switch off all phases of the externally supplied power used in the system before installing or
removing the module.
Failure to turn all phases OFF could lead to module trouble or malfunctioning.
4.5.2 Disposal instructions
! CAUTION
When disposing of the product, handle it as industrial waste.
4 - 20
Chapter 5
DATA USED FOR POSITIONIG CONTROL
The parameters and data used to carry out positioning control with the AD75 are explained
in this chapter.
With the positioning system using the AD75, the various parameters and data explained
in this chapter are used for control. The parameters and data include parameters set 5
according to the device configuration, such as the system configuration, and parameters
and data set according to each control. Read this section thoroughly and make settings
according to each control or application.
* Refer to "SECTION 2" for details on each control.
5.1 Types of data ..................................................................................................................5-2
5.1.1 Parameters and data required for control ........................................................5-2
5.1.2 Setting items for positioning parameters..........................................................5-4
5.1.3 Setting items for zero point return parameters ................................................5-6
5.1.4 Setting items for servo parameters ..................................................................5-7
5.1.5 Setting items for positioning data .....................................................................5-9
5.1.6 Setting items for start block data ....................................................................5-11
5.1.7 Setting items for condition data ......................................................................5-12
5.1.8 Types and roles of monitor data.....................................................................5-13
5.1.9 Types and roles of control data ......................................................................5-17
5.2 List of parameters.........................................................................................................5-22
5.2.1 Basic parameters 1.........................................................................................5-22
5.2.2 Basic parameters 2.........................................................................................5-26
5.2.3 Detailed parameters 1 ....................................................................................5-28
5.2.4 Detailed parameters 2 ....................................................................................5-38
5.2.5 Zero point return basic parameters ................................................................5-47
5.2.6 Zero point return detailed parameters............................................................5-54
5.2.7 Servo parameters for MR-H-B (MR-H-BN) ....................................................5-58
5.2.8 Servo parameters for MR-J-B ........................................................................5-68
5.2.9 Servo parameters for MR-J2-B ......................................................................5-78
5.2.10 Servo parameters for MR-J2S-B....................................................................5-88
5.2.11 Servo parameters for MR-J2-03B5 ..............................................................5-104
5.3 List of positioning data................................................................................................5-112
5.4 List of start block data ................................................................................................5-127
5.5 List of condition data...................................................................................................5-131
5.6 List of monitor data .....................................................................................................5-136
5.6.1 System monitor data.....................................................................................5-136
5.6.2 Axis monitor data ..........................................................................................5-146
5.7 List of control data ......................................................................................................5-168
5.7.1 System control data ......................................................................................5-168
5.7.2 Axis control data ...........................................................................................5-174
5-1
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
5.1 Types of data
5.1.1 Parameters and data required for control
The parameters and data required to carry out control with the AD75 include the
"setting data", "monitor data" and "control data" shown below.
Setting data (Data set beforehand according to the machine and application, and stored in the flash ROM.)
Positioning
Parameters Basic parameters 1
parameters Set according to the machine and applicable
Pr.1 to Pr.58 Basic parameters 2 motor when system is started up.
Pr.1 to Pr.44
Pr.100 to Pr.138
Pr.149 , Pr.150
Pr.150 Note)
Especially when the setting of the basic parameters 1 is wrong, the movement
amount may change or no operation may take place.
Detailed parameters 1
Set according to the system configuration when
Detailed parameters 2 the system is started up.
Note)
Detailed parameters 2 are data items for using the AD75 functions to the fullest.
Set as required.
Zero point
return Zero point return basic parameters
Set the values required for carrying
parameters
Zero point return detailed parameters out zero point return control.
) Pr.45 to Pr.59 )
Servo
Servo basic parameters
parameters
Set according to the servo amplifier and
Pr.100 to Pr.138 , Servo adjustment parameters
control details.
Pr.149
Servo extention parameters
Positioning data Positioning data Set the data for "main positioning control".
) Da.1 to Da.9 )
Positioning start Start block data Set the start block data for "advanced positioning control".
information ) Da.10 to Da.13 )
) Da.10 to Da.18 )
Condition data Set the condition data for "advanced positioning control".
) Da.14 to Da.18 )
Memo data Set the condition judgment values for the condition
data used in "advanced positioning control".
Indirectly specification data Set when indirectly specificating the positioning
data No. .
◊ The data is set with the sequence program or peripheral device.
In this chapter, the method using the peripheral device will be explained.
(Refer to "Point" on the next page.)
◊ The basic parameters 1, deteailed parameters 1, and zero point return parameters become valid
when the PLC READY signal [Y1D] turns from OFF to ON.
◊ The basic parameters 2 and detailed parameters 2 become valid immediately when they are
written to the buffer memory, regardless of the state of the PLC READY signal [Y1D].
◊ Even when the PLC READY signal [Y1D] is ON, the values or contents of the following can
be changed: basic parameters 2, detailed parameters 2, positioning data, and positioning
start information.
◊ The servo parameters are transferred from the AD75 to the servo amplifier by initial communication
that is made after power-on or after PLC CPU reset.
When any of the servo parameter values has been changed, perform write to the flash ROM of the
AD75, and switch power off, then on again or reset the PLC CPU.
However, the following servo parameters are also transferred to the servo amplifier when the PLC
READY signal [Y1D] turns from OFF to ON.
Auto tuning (servo basic parameter) Load inertia ratio (servo adjustment parameter)
Position loop gain 1 (servo adjustment parameter) Speed loop gain 1 (servo adjustment parameter)
Position loop gain 2 (servo adjustment parameter) Speed loop gain 2 (servo adjustment parameter)
Speed integral compensation (servo adjustment parameter)
Feed forward gain (servo adjustment parameter)
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Monitor data (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.)
Md.1 to Md.56 , Md.100 to Md.121
System monitor data Monitors the AD75 specifications, such as the module name and OS type,
and the operation history.
Md.1 to Md.28 )
)
Axis monitor data Monitors the data related to the operating axis, such as the current position
and speed.
Md.29 to Md.56
Md.100 to Md.121
◊ The data is monitored with the sequence program or peripheral device. In this chapter,
the method using the peripheral device will be explained.
Control data (Data for user to control positioning system.) Cd.1 to Cd.35 , Cd.100 to Cd.101
System control data Sets the clock data in the module, and reads/writes the "positioning data".
Cd.1 to Cd.10 )
)
Makes settings related to the operation, and controls the speed change during
Axis control data
operation, and stops/restarts the operation.
Cd.11 to Cd.35
Cd.100 , Cd.101
◊ Control using the control data is carried out with the sequence program.
POINT
(1) The "setting data" is created for each axis.
(2) The "setting data" parameters have determined default values, and are set to
the default values before shipment from the factory. (Parameters related to
axes that are not used are left at the default value.)
(3) The "setting data" can be initialized with the AD75 software package or the
sequence program.
(4) It is recommended to set the "setting data" with the AD75 software package.
When executed with the sequence program, many sequence programs and
devices must be used. This will not only complicate the program, but will also
increase the scan time.
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
5.1.2 Setting items for positioning parameters
The setting items for the "positioning parameters" are shown below. The "positioning
parameters" are commonly set for each axis for all control using the AD75.
Refer to "SECTION 2" for details on each control, and section "5.2 List of parameters"
for details on each setting item.
Manual
Main positioning control
Control control
Position control Other control
Related auxiliary function
Zero point return control
Manual pulse generator
1-axis fixed-dimension
2-axis fixed-dimension
Current value change
interpolation control
interpolation control
1-axis linear control
changeover control
JUMP command
Speed/position
JOG operation
Speed control
2-axis circular
2-axis linear
feed control
feed control
operation
Positioning parameter
Pr.1 Unit setting –
Basic para-
meters 1
Pr.2 No. of pulses per rotation (Ap)
Pr.3 Movement amount per rotation (Al) 12.3.2*
Pr.4 Unit magnification (Am)
Pr.7 Speed limit value – 12.4.1*
Basic para-
meters 2
Pr.8 Acceleration time 0 –
12.7.6*
Pr.9 Deceleration time 0 –
Pr.10 Bias speed at start – – – – –
Pr.12 Backlash compensation amount – – 12.3.1*
Software stroke limit upper limit – – –
Pr.13
value
Software stroke limit lower limit – – –
Pr.14
value 12.4.3*
Pr.15 Software stroke limit selection – – –
Detailed parameters 1
Software stroke limit valid/invalid – – – – – –
Pr.16
setting
Pr.17 Command in-position width – – – – – – 12.7.5*
Pr.18 Torque limit setting value – – 12.4.2*
Pr.19 M code ON signal output timing – – – – – 12.7.3*
Pr.20 Speed changeover mode – – – – – – – –
Interpolation speed designation – – – – – – –
Pr.21 –
method
Current feed value during speed – – – – – – – –
Pr.22 –
control
Pr.23 Manual pulse generator selection – – – – – – – – – –
Size selection for – – –
Pr.25 –
acceleration/deceleration time
: Always set
: Set as required ("–" when not set)
: Setting limited
– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the
setting range, there is no problem.)
* : Section to be referred to
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Manual
Main positioning control
Control control
Position control Other control
Related auxiliary function
Zero point return control
Manual pulse generator
1-axis fixed-dimension
2-axis fixed-dimension
Current value change
interpolation control
interpolation control
1-axis linear control
changeover control
JUMP command
Speed/position
JOG operation
Speed control
2-axis circular
2-axis linear
feed control
feed control
operation
Positioning parameter
Pr.26 Acceleration time 1 – – –
Pr.27 Acceleration time 2 – – –
Pr.28 Acceleration time 3 – – –
12.7.6*
Pr.29 Deceleration time 1 – – –
Pr.30 Deceleration time 2 – – –
Pr.31 Deceleration time 3 – – –
Pr.32 JOG speed limit value – – – – – – – – – 12.4.1*
JOG operation acceleration time – – – – – – – – –
Pr.33 –
selection
JOG operation deceleration time – – – – – – – – –
Pr.34 –
Detailed parameters 2
selection
Acceleration/deceleration process – – –
Pr.35
selection
Pr.36 – – – 12.7.6*
S-curve ratio
Pr.37 Sudden stop deceleration time – – –
Pr.38 Stop group 1 sudden stop selection – – – –
Pr.39 Stop group 2 sudden stop selection – – – –
Pr.40 Stop group 3 sudden stop selection – – – –
Positioning complete signal output – – – –
Pr.41 –
time
Allowable circular interpolation error – – – – – – – – –
Pr.42 –
width
– – 12.5.1*
Pr.43 External start function selection
12.7.2*
Near pass mode selection for path – – – – – – – –
Pr.44 12.3.3*
control
Setting for the restart allowable – – – – –
Pr.150 12.4.5
range when servo OFF to ON
: Always set
: Set as required ("–" when not set)
– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the
setting range, there is no problem.)
* : Section to be referred to
Checking the positioning parameters
Pr.1 to Pr.44 , Pr.150 are checked with the following timing.
(1) When the "PLC READY signal" output from the PLC CPU to the AD75
changes from OFF to ON
(2) When the test mode using the AD75 software package
REMARK
• "Advanced positioning control" is carried out in combination with the "main
positioning control".
Refer to the "main positioning control" parameter settings for details on the
parameters required for "advanced positioning control".
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
5.1.3 Setting items for zero point return parameters
When carrying out "zero point return control", the "zero point return parameters" must
be set. The setting items for the "zero point return parameters" are shown below.
The "zero point return parameters" are set commonly for each axis.
Refer to "Chapter 8 ZERO POINT RETURN CONTROL" for details on the "zero point
return control", and to section "5.2 List of parameters" for details on each setting item.
Zero point return control High-speed zero
Machine zero point return control
Zero point return parameters point return control
Data setting
dog method
dog method
Near-point
Near-point
method 1)
method 2)
method 3)
Zero point return basic
method
Pr.45 Zero point return method
Count
Count
Count
parameters
2)
Pr.46 Zero point return direction –
Pr.47 Zero point address
Pr.48 Zero point return speed –
Pr.49 Creep speed –
Pr.50 Zero point return retry R R R R R –
Value set for
Setting for the movement amount after machine zero point
Pr.52 – – –
Zero point return detailed parameters
near-point dog ON return control are
Zero point return acceleration time used.
Pr.53 –
selection
Zero point return deceleration time
Pr.54 –
selection
Pr.55 Zero point shift amount S S S S S –
Pr.56 Zero point return torque limit value – – – – – –
Speed designation during zero point
Pr.57 S S S S S –
shift
Dwell time during zero point return
Pr.58 R R R R R –
retry
Pr.59 Absolute position restoration selection A A A A A A
: Always set
– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or
within the setting range, there is no problem.)
R : Set when using the section "12.2.1 Zero point return retry function". ("–" when not set.)
S : Set when using the section "12.2.2 Zero point shift function". ("–" when not set.)
A : Set when an absolute position detection system is configured. ("–" when an absolute position detection system is not
configured.)
Checking the zero point return parameters.
Pr.45 to Pr.59 are checked with the following timing.
(1) When the "PLC READY signal" output from the PLC CPU to the AD75
changes from OFF to ON
(2) When the test mode using the AD75 software package
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
5.1.4 Setting items for servo parameters
The setting items for the "servo parameters" are indicated below. Set the "servo
parameters" axis-by-axis according to the used servo amplifier and control details.
The types and setting ranges of the parameters change depending on the used servo
amplifier.
For details of the setting items, refer to the following servo parameter section of the
corresponding model.
• When MR-H-B (MR-H-BN) is used : "Section 5.2.7 Servo parameters for MR-H-B
(MR-H-BN)"
• When MR-J-B is used : "Section 5.2.8 Servo parameters for MR-J-B"
• When MR-J2-B is used : "Section 5.2.9 Servo parameters for MR-J2-B"
• When MR-J2S-B is used : "Section 5.2.10 Servo parameters for MR-J2S-B"
• When MR-J2-03B5 is used : "Section 5.2.11 Servo parameters for MR-J2-
03B5"
For details of the servo parameters, refer to the Instruction Manual of the used servo
amplifier.
Servo amplifier model MR-H-B
MR-J-B MR-J2-B MR-J2S-B MR-J2-03B5
Servo parameter (MR-H-BN)
Pr.100 Servo series
Pr.101 Amplifier setting
Servo basic parameter
Pr.102 Regenerative brake resistor
Pr.103 Motor type
Pr.104 Motor capacity
Pr.105 Motor speed
Pr.106 Feedback pulse
Pr.107 Rotation direction
Pr.108 Auto tuning
Pr.109 Servo response setting
Pr.112 Load inertia ratio
Pr.113 Position loop gain 1
Pr.114 Speed loop gain 1
Pr.115 Position loop gain 2
Servo adjustment parameter
Pr.116 Speed loop gain 2
Pr.117 Speed integral compensation
Pr.118 Notch filter selection*
Pr.119 Feed forward gain
Pr.120 In-position range
Pr.121 Solenoid brake output
Pr.122 Monitor output mode selection
Pr.123 Option function 1
Pr.124 Option function 2
Low pass filter/adaptive vibration
Pr.125
suppression control
* : Called "machine resonance suppression filter 1" in the MR-J2S-B.
: Can be set
: Some restrictions
: Cannot be set
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5 DATA USED FOR POSITIONING CONTROL
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Servo amplifier model MR-H-B
MR-J-B MR-J2-B MR-J2S-B MR-J2-03B5
Servo parameter (MR-H-BN)
Pr.127 Monitor output 1 offset
Pr.128 Monitor output 2 offset
Servo extension parameter
Pr.129 Pre-alarm data selection
Pr.130 Zero speed
Pr.131 Error excessive alarm level
Pr.132 Option function 5
Pr.133 Option function 6
Pr.134 PI-PID switching position droop
Pr.136 Speed differential compensation
Pr.138 Encoder output pulses
Pr.149 Servo parameter transmission setting
: Can be set
: Cannot be set
Checking the servo parameters
Pr.100 to Pr.138 and Pr.149 are checked with the following timing.
(1) When the "PLC READY signal" output from the PLC CPU to the AD75
changes from OFF to ON
(2) When the test mode using the AD75 software package
5-8
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
5.1.5 Setting items for positioning data
The "positioning data" must be set when carrying out "main positioning control". The
setting items for the "positioning data" are shown below.
One to 600 "positioning data" items can be set for each axis.
Refer to "Chapter 9 MAIN POSITIONING CONTROL" for details on the "main
positioning control", and to section "5.3 List of positioning data" for details on each
setting item.
Main positioning control Position control Other control
1-axis fixed-dimension
2-axis fixed-dimension
Current value change
interpolation control
interpolation control
1-axis linear control
changeover control
JUMP command
Speed/position
Speed control
2-axis circular
2-axis linear
feed control
feed control
Positioning data setting items
Independent
positioning control
Operation Continuous
Da.1
pattern positioning control
Continuous path
control
Forward
Fixed- run
Circular Forward run
dimension
interpolation Speed speed/posi-
Linear 1 feed 1 Current
Circular limited tion JUMP
Da.2 Control method Linear 2 Fixed- right value
Reverse Reverse run chang command
* dimension
Circular left run speed/posi-
feed 2
* Speed tion
*
limited
Da.3 Acceleration time No. – –
Da.4 Deceleration time No. – –
Change
Positioning destina-
Da.5 – – –
address/movement amount tion
address
Da.6 Arc address – – – – – –
Da.7 Command speed – –
JUMP
Dwell time/JUMP destination destination
Da.8 –
positioning data No. positioning
data No.
Condition
data No.
Da.9 M code/condition data –
when
JUMP
: Always set
: Set as required ("–" when not set)
: Setting not possible
– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the
setting range, there is no problem.)
* : The "ABS (absolute) method" or "INC (incremental) method" can be used for the control method.
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5 DATA USED FOR POSITIONING CONTROL
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Checking the positioning data
Da.1 to Da.9 are checked with the following timing.
(1) Startup of a positioning operation
(2) When the test mode using the AD75 software package
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5 DATA USED FOR POSITIONING CONTROL
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5.1.6 Setting items for start block data
The "start block data" must be set when carrying out "advanced positioning control".
The setting items for the "start block data" are shown below.
Up to 50 points of "start block data" can be set for each axis.
Refer to "Chapter 10 ADVANCED POSITIONING CONTROL" for details on the
"advanced positioning control", and to section "5.4 List of start block data" for details on
each setting item.
Advanced positioning
Repeated
control Block start Repeated
Condition Simulta- start
(Normal Wait start Stop start
Start block data start neous start (FOR
start) (FOR loop)
setting items condition)
Da.10 Shape
Da.11 Start data No.
Da.12 Special start command –
Da.13 Parameter – –
: Set as required ("–" when not set)
– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the
setting range, there is no problem.)
Checking the start block data
Da.10 to Da.13 are checked with the following timing.
(1) When the "Start block data" starts
(2) When the test mode using the AD75 software package
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5 DATA USED FOR POSITIONING CONTROL
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5.1.7 Setting items for condition data
When carrying out "advanced positioning control" or using the JUMP command in the
"main positioning control", the "condition data" must be set as required. The setting
items for the "condition data" are shown below.
Up to 10 "condition data" items can be set for each axis.
Refer to "Chapter 10 ADVANCED POSITIONING CONTROL" for details on the
"advanced positioning control", and to section "5.5 List of condition data" for details on
each setting item.
Control Main positioning
Advanced positioning control
control
Other Repeat-
Block Repeat-
than JUMP Simul- ed start
start Condition ed start
JUMP com- Wait start taneous Stop (FOR
(Normal start (FOR
com- mand start condi-
start ) loop)
Condition data mand tion)
Da.14 Condition target – – – –
Da.15 Condition operator – – – –
Da.16 Address – – – – –
Da.17 Parameter 1 – – – –
Da.18 Parameter 2 – – – –
: Set as required ("–" when not set)
: Setting limited
– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the
setting range, there is no problem.)
Checking the condition data
Da.14 to Da.18 are checked with the following timing.
(1) When the "Start block data" starts
(2) When "JUMP command" starts
(3) When the test mode using the AD75 software package
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5.1.8 Types and roles of monitor data
Data that indicates the positioning system's operation state is stored in the buffer
memory's monitor data area.
When using the positioning system, this data must be monitored as necessary.
The data that can be monitored is shown below.
• Monitoring the system
Monitors the AD75 specifications, such as the module name and OS type, and the
operation history. (System monitor data Md.1 to Md.28 )
• Monitoring the axis operation state
Monitors the data related to the operating axis, such as the current position and
speed. (Axis monitor data Md.29 to Md.56 )
* The axis monitor data is updated every 56.8ms. Note that " Md.32 Valid M code"
is updated simultaneously when "M code ON signal [XD, XE, XF] turns ON.
(1) Monitoring the system
Monitoring the AD75 specifications
Monitor details Corresponding item
Monitor the module name Md.2 Module name
Monitor the OS type Md.3 OS type
Monitor the OS version Md.4 OS version
Md.5 Clock data (Hour: minute)
Monitor the clock data used in the system
Md.6 Clock data (Second: 100ms)
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5 DATA USED FOR POSITIONING CONTROL
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Monitoring the positioning system operation history
Monitor details Corresponding item
Monitor whether the system is in the test mode Md.1 In test mode flag
Start axis Md.7 Start axis
Operation type Md.8 Operation type
Monitor the history of the data Hour : minute Md.9 Start time (Hour: minute)
Start
that has been started Second : 100ms Md.10 Start time (Second: 100 ms)
Error when starting Md.11 Error judgment
Latest pointer No. Md.12 Starting history pointer
Start axis Md.13 Start axis
Operation type Md.14 Operation type
Monitor the history of the data
that caused an error when Hour : minute Md.15 Start time (Hour: minute)
Start
starting and that was not Second : 100ms Md.16 Start time (Second: 100 ms)
operated
Error when starting Md.17 Error judgment
Latest pointer No. Md.18 Starting history pointer at error
Axis in which the error occurred Md.19 Axis in which the error occurred
Axis error No. Md.20 Axis error No.
Hour : minute Md.21 Axis error occurrence time (Hour: minute)
Monitor the history of all errors Axis error
occurrence Axis error occurrence time
Second : 100ms Md.22
(Second: 100ms)
Latest pointer No. Md.23 Error history pointer
Axis in which the warning occurred Md.24 Axis in which the warning occurred
Axis warning No. Md.25 Axis warning No.
Axis warning occurrence time
Monitor the history of all Hour : minute Md.26
warnings Axis warning (Hour: minute)
occurrence Axis warning occurrence time
Second : 100ms Md.27
(Second: 100ms)
Latest pointer No. Md.28 Warning history pointer
(2) Monitoring the axis operation state
Monitoring the position
Monitor details Corresponding item
Monitor the current machine feed value Md.30 Machine feed value
Monitor the current "current feed value" Md.29 Current feed value
Monitor the current target value Md.41 Target value
Monitor the current value of actual movement (current feed value -
Md.101 Real current value
droop value of deviation counter)
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5 DATA USED FOR POSITIONING CONTROL
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Monitoring the speed
Monitor details Corresponding item
Indicates the
During independent axis control speed of each
axis
When "0:
Composite speed" is Indicates the
set for " Pr.21 composite
Monitor the During Interpolation speed speed Md.31 Feedrate
current speed interpola- designation method"
tion When "1:
control Reference axis speed" Indicates the
is set for " Pr.21 reference axis
Interpolation speed speed
designation method"
Constantly indicates the speed of each axis Md.37 Axis feedrate
Monitor the current target speed Md.42 Target speed
Monitoring the state
Monitor details Corresponding item
Monitor the axis operation state Md.35 Axis operation status
Monitor the latest error code that occurred with the axis Md.33 Axis error No.
Monitor the latest warning code that occurred with the axis Md.34 Axis warning No.
Md.39 External input signal
Monitor the external input signal and flag
Md.40 Status
Monitor the valid M codes Md.32 Valid M code
Monitor whether the speed is being limited Md.49 In speed limit flag
Monitor whether the speed is being changed Md.50 In speed change processing flag
Monitor the "start information" point currently being executed Md.51 Start data pointer being executed
Monitor the "positioning data No." currently being executed Md.54 Positioning data No. being executed
Monitor the remaining No. of repetitions Md.53 Repeat counter
Monitor the block positioning No. Md.55 Block No. being executed
Monitor the zero point absolute position Md.43 Zero point absolute position
Monitor the current torque limit value Md.45 Torque limit stored value
Monitor the "command code" of the special start data when using Special start data command code setting
Md.46
special start value
Monitor the "command parameter" of the special start data when Special start data command parameter
Md.47
using special start setting value
Monitor the "start data No." of the special start data when using
Md.48 Start positioning data No. setting value
special start
Monitor the "positioning data No." executed last Md.52 Last executed positioning data No.
Monitor the positioning data currently being executed Md.56 Positioning data being executed
Monitor the movement amount after the current position control Speed/position changeover control
Md.38
changeover when using "speed/position changeover control" positioning amount
Store the movement amount (signed) of movement achieved up to
Md.100 Zero point return re-movement amount
the zero point by re-movement
Monitor the difference between the current feed value and real
Md.102 Deviation counter value
current value
Monitor the FeRAM access count Md.120 FeRAM access count
Monitor the absolute position restoration mode in the axis where
Md.121 Absolute position restoration mode
absolute position detection is valid in the control unit "degree"
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5 DATA USED FOR POSITIONING CONTROL
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Monitoring the servo conditions
Monitor details Corresponding item
Monitor the servomotor speed Md.103 Motor speed
Monitor the current flowing in the servomotor Md.104 Motor current
Monitor " Pr.108 Auto tuning" used by the servo amplifier Md.105 Auto tuning
Monitor " Pr.112 Load inertia ratio" used by the servo amplifier Md.106 Load inertia ratio
Monitor " Pr.113 Position loop gain 1" used by the servo amplifier Md.107 Position loop gain 1
Monitor " Pr.114 Speed loop gain 1" used by the servo amplifier Md.108 Speed loop gain 1
Monitor " Pr.115 Position loop gain 2" used by the servo amplifier Md.109 Position loop gain 2
Monitor " Pr.116 Speed loop gain 2" used by the servo amplifier Md.110 Speed loop gain 2
Monitor " Pr.117 Speed integral compensation" used by the servo
Md.111 Speed integral compensation
amplifier
Monitor the software number of the used servo amplifier Md.112 Servo amplifier software No.
Monitor the parameter No. 1 to 15 errors of the servo amplifier Md.113 Parameter error (No. 1 to 15)
Monitor the parameter No. 16 to 31 errors of the servo amplifier Md.114 Parameter error (No. 16 to 31)
Monitor the parameter No. 32 to 36 errors of the servo amplifier Md.115 Parameter error (No. 32 to 36)
Monitor the servo amplifier status Md.116 Servo status
Monitor the ratio of the load to the allowable value of regenerative
Md.117 Regenerative load ratio
brake resistor
Monitor the ratio of the load to the rated torque Md.118 Effective load ratio
Monitor the ratio of the peak load to the rated torque Md.119 Peak load ratio
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5 DATA USED FOR POSITIONING CONTROL
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5.1.9 Types and roles of control data
Several controls are carried out as necessary when using the positioning system.
(When the power is turned ON, the default values of the data used for control are set.
However, these values can be set with the sequence program when necessary.)
The items that can be controlled are shown below.
• Controlling the system data
Sets the clock data in the AD75, and reads/writes the "positioning data". (System
control data Cd.1 to Cd.10 )
• Controlling the operation
Makes settings related to the operation, and controls the speed change during
operation, and stops/restarts the operation. (Axis control data Cd.11 to Cd.35 ,
Cd.100, Cd.101)
(1) Controlling the system data
Setting the AD75 clock data
Control details Corresponding item
Set the item (hour) Cd.1 Clock data setting (hour)
Set the item (minute, second) Cd.2 Clock data setting (minute, second)
Write the data set in Cd.1 and Cd.2 into the AD75 Cd.3 Clock data writing
Reading/writing the positioning data
Control details Corresponding item
Set the "axis" in which the positioning data subject to reading or
Cd.4 Target axis
writing is set
Set the "positioning data No." subject to reading or writing Cd.5 Positioning data No.
When writing the data, designate which "positioning data" that has
Cd.6 Write pattern
been read in to write
Request writing or reading Cd.7 Read/write request
Temporarily store the read data
Cd.8 Read/write positioning data I/F
* This buffer memory is used as the storage area.
Write the data in the OS area to the flash ROM Cd.9 Flash ROM write request
Initialize the parameters Cd.10 Parameter initialization request
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5 DATA USED FOR POSITIONING CONTROL
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[Reference]
The outline of reading and writing the positioning data is shown below.
Reading the positioning data Writing the positioning data
(The positioning data stored in the buffer memory Cd.8
(The positioning data designated in the OS memory is is written as the positioning data for the No. designated
stored in the buffer memory Cd.8 ) in the OS memory.)
Not stored Is the write source
positioning data stored in the buffer
memory Cd.8 ?
Stored
Set the write destination axis No. in buffer memory
Set the read origin axis No. in buffer memory Cd.4 . Cd.4 .
Set the read origin positioning data No. in the OS Set the write designation positioning data No.
memory into buffer memory Cd.5 . in the OS memory into the buffer memory Cd.5 .
Set "1" in the buffer memory Cd.7 . Set which of the data stored in Cd.8 to write
(Request reading) into the buffer memory Cd.6 .
Refer to section 5.7.1
"System control data".
Set "2" in the buffer memory Cd.7 .
The positioning data in the OS memory,
designated in Cd.4 and Cd.5 is stored (Request writing)
in the buffer memory Cd.8 .
<Read completed>
The positioning data stored in buffer memory Cd.8
is written into the positioning data in the OS memory
having the No. designated with Cd.4 and Cd.5 .
<Write completed>
: User work
: AD75 state
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5 DATA USED FOR POSITIONING CONTROL
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(2) Controlling the operation
Controlling the operation
Control details Corresponding item
Set which positioning to execute (start No.) Cd.11 Positioning start No.
Clear (reset) the axis error No. ( Md.33 ) and axis warning
Cd.12 Axis error reset
No.( Md.34 )
Issue instruction to restart (When axis operation is stopped) Cd.13 Restart command
End current positioning (deceleration stop), and start next positioning Cd.29 Skip command
Set start point No. for executing block start Cd.31 Positioning starting point No.
Interrupt request during continuous
Stop continuous control Cd.32
operation
Switch servo OFF (free run status) Cd.100 Servo OFF command
Controlling operation per step
Control details Corresponding item
Stop positioning operation after each operation Cd.26 Step valid flag
Set unit to carry out step Cd.27 Step mode
Issue instruction to continuous operation or restart from stopped
Cd.28 Step start information
step
Controlling the speed
Control details Corresponding item
Set new speed when changing speed during operation Cd.16 New speed value
Issue instruction to change speed in operation to Cd.16 value
Cd.17 Speed change request
(Only during positioning operation and JOG operation)
Change positioning operation speed between 1 and 300% range Cd.18 Positioning operation speed override
Set JOG speed Cd.19 JOG speed
When changing acceleration time during speed change, set new
Cd.33 New acceleration time value
acceleration time
When changing deceleration time during speed change, set new
Cd.34 New deceleration time value
deceleration time
Acceleration/deceleration time change
Set acceleration/deceleration time validity during speed change Cd.35 during speed change, enable/disable
selection
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Making settings related to operation
Control details Corresponding item
Turn M code ON signal OFF Cd.14 M code OFF request
Set new value when changing current value Cd.15 New current value
Validate speed/position changeover signal from external source Cd.20 Speed/position changeover enable flag
Change movement amount for position control during speed/position Speed/position changeover control
Cd.21
changeover control movement amount change register
Set manual pulse generator operation validity Cd.22 Manual pulse generator enable flag
Set scale per pulse of No. of input pulses from manual pulse Manual pulse generator 1 pulse input
Cd.23
generator magnification
Change zero point return request flag from "ON to OFF" Cd.24 Zero point return request flag OFF request
Validate external start signal Cd.25 External start valid
Change " Md.45 Torque limit stored value" Cd.30 New torque value
Set the torque output value Cd.101 Torque output setting value
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MEMO
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5.2 List of parameters
5.2.1 Basic parameters 1
Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with peripheral Value set with sequence value
Axis 1 Axis 2 Axis 3
device program
0 : mm 0
1 : inch 1
Pr.1 Unit setting 3 0 150 300
2 : degree 2
3 : pulse 3
1 to 65535
Pr.2 1 to 32767:
No. of pulses per Set as a decimal
1 to 65535 20000 1 151 301
rotation (Ap) 32768 to 65535:
Movement amount per pulse
(Unit : pulse) Convert into hexadecimal
and set
The setting value range differs according to the " Pr.1 Unit
Pr.3 setting".
Here, the value within the [Table 1] range is set.
Movement amount per 20000 2 152 302
rotation (Al) [Table 1] on right page
1 : 1-fold 1
Pr.4 10 : 10-fold 10
1 3 153 303
Unit magnification (Am) 100 : 100-fold 100
1000 : 1000-fold 1000
Pr.1 Unit setting
This sets the command unit for positioning control. The unit is selected from mm,
inch, degree, pulse according to the control target. The unit for axis 1, axis 2 and
axis 3 can be set independently.
(Example)
mm, inch....... X, Y table, conveyor. (If the machine has inch specifications, set
with an inch unit.)
degree ........... Rotating body. (360 degree/rotation)
pulse.............. X, Y table, conveyor
* Even if the unit setting is changed, the other parameters and positioning data
values will not change. When changing the unit, check that the parameters and
data are within the setting range.
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5 DATA USED FOR POSITIONING CONTROL
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Pr.2 to Pr.4 Movement amount per pulse
Set the movement amount per pulse count when outputting a position/speed
command from the AD75. The setting is made with Pr.2 to Pr.4 . (The case
for the " Pr.1 Unit setting" is "mm" is explained below.)
The movement amount per pulse is expressed with the following expression.
Movement amount per rotation (Al)
Movement amount per pulse =
No. of pulses per rotation (Ap)
* When carrying out positioning, an error (mechanical error) could occur between
the designated movement amount and actual movement amount. In that case,
the error can be compensated with the "movement amount per pulse". (Refer to
section "12.3.2 Electronic gear function".)
POINT
If the movement amount per pulse is less than 1, command speed variations will Pr.
occur.
Smaller setting will increase variations and may cause machine vibration.
Make setting so that the movement amount per pulse is 1 or greater.
Pr.2 No. of pulses per rotation (Ap)
Set the number of pulses required for the motor shaft to rotate once (resolution per
servomotor revolution).
No. of pulses per revolution (Ap) = Resolution per servomotor revolution
Set this parameter to 16384 when using the encoder of 16384 pulses or more with
the MR-J2S-B.
Set this parameter to 8192 when using the MR-J2-03B5.
[Table 1]
Value set with peripheral device Value set with sequence program
Pr.1 setting value
(unit) (unit) *
0 : mm 0.1 to 6553.5 (µm) 1 to 65535 (× 10-1µm)
1 : inch 0.0001 to 0.65535 (inch) 1 to 65535 (× 10-5inch)
2 : degree 0.00001 to 0.65535 (degree) 1 to 65535 (× 10-5degree)
3 : pulse 1 to 65535 (pulse) 1 to 65535 (pulse)
* 1 to 32767 : Set as a decimal
32768 to 65535 : Convert into hexadecimal and set
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5 DATA USED FOR POSITIONING CONTROL
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Pr.3 Movement amount per rotation (Al), Pr.4 Unit magnification (Am)
The amount how the workpiece moves with one motor rotation is determined by
the mechanical structure.
If the worm gear lead (mm/rev) is PB and the deceleration rate is 1/n, then
Movement amount per rotation (AL) = PB × 1/n
However, the maximum value that can be set for this "movement amount per
rotation (Al)" parameter is 6553.5µm (approx. 6.5mm). Set the "movement amount
per rotation (Al)" as shown below so that the "movement amount per rotation (AL)"
does not exceed this maximum value.
Movement amount per rotation (AL)
= PB × 1/n
= Movement amount per rotation (Al) × Unit magnification (Am)
Note) The unit magnification (Am) is a value of 1, 10, 100 or 1000. If the "PB ×
1/n" value exceeds 6553.5 µm, adjust with the unit magnification so that the
"movement amount per rotation (Al) " does not exceed 6553.5 µm.
Example 1)
When movement amount per rotation (AL) = PB × 1/n = 6000.0µm (= 6mm)
Movement amount per rotation (AL)
= Movement amount per rotation (Al) × Unit magnification (Am)
= 6000.0µm × 1
Example 2)
When movement amount per rotation (AL) = PB × 1/n = 60000.0µm (= 60mm)
Movement amount per rotation (AL)
= Movement amount per rotation (Al) × Unit magnification (Am)
= 6000.0µm × 10
= 600.0µm × 100
Workpiece
PLC Servo amplifier Servomotor
PLC CPU AD75 M G
1 Reduction gears
n
Encoder PB
Pf
Movement amount per pulse l PB : Worm gear lead (mm/rev)
PB 1 1/n : Deceleration rate
l= × [mm/pulse] Pf : No. of encoder pulses (pulse/rev)
Pf n
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5 DATA USED FOR POSITIONING CONTROL
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MEMO
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5.2.2 Basic parameters 2
Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with peripheral Value set with sequence value
Axis 1 Axis 2 Axis 3
device program
The setting value range differs depending on the " Pr.1
Unit setting".
Here, the value within the [Table 1] range is set. 6 156 306
Pr.7 Speed limit value 200000
7 157 307
[Table 1] on right page
The setting value range differs according to the " Pr.25 8 158 308
Pr.8 Acceleration time 0 1000
Size selection for acceleration/deceleration time setting". 9 159 309
Here, the value within the [Table 2] range is set.
10 160 310
Pr.9 Deceleration time 0 [Table 2] on right page
1000
11 161 311
The setting value range differs depending on the " Pr.1
Unit setting".
Here, the value within the [Table 1] range is set. 12 162 312
Pr.10 Bias speed at start 0
13 163 313
[Table 1] on right page
Pr.7 Speed limit value
Set the maximum speed for zero point return control and positioning control.
The speed during positioning control must be limited according to the servo
amplifier and control target.
The speed limit conditions follow the following:
1) Motor speed
2) Workpiece movement speed
Pr.8 Acceleration time 0, Pr.9 Deceleration time 0
Set the item to reach " Pr.7 Speed limit value" from speed 0.
Speed Parameter speed limit value
Positioning speed
Time
Actual accel- Actual decel-
eration time eration time
Set acceleration time Set deceleration time
POINT
If the " Pr.7 Speed limit value", " Pr.8 Acceleration time 0" and " Pr.9
Deceleration time 0" value is changed during positioning control, the new value is
reflected after a delay of a maximum of three pieces of data, with the exception of
the positioning data No. being executed at the time of the change.
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5 DATA USED FOR POSITIONING CONTROL
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1) If the positioning speed setting is slower than the parameter speed limit, the
actual acceleration/deceleration time will be relatively short. Thus, set the
maximum positioning speed value to be equal to the parameter speed limit
value or a close value under the speed limit value.
2) These settings are value for zero point return, positioning and JOG operation.
3) During interpolation positioning, the acceleration/deceleration item for the
reference axis is valid.
[Table 1]
Pr.1 Value set with peripheral device Value set with sequence program
setting value (unit) (unit)
0 : mm 0.01 to 6000000.00 (mm/min) 1 to 600000000 (× 10-2mm/min)
1 : inch 0.001 to 600000.000 (inch/min) 1 to 600000000 (× 10-3inch/min)
2 : degree 0.001 to 600000.000 (degree/min) 1 to 600000000 (× 10-3degree/min)
3 : pulse 1 to 1000000 (pulse/s) 1 to 1000000 (pulse/s)
[Table 2]
Pr.25 Value set with peripheral device Value set with sequence program
setting value (ms) (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
Pr.10 Bias speed at start
Set the "minimum speed for starting" for the "bias speed at start".
This is set to smoothly strat the motor.
The set "bias speed at start" is valid for the following operation.
• Positioning operation
• Zero point return
• JOG operation
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5 DATA USED FOR POSITIONING CONTROL
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5.2.3 Detailed parameters 1
Setting value buffer
Setting value, setting range
memory address
Item Default value
Value set with
Value set with peripheral device Axis 1 Axis 2 Axis 3
sequence program
The setting value range differs according to the " Pr.1
Unit setting".
Pr.12 Backlash Here, the value within the [Table 1] range is set.
compensation 0 15 165 315
amount
[Table 1] on right page
Pr.13 Software stroke The setting value range differs depending on the " Pr.1
16 166 316
limit upper limit Unit setting". 2147483647
17 167 317
value Here, the value within the [Table 2] range is set.
Pr.14 Software stroke
[Table 2] on right page 18 168 318
limit lower limit –2147483648
19 169 319
value
0 : Apply software stroke limit on
0
Pr.15 Software stroke current feed value
0 20 170 320
limit selection 1 : Apply software stroke limit on
1
machine feed value
0 : Software stroke limit invalid during
JOG operation and manual pulse 0
Pr.16 Software stroke generator operation
limit valid/invalid 0 21 171 321
setting 1 : Software stroke limit valid during
JOG operation and manual pulse 1
generator operation
Pr.12 Backlash compensation amount
The error that occurs due to backlash when moving the machine via gears can be
compensated.
When the backlash compensation amount is set, position/speed command
equivalent to the compensation amount will be output each time the direction
changes during positioning.
Pr.46 Zero point return direction
Workpiece
(moving body)
Worm gear
Backlash
(compensation amount)
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5 DATA USED FOR POSITIONING CONTROL
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1) The backlash compensation is valid after completed the machine zero point
return. Thus, if the backlash compensation amount is set or changed, always
carry out machine zero point return once.
2) The backlash compensation amount setting range is 0 to 65535, but it should
be set to 255 or less by using the following expression.
Backlash compensation amount
0≤ ≤ 255
Movement amount per pulse
[Table 1]
Pr.1 Value set with peripheral device Value set with sequence program
setting value (unit) (unit) *
0 : mm 0 to 6553.5 (µm) 0 to 65535 (× 10-1µm)
1 : inch 0 to 0.65535 (inch) 0 to 65535 (× 10-5inch)
2 : degree 0 to 0.65535 (degree) 0 to 65535 (× 10-5degree)
3 : pulse 0 to 65535 (pulse) 0 to 65535 (pulse)
* 1 to 32767 : Set as a decimal
32768 to 65535 : Convert into hexadecimal and set
[Table 2]
Pr.1 Value set with peripheral device Value set with sequence program
setting value (unit) (unit)
–214748364.8 to 214748364.7 (µm) –2147483648 to 2147483647 (× 10 µm)
-1
0 : mm
–21474.83648 to 21474.83647(inch) –2147483648 to 2147483647 (× 10- inch)
5
1 : inch
2 : degree 0 to 359.99999 (degree) 0 to 35999999 (× 10-5degree)
3 : pulse –2147483648 to 2147483647(pulse) –2147483648 to 2147483647 (pulse)
Pr.13 Software stroke limit upper limit value
Set the upper limit for the machine's movement range during positioning control.
Pr.14 Software stroke limit lower limit value
Set the lower limit for the machine's movement range during positioning control.
Software stroke Software stroke
limit lower limit limit upper limit
Emergency stop Emergency stop
(Machine movement range) limit switch
limit switch
Zero point
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5 DATA USED FOR POSITIONING CONTROL
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1) Generally, the zero point is set at the lower limit or upper limit of the stroke
limit.
2) By setting the upper limit value or lower limit value of the software stroke limit,
overrun can be prevented in the software. However, an emergency stop limit
switch must be installed nearby outside the range.
3) To invalidate the software stroke limit, set the setting value to "upper limit
value = lower limit value". (The setting value can be anything.)
4) When the unit is "degree", the software stroke limit check is invalid during
speed control (including speed/position chageover control) or during manual
control.
Pr.15 Software stroke limit selection
Set whether to apply the software stroke limit on the "current feed value" or the
"machine feed value". The software stroke limit will be validated according to the
set value.
Pr.16 Software stroke limit valid/invalid setting
Set whether to validate the software stroke limit during JOG operation and manual
pulse generator operation.
Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with peripheral Value set with sequence value
Axis 1 Axis 2 Axis 3
device program
The setting value range differs depending on the " Pr.1
Unit setting".
Pr.17 Command in-position Here, the value within the [Table 1] range is set. 22 172 322
100
width 23 173 323
[Table 1] on right page
Pr.18 Torque limit setting
1 to 500 (%) 1 to 500 (%) 300 24 174 324
value
Pr.19 M code ON signal 0 : WITH mode 0
0 25 175 325
output timing 1 : AFTER mode 1
Pr.17 Command in-position width
Set the remaining distance that turns the command in-position ON. When
positioning control is started, the "command in-position flag" (b2) in " Md.40
Status" turns OFF, and the "command in-position flag" turns ON in the range of the
command in-position.
Speed
Position control start
Pr.17 Command in-position width
ON
Command
in-position flag OFF
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5 DATA USED FOR POSITIONING CONTROL
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Pr.18 Torque limit setting value
Used to limit the torque generated by the servomotor to within the setting range.
The set " Pr.18 Torque limit setting value" is set to " Md.45 Torque limit storage
value" of the buffer memory.
Set the maximum value of the torque limit value at the rate of 1 to 500%.
* When " Cd.101 Torque output setting value" and " Cd.30 New torque value" are
not used, the servo amplifier limits the torque according to " Pr.18 Torque limit
setting value".
When " Cd.101 Torque output setting value" or " Cd.30 New torque value" is
used, the servo amplifier limits the torque according to " Cd.101 Torque output
setting value" or " Cd.30 New torque value".
However, when the value set to " Cd.101 Torque output setting value" or
" Cd.30 New torque value" is greater than " Pr.18 Torque limit setting value",
the servo amplifier limits the torque according to " Pr.18 Torque limit setting
value".
[Table 1]
Pr.1 Value set with peripheral device Value set with sequence program
setting value (unit) (unit)
0 : mm 0.1 to 3276700.0 (µm) 1 to 32767000 (× 10-1µm)
1 : inch 0.00001 to 327.67000 (inch) 1 to 32767000 (× 10-5inch)
2 : degree 0.00001 to 327.67000 (degree) 1 to 32767000 (× 10-5degree)
3 : pulse 1 to 32767 (pulse) 1 to 32767 (pulse)
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Pr.19 M code ON signal output timing
Set the timing to output the M code ON signal.
The WITH mode and AFTER mode can be used for the M code ON signal output
timing.
WITH mode ..... The M code is output simultaneously AFTER mode ........ The M code is output
with the start of positioning, and the simultaneously with the end of
M code ON signal turns ON. positioning, and the M code ON
signal turns ON.
Positioning start signal Positioning complete
[Y10, Y11, Y12] signal [X7, X8, X9]
BUSY signal BUSY signal
[X4, X5, X6]
[X4, X5, X6]
M code ON signal
M code ON signal
[X8D, X8E, X8F]
[X8D, X8E, X8F]
Cd.14 M code OFF request
Cd.14 M code OFF request
[1153, 1203, 1253]
[1153, 1203, 1253]
m1 m2
Md.32 Valid M code
Md.32 Valid M code m1 m2
* *
* *
Positioning
Positioning
Da.1 Operation pattern 01 (continuous) 00 (end)
Da.1 Operation pattern 01 (continuous) 00 (end)
* m1, m2 indicate the set M codes.
* m1, m2 indicate the set M codes.
Note) When using the AFTER mode with speed control, the M code will not be
output and the M code ON signal will not turn ON.
The M code is a No. between 0 and 32767 that can be set for each positioning
data ( Da.9 ).
When the M code ON signal [XD, XE, XF] turns ON, " Md.32 Valid M code" is read
from the buffer memory by the sequence program, and an auxiliary work (ex.,
clamping, drill rotation, tool change, etc.) matching the code No. can be issued.
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MEMO
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Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with value
Value set with peripheral device Axis 1 Axis 2 Axis 3
sequence program
0 : Standard speed changeover
0
Pr.20 Speed changeover mode
0 26 176 326
mode 1 : Front-loading speed changeover
1
mode
Pr.21 Interpolation speed 0 : Composite speed 0
0 27 177 327
designation method 1 : Reference axis speed 1
0 : Do not update current feed value 0
Pr.22 Current feed value
1 : Update current feed value 1 0 28 178 328
during speed control
2 : Clear current feed value to zero 2
0 : Ignore manual pulse generator
0
operation
Axis 1 = 1
Pr.23 Manual pulse 1 : Use manual pulse generator 1 1 Axis 2 = 2 29 179 329
generator selection
2 : Use manual pulse generator 2 2 Axis 3 = 3
3 : Use manual pulse generator 3 3
Pr.25 Size selection for 0 : 1-word type (1 to 65535ms) 0
acceleration/ 0 31 181 331
deceleration time 1 : 2-word type (1 to 8388608ms) 1
Pr.20 Speed changeover mode
Set whether to change the speed changeover mode with the standard changeover
or front-loading changeover mode.
0 : Standard changeover .......... Change the speed when executing the next
positioning data.
1 : Front-loading changeover .... The speed changes at the end of the positioning
data currently being executed.
Speed Speed
Change the speed when The next positioning data starts
executing the next positioning data positioning at the designated speed
t t
n: Positioning
data No. n n+1 n n+1
<For standard changeover> <For front-loading changeover>
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Pr.21 Interpolation speed designation method
When carrying out linear interpolation, set whether to designate the composite
speed or reference axis speed.
0: Composite speed .................. The movement speed for the control target is
designated, and the speed for each axis is
calculated by the AD75.
1: Reference axis speed ........... The axis speed set for the reference axis is
designated, and the speed for the other axis
carrying out interpolation is calculated by the
AD75.
X axis X axis
Designate composite speed
Designate speed
for reference axis
Y axis Y axis
Calculated by AD75
Calculated by AD75
<When composite speed is designated> <When reference axis speed is designated>
Note) For a positioning operation that involves the circular interpolation, specify
the composite speed always.
Pr.22 Current feed value during speed control
When carrying out speed control (including speed control during speed/position
changeover control), set whether to update the " Md.29 Current feed value".
0 : Do not update current feed value ..... The current feed value is not updated.
(The current feed value at the start of
speed control is held.)
1 : Update current feed value ................ The current feed value is updated.
(The current feed value is updated when
speed control is started.)
2 : Clear current feed value to zero ....... The current feed value is cleared to "0",
and is not updated.
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Pr.23 Manual pulse generator selection
Set which manual pulse generator to use for control for each axis (motor).
0 : Ignore manual pulse generator operation...... Manual pulse generator operation
is not carried out.
1 : Use manual pulse generator 1....................... Control with manual pulse
generator connected to axis 1.
2 : Use manual pulse generator 2....................... Control with manual pulse
generator connected to axis 2.
3 : Use manual pulse generator 3....................... Control with manual pulse
generator connected to axis 3.
Example 1) To correspond axis to control and manual pulse generator
Example 2) To control all axes with one manual pulse generator (manual pulse
generator 1)
Axis (buffer memory address) Setting for Example 1) Setting for Example 2)
Axis 1 (29) 1 1
Axis 2 (179) 2 1
Axis 3 (329) 3 1
Pr.25 Size selection for acceleration/deceleration time
Select the setting size for the acceleration/deceleration time. The setting size such
as "Acceleration time 0 to 3", "Deceleration time 0 to 3" and "Sudden stop
deceleration time" is determined by this setting size.
0 : Acceleration/deceleration time 1 to 65535ms (1-word type)
1 : Acceleration/deceleration time 1 to 8388608ms (2-word type)
Normally, select "0 : Acceleration/deceleration time 1 to 65535ms (1-word type)".
Note) • Before selecting the "1: Acceleration/deceleration time 1 to 8388608ms
(2-word type)", confirm that there is sufficient movement amount and that
constant speed movement is possible. Do not use this setting if the
movement amount is remarkably small, or if the speed is slow.
• When changing the "acceleration/deceleration time size" from the 2-word
type to the 1-word type, check that all acceleration/deceleration time
setting values are within the "acceleration/deceleration time size" setting
range.
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MEMO
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5.2.4 Detailed parameters 2
Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with value
Value set with peripheral device Axis 1 Axis 2 Axis 3
sequence program
36 186 336
Pr.26 Acceleration time 1
37 187 337
38 188 338
Pr.27 Acceleration time 2
The setting value range differs according to the " Pr.25 39 189 339
Size selection for acceleration/deceleration time" setting. 40 190 340
Pr.28 Acceleration time 3 Here, the value within the [Table 1] range is set. 41 191 341
1000
42 192 342
Pr.29 Deceleration time 1 [Table 1] on right page 43 193 343
44 194 344
Pr.30 Deceleration time 2
45 195 345
46 196 346
Pr.31 Deceleration time 3
47 197 347
The setting value range differs depending on the " Pr.1
Unit setting".
Pr.32 JOG speed limit Here, the value within the [Table 2] range is set. 48 198 348
20000
value 49 199 349
[Table 2] on right page
0 : Pr.8 Acceleration time 0 0
Pr.33 JOG operation 1 : Pr.26 Acceleration time 1 1
acceleration time 0 50 200 350
selection 2 : Pr.27 Acceleration time 2 2
3 : Pr.28 Acceleration time 3 3
0 : Pr.9 Deceleration time 0 0
Pr.34 JOG operation 1 : Pr.29 Deceleration time 1 1
deceleration time 0 51 201 351
selection 2 : Pr.30 Deceleration time 2 2
3 : Pr.31 Deceleration time 3 3
Pr.26 Acceleration time 1 to Pr.28 Acceleration time 3
Set the item to reach " Pr.7 Speed limit value" from speed 0 during positioning
operation.
The setting value size is determined by " Pr.25 Size selection for
acceleration/deceleration time".
Pr.29 Deceleration time 1 to Pr.31 Deceleration time 3
Set the item to reach speed 0 from " Pr.7 Speed limit value" during positioning
operation.
The setting value size is determined by " Pr.25 Size selection for
acceleration/deceleration time".
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[Table 1]
Pr.25 Value set with peripheral device Value set with sequence program
setting value (ms) (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.1 Value set with peripheral device Value set with sequence program
setting value (unit) (unit)
0 : mm 0.01 to 6000000.00 (mm/min) 1 to 600000000 (× 10-2mm/min)
1 : inch 0.001 to 600000.000 (inch/min) 1 to 600000000 (× 10-3inch/min)
2 : degree 0.001 to 600000.000 (degree/min) 1 to 600000000 (× 10-3degree/min)
3 : pulse 1 to 1000000 (pulse/s) 1 to 1000000 (pulse/s)
Pr.32 JOG speed limit value
Set the maximum speed for JOG operation.
Note) Set the "JOG speed limit value" to less than " Pr.7 Speed limit value".
If the "speed limit value" is exceeded, the "JOG speed limit value error"
(error code: 956) will occur.
Pr.33 JOG operation acceleration time selection
Set which of "acceleration time 0 to 3" to use for the acceleration time during JOG
operation.
0 : Use value set in " Pr.8 Acceleration time 0".
1 : Use value set in " Pr.26 Acceleration time 1".
2 : Use value set in " Pr.27 Acceleration time 2".
3 : Use value set in " Pr.28 Acceleration time 3".
Pr.34 JOG operation deceleration time selection
Set which of "deceleration time 0 to 3" to use for the deceleration time during JOG
operation.
0 : Use value set in " Pr.9 Deceleration time 0".
1 : Use value set in " Pr.29 Deceleration time 1".
2 : Use value set in " Pr.30 Deceleration time 2".
3 : Use value set in " Pr.31 Deceleration time 3".
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Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with value
Value set with peripheral device Axis 1 Axis 2 Axis 3
sequence program
0 : Automatic trapezoid
Pr.35 Acceleration/decel- 0
acceleration/deceleration process
eration process 0 52 202 352
selection 1 : S-curve
1
acceleration/deceleration process
Pr.36 S-curve ratio 1 to 100 (%) 1 to 100 (%) 100 53 203 353
The setting value range differs according to the " Pr.25
Size selection for acceleration/deceleration time" setting.
Pr.37 Sudden stop Here, the value within the [Table 1] range is set. 54 204 354
1000
deceleration time 55 205 355
[Table 1] on right page
Pr.38 Stop group 1 sudden
56 206 356
stop selection 0 : Normal deceleration stop 0
Pr.39 Stop group 2 sudden
0 57 207 357
stop selection
Pr.40 Stop group 3 sudden 1 : Sudden stop 1
58 208 358
stop selection
Pr.35 Acceleration/deceleration process selection
Set whether to use automatic trapezoid acceleration/deceleration or S-curve
acceleration/deceleration for the acceleration/deceleration process.
Note) Refer to section "12.7.6 Acceleration/deceleration process function" for
details.
Speed The acceleration and Speed The acceleration and
deceleration are linear. deceleration follow a sine curve.
Time Time
<Automatic trapezoid acceleration/deceleration> <S-curve acceleration/deceleration>
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Pr.36 S-curve ratio
Set the S-curve ratio (1 to 100%) for carrying out the S-curve
acceleration/deceleration process.
The S-curve ratio indicates where to draw the acceleration/deceleration curve
using the sine curve as shown below.
(Example)
V
A
Positioning
B speed
B/2 B/2
t
When S-curve ratio is 100%
V
Positioning
speed
b b/a = 0.7
sine curve
a
t
S-curve ratio = B/A × 100%
When S-curve ratio is 70%
[Table 1]
Pr.25 Value set with peripheral device Value set with sequence program
setting value (ms) (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
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Pr.37 Sudden stop deceleration time
Set the time to reach speed 0 from " Pr.7 Speed limit value" during the sudden
stop. The setting value size is determined by " Pr.25 Size selection for
acceleration/deceleration time". The relation with the other parameters is as shown
below.
1) Positioning start 2) Sudden stop cause occurrence 3) Positioning stop
·When positioning is started, · When a "sudden stop cause" occurs, · When a "sudden stop cause"
the acceleration starts following the deceleration starts following the does not occur, the decelera-
the "acceleration time". "sudden stop deceleration time". tion starts toward the stop
position following the "decel-
Pr.7 eration time".
Speed limit
value
Da.7
Command
speed
Actual sudden stop
deceleration time Actual decel-
Actual accel-
eration time eration time
Pr.37
Sudden stop
deceleration time
Acceleration time Deceleration time
Pr.8 Acceleration time 0 Pr.9 Deceleration time 0
Pr.26 Acceleration time 1 Pr.29 Deceleration time 1
Pr.27 Acceleration time 2 Pr.30 Deceleration time 2
Pr.28 Acceleration time 3 Pr.31 Deceleration time 3
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Pr.38 Stop group 1 sudden stop selection
to
Pr.40 Stop group 3 sudden stop selection
Set the method to stop when the stop causes in the following stop groups occur.
• Stop group 1 .............. Stop with hardware stroke limit
• Stop group 2 .............. Stop with software stroke limit
Stop signal from peripheral device, PLC READY signal
OFF
• Stop group 3 .............. External stop signal
Stop signal from PLC
Error occurrence (excluding errors in stop group 1 and 2)
Stop caused by an ON --> OFF change at the near-point
dog during count method machine zero point return made
at a near-point dog ON. (Refer to sections 8.2.5 and
8.2.6.)
The methods of stopping include "0: Normal deceleration stop" and "1: Sudden
stop".
If "1: Sudden stop" is selected, the axis will suddenly decelerate to a stop when the
stop signal is input.
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Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with peripheral Value set with sequence value
Axis 1 Axis 2 Axis 3
device program
0 to 65535 (ms)
0 to 32767 :
Pr.41 Positioning complete Set as a decimal
0 to 65535 (ms) 300 59 209 359
signal output time 32768 to 65535:
Convert into hexadecimal
and set
The setting value range differs depending on the " Pr.1
Unit setting".
Pr.42 Allowable circular Here, the value within the [Table 1] range is set. 60 210 360
interpolation error 100
61 211 361
width
[Table 1] on right page
0 : External positioning start 0
Pr.43 External start function 1 : External speed change
1 0 62 212 362
selection request
2 : Skip request 2
Pr.44 Near pass mode 0 : Positioning address pass
0
selection for path mode 0 66 216 366
control 1 : Near pass mode 1
Pr.150 Setting for the restart 64 214 364
allowable range when 0 to 163840 (pulse) 0 to 163840 (pulse) 0
servo OFF to ON 65 215 365
Pr.41 Positioning complete signal output time
Set the output time of the positioning complete signal [X7, X8, X9] output from the
AD75.
Positioning complete refers to the state in which the positioning operation
complete has completed, and the specified dwell time has passed.
PLC
PLC CPU AD75
Positioning start signal
[Y10, Y11, Y12]
Positioning
Positioning
complete signal
[X7, X8, X9]
Positioning
start signal BUSY signal turns OFF
after the Dwell time
has passed after
Start complete positioning stop.
signal
BUSY signal
Positioning
complete signal
Output time
Positioning complete signal output time
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[Table 1]
Pr.1 Value set with peripheral device Value set with sequence program
setting value (unit) (unit)
0 : mm 0 to 10000.0 (μm) 0 to 100000 (× 10-1μm)
1 : inch 0 to 1.00000 (inch) 0 to 100000 (× 10-5inch)
2 : degree 0 to 1.00000 (degree) 0 to 100000 (× 10-5degree)
3 : pulse 0 to 100000 (pulse) 0 to 100000 (pulse)
Pr.42 Allowable circular interpolation error width
With the "allowable circular interpolation error width", the allowable error range of
the calculated arc path and end point address is set. If the error of the calculated
arc path and end point address is within the set range, circular interpolation will be
carried out to the set end point address while compensating the error with spiral
interpolation.
The allowable circular interpolation error width is set in the reference axis buffer
memory addresses.
• For circular interpolation in axis 1 and axis 2, set in the axis 1 buffer memory
address [60, 61]
• For circular interpolation in axis 2 and axis 3, set in the axis 2 buffer memory
address [210, 211]
• For circular interpolation in axis 3 and axis 1, set in the axis 3 buffer memory
address [360, 361]
Path with spiral interpolation Error
End point address
with calculation
End point address
Start point address Center point address
* With circular interpolation control using the center point designation, the arc
path calculated with the start point address and center point address and the
end point address may deviate.
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Pr.43 External start function selection
Set which function to use the external start signal with.
0 : External positioning start ............... Carry out positioning operation with
external start signal input.
1 : External speed change request ..... Change the speed of the positioning
operation currently being executed with the
external start signal input.
In this case, set the new speed value in
" Cd.16 New speed value".
2 : Skip request ................................... The positioning operation currently being
carried out is skipped with the external start
signal input.
POINT
" Cd.25 External start valid" must be set to validate the external start signal.
Pr.44 Near pass mode selection for path control
Set the method to carry out control between positioning data items during
continuous path control of the AD75 interpolation control.
0 : Positioning address pass mode... The address designated in the "positioning
data" is passed, but the speed output when
the corresponding positioning address is
passed may drop momentarily.
1 : Near pass mode........................... Since positioning is not performed at the
address designated in the "positioning data",
the path merely passes near the designated
positioning address, but machine vibration
caused by the momentary output speed drop
can be suppressed.
Note) Refer to section "12.3.3 Near pass mode function" for details on the near
pass mode.
Pr.150 Setting for the restart allowable range when servo OFF to ON
Set the range that is used as a condition for enabling a restart when the servo
switches from OFF to ON. (This setting is disabled for the AD75TU of software
version "C" or earlier.)
0 : Restart not allowed ...................... A restart at servo OFF to ON is not allowed.
1 to 163840 : Restart allowed
(restart allowable
range) ......................... A restart is allowed (axis operation status is
during a stop) when the difference between
the last command position of the AD75 and
the current value at servo OFF to ON is less
than the set value.
Note) For a restart at servo OFF to ON, refer to section "12.4.5 Servo ON/OFF
function".
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5.2.5 Zero point return basic parameters
Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with peripheral Value set with sequence value
Axis 1 Axis 2 Axis 3
device program
0 : Near-point dog method 0
4 : Count method 1) 4
Pr.45 Zero point return 5 : Count method 2) 5
0 70 220 370
method 6 : Data setting method 6
7 : Near-point dog method 2)* 7
8 : Count method 3)* 8
* : When setting the parameter with the peripheral device, "7: Near-point dog method 2)" and "8: Count method 3)" can be
set using GX Configurator-AP only. For details, refer to the "GX Configurator-AP Operating Manual".
Pr.45 Zero point return method
Set the "zero point return method" for carrying out machine zero point return.
0 : Near-point dog method ........ After decelerating at the near-point dog ON, stop
at the zero point, and complete the machine zero
point return.
(An error occurs when the zero point is not
detected.)
4 : Count method 1) .................. After decelerating at the near-point dog ON, move
the designated distance, stop at the zero point,
and then complete the machine zero point return.
(An error occurs when the zero point is not
detected.)
5 : Count method 2) .................. After decelerating at the near-point dog ON, move
the designated distance, and complete the
machine zero point return.
6 : Data setting method............. The position reached by manual operation in the
absolute position detection system is defined as
the zero point.
7 : Near-point dog method 2) .... After decelerating at the near-point dog ON, stop
at the zero point, and complete the machine zero
point return.
(An error does not occur if the zero point is not
detected.)
8 : Count method 3) .................. After decelerating at the near-point dog ON, move
the designated distance, stop at the zero point,
and complete the machine zero point return.
(An error does not occur if the zero point is not
detected.)
Note) Refer to section "8.2.2 Machine zero point return method" for details on the
zero point return methods.
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Zero point return method
0 : Near-point dog method
(1) Start machine zero point return.
(Start machine movement at the " Pr.48 Zero point return
speed" in the " Pr.46 Zero point return direction".) V Pr.48 Zero point return speed
(2)
(2) Detect the near-point dog ON, and start deceleration. Pr.49
(3) Decelerate to " Pr.49 Creep speed", and move with the Creep speed
creep speed.
Decelerate to a stop at the near-point dog OFF. (3) (4)
(1) t
(4) Move to the first zero point (single-pulse output per motor ON
revolution) after the near-point dog OFF, and complete the
Near-point dog
machine zero point return. OFF
Note) If the zero point is not detected between a machine
zero point return start and deceleration to a stop by Zero point
the near-point dog OFF, an error "zero point not pass
at zero point return" (error code: 210) occurs.
4 : Count method 1)
(1) Start machine zero point return.
(Start movement at the " Pr.48 Zero point return speed" in
the " Pr.46 Zero point return direction".)
(2) Detect the near-point dog ON, and start deceleration. Pr.48 Zero point Pr.52
return speed
(3) Decelerate to " Pr.49 Creep speed", and move with the V Setting for the movement amount
(2) after near-poing dog ON
creep speed.
Stop in the position where the movement amount set in Pr.49 Creep speed
" Pr.52 Setting for the movement amount after near-point (3)
(4)
dog ON" is reached after the near-point dog turned ON. t
(1)
(4) Move to the first zero point (single-pulse output per motor Near-point dog must turn OFF
ON at sufficient distance away
revolution), and complete the machine zero point return. Near-point dog OFF from the zero point position
Note) If the zero point is not detected from when the First zero point after the
Zero point movement amount after
machine zero point return has started until the near-point dog ON is reached
movement amount set in " Pr.52 Setting for the
movement amount after near-point dog ON" is
reached, an error "zero point not pass at zero point
return" (error code: 210) occurs.
5 : Count method 2)
(1) Start machine zero point return. V Pr.48 Zero point Pr.52
return speed
(Start movement at the " Pr.48 Zero point return speed" in Setting for the movement
(2)
the " Pr.46 Zero point return direction".) amount after near-poing dog ON
Pr.49 Creep speed
(2) Detect the near-point dog ON, and start deceleration. (3)
(3) Decelerate to " Pr.49 Creep speed", and move with the (4)
(1) t
creep speed.
(4) Stop when the movement amount set in " Pr.52 Setting for
the movement amount after near-point dog ON" is reached
ON
after the near-point dog turned ON, and complete the Near-point dog OFF
machine zero point return.
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6 : Data setting method
V
Position where
(1) Start machine zero point return. machine zero point
(The axis does not operate.) return is executed
is registered as
(2) Register the current position to the servo amplifier as the zero point
zero point. (2)
t
(Store " Pr.47 Zero point address" into the current feed
value and machine feed value.) (1)
Machine zero
point return start
7 : Near-point dog method 2)
(1) Start machine zero point return.
(Start movement at the " Pr.48 Zero point return speed" in
the " Pr.46 Zero point return direction".)
(2) Detect the near-point dog ON, and start deceleration.
(3) Decelerate to " Pr.49 Creep speed", and move with the V Pr.48 Zero point return speed
creep speed. (2)
Decelerate to a stop at the near-point dog OFF. Pr.49 Creep speed
(4) Move to the first zero point (single-pulse output per motor
revolution) after the near-point dog OFF, and complete the (3) (4)
machine zero point return. (1) t
ON
Note) If the zero point is not detected between a machine
zero point return start and deceleration to a stop by Near point dog OFF
the near-point dog OFF, deceleration to a stop occurs
at the near-point dog OFF, the motor rotates one turn Zero point
in the direction opposite to the designated zero point
return direction, and then the machine zero point
return operation is performed again.
When the zero point is detected, the operation as in
the near-point dog method is performed.
8 : Count method 3)
(1) Start machine zero point return.
(Start movement at the " Pr.48 Zero point return speed" in
the " Pr.46 Zero point return direction".)
(2) Detect the near-point dog ON, and start deceleration.
(3) Decelerate to " Pr.49 Creep speed", and move with the
creep speed.
Stop in the position where the movement amount set in Pr.48 Zero point return speed
V
(2) Pr.52 Setting for the movement
" Pr.52 Setting for the movement amount after near-point amount after near-point dog ON
dog ON" is reached after the near-point dog turned ON. Pr.49 Creep speed
(4) Move to the first zero point (single-pulse output per motor (3)
(4)
revolution), and complete the machine zero point return. (1) t
Near-point dog must turn OFF
Note) If the zero point is not detected from when the ON at sufficient distance away from
machine zero point return has started until the Near-point dog OFF the zero point position
movement amount set in " Pr.52 Setting for the First zero point after the
movement amount after
movement amount after near-point dog ON" is Zero point near-point dog ON is reached
reached, deceleration to a stop occurs at the near-
point dog OFF, the motor rotates one turn in the
direction opposite to the designated zero point return
direction, and then the machine zero point return
operation is performed again.
When the zero point is detected, the operation as in
the count method 1) is performed.
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Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3
program
0 : Positive direction (address
0
Pr.46 Zero point return increment direction)
0 71 221 371
direction 1 : Negative direction (address
1
decrement direction)
The setting value range differs depending on the " Pr.1
Unit setting".
Here, the value within the [Table 1] range is set. 72 222 372
Pr.47 Zero point address 0
73 223 373
[Table 1] on right page
The setting value range differs depending on the " Pr.1
Unit setting".
Pr.48 Zero point return Here, the value within the [Table 2] range is set. 74 224 374
1
speed 75 225 375
[Table 2] on right page
Pr.46 Zero point return direction
Set the direction to start movement when starting machine zero point return.
0: Positive direction (address increment direction)
Moves in the direction that the address increments. (Arrow 2))
1: Negative direction (address decrement direction)
Moves in the direction that the address decrements. (Arrow 1))
Normally, the zero point is set near the lower limit or the upper limit, so " Pr.46
Zero point return direction" is set as shown below.
When the zero point is set at the lower
limit side, the zero point return direction
is in the direction of arrow 1).
Set "1" for Pr.46 .
Lower limit Upper limit
1)
Address decrement Zero point Address increment
direction direction
Lower limit Upper limit
Address decrement Address increment
direction direction
Zero point
2)
When the zero point is set at the upper
limit side, the zero point return direction
is in the direction of arrow 2).
Set "0" for Pr.46 .
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[Table 1]
Pr.1 Value set with sequence program
Value set with peripheral device (unit)
setting value (unit)
–214748364.8 to 214748364.7 (µm) –2147483648 to 2147483647 (× 10 µm)
-1
0 : mm
1 : inch –21474.83648 to 21474.83647 (inch) –2147483648 to 2147483647 (× 10-5inch)
2 : degree 0 to 359.99999 (degree) 0 to 35999999 (× 10-5degree)
3 : pulse –2147483648 to 2147483647 (pulse) –2147483648 to 2147483647 (pulse)
[Table 2]
Pr.1 Value set with sequence program
Value set with peripheral device (unit)
setting value (unit)
0 : mm 0.01 to 6000000.00 (mm/min) 1 to 600000000 (× 10-2mm/min)
1 : inch 0.001 to 600000.000 (inch/min) 1 to 600000000 (× 10-3inch/min)
2 : degree 0.001 to 600000.000 (degree/min) 1 to 600000000 (× 10-3degree/min)
3 : pulse 1 to 1000000 (pulse/s) 1 to 1000000 (pulse/s)
Pr.47 Zero point address
Set the address used as the reference point for positioning control (ABS method).
(When the machine zero point return is completed, the stop position address is
changed to the address set in " Pr.47 Zero point address". At the same time, the
" Pr.47 Zero point address" is stored in " Md.29 Current feed value" and " Md.30
Machine feed value".)
Pr.48 Zero point return speed
Set the speed for zero point return.
Note) Set the "zero point return speed" to less than " Pr.7 Speed limit value". If
the "speed limit value" is exceeded, the "zero point return speed" will be
limited by " Pr.7 Speed limit value".
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Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with peripheral Value set with sequence value
Axis 1 Axis 2 Axis 3
device program
The setting value range differs depending on the " Pr.1
Unit setting".
Here, the value within the [Table 1] range is set. 76 226 376
Pr.49 Creep speed 1
77 227 377
[Table 1] on right page
0 : Do not retry zero point
0
return with limit switch
Pr.50 Zero point return retry 0 78 228 378
1 : Retry zero point return
1
with limit switch
Pr.49 Creep speed
Set the creep speed after near-point dog ON (the low speed just before stopping
after decelerating from the zero point return speed).
The creep speed is set within the following range.
Pr.48 Zero point return speed > Pr.49 Creep speed
Pr.48 Zero point return speed
Machine zero
point return
start
Pr.49 Creep speed
ON
Near-point
dog signal OFF
Zero point
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[Table 1]
Pr.1 Value set with peripheral device Value set with sequence program
setting value (unit) (unit)
0 : mm 0.01 to 6000000.00 (mm/min) 1 to 600000000 (× 10-2mm/min)
1 : inch 0.001 to 600000.000 (inch/min) 1 to 600000000 (× 10-3inch/min)
2 : degree 0.001 to 600000.000 (degree/min) 1 to 600000000 (× 10-3degree/min)
3 : pulse 1 to 1000000 (pulse/s) 1 to 1000000 (pulse/s)
Pr.50 Zero point return retry
Set whether to carry out zero point return retry.
When the zero point return retry function is validated and the machine zero point
return is started, first the axis will move in the designated zero point return
direction (1)). If the upper/lower limit signal turns OFF before the near-point dog
signal ON is detected (2)), the axis will decelerate to a stop, and then will move in
the direction opposite the designated zero point return direction (3)). If it is
detected that the near-point dog signal has turned OFF from turning ON while
moving in the opposite direction, the axis will decelerate to a stop (4)), and then
will carry out machine zero point return again (5), 6)).
5)
1)
2)
6)
Start position
4)
3)
ON Limit signal OFF state
Near-point dog signal
Zero point
[Operation for zero point return retry function]
1) Movement in the designated zero point return direction starts with the machine zero point
return start.
2) The axis decelerates when the limit signal OFF is detected.
3) After stopping with the limit signal OFF detection, the axis moves in the opposite
direction of the designated zero point return direction at the zero point return speed.
4) The axis decelerates when the near-point dog signal turns OFF.
5), 6) After stopping with the near-point dog signal OFF, carries out machine zero point
return in the designated zero point return direction.
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5.2.6 Zero point return detailed parameters
Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with value
Value set with peripheral device Axis 1 Axis 2 Axis 3
sequence program
The setting value range differs depending on the " Pr.1
Pr.52 Setting for the Unit setting".
movement amount Here, the value within the [Table 1] range is set. 80 230 380
0
after near-point dog 81 231 381
ON [Table 1] on right page
0 : Pr.8 Acceleration time 0 0
Pr.53 Zero point return 1 : Pr.26 Acceleration time 1 1
acceleration time 0 82 232 382
selection 2 : Pr.27 Acceleration time 2 2
3 : Pr.28 Acceleration time 3 3
0 : Pr.9 Deceleration time 0 0
Pr.54 Zero point return 1 : Pr.29 Deceleration time 1 1
deceleration time 0 83 233 383
selection 2 : Pr.30 Deceleration time 2 2
3 : Pr.31 Deceleration time 3 3
Pr.52 Setting for the movement amount after near-point dog ON
When zero point return method is set the count method 1) or 2), set the movement
amount to the zero point after the near-point dog signal turns ON.
(The movement amount after near-point dog ON should be equal to greater than
the sum of the "distance covered by the deceleration from the zero point return
speed to the creep speed" and "distance of movement in 10 ms at the zero point
return speed".)
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5 DATA USED FOR POSITIONING CONTROL
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[Table 1]
Pr.1 Value set with peripheral device Value set with sequence program
setting value (unit) (unit)
0 : mm 0 to 214748364.7 (µm) 0 to 2147483647 (× 10-1µm)
1 : inch 0 to 21474.83647 (inch) 0 to 2147483647 (× 10-5inch)
2 : degree 0 to 21474.83647 (degree) 0 to 2147483647 (× 10-5degree)
3 : pulse 0 to 2147483647 (pulse) 0 to 2147483647 (pulse)
Example for setting " Pr.52 Setting for the movement amount after near-point dog ON"
When " Pr.7 Speed limit value" is set to 200kpulse/s, " Pr.48 Zero point return speed" is set to 10kpulse/s, " Pr.49 Creep
speed" is set to 1kpulse/s and the deceleration time is set to 300ms, " Pr.52 Setting for the movement amount after near-point
dog ON" is calculated as shown below.
[Machine zero point return operation]
Pr.7 Speed limit value [Deceleration = 1 × Vz × t ×
+ 0.01 Vz
: Vp=200kpulse/s distance] 2 1000 Movement amount for 10ms
at zero point return speed
Vz × Tb × Vz 0.01 × Vz
Pr.48 Zero point return speed = +
: Vz=10kpulse/s
2000 Vp
10 × 103 300 × 10 × 10 3
= × + 0.01 × 10 × 10 3
2000 200 × 10 3
Pr.49 Creep speed = 75 + 100
: Vc=1kpulse/s
= 175
* Set 175 or more for " Pr.52 Setting for the movement
t amount after near-point dog ON"
Actual decel- Vz
eration time : t = Tb × Vp
Deceleration time
: Tb=300ms
Pr.53 Zero point return acceleration time selection
Set which of "acceleration time 0 to 3" to use for the acceleration time during zero
point return.
0 : Use the value set in " Pr.8 Acceleration time 0".
1 : Use the value set in " Pr.26 Acceleration time 1".
2 : Use the value set in " Pr.27 Acceleration time 2".
3 : Use the value set in " Pr.28 Acceleration time 3".
Pr.54 Zero point return deceleration time selection
Set which of deceleration time 0 to 3" to use for the deceleration time during zero
point return.
0 : Use the value set in " Pr.9 Deceleration time 0".
1 : Use the value set in " Pr.29 Deceleration time 1".
2 : Use the value set in " Pr.30 Deceleration time 2".
3 : Use the value set in " Pr.31 Deceleration time 3".
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Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with peripheral Value set with sequence value
Axis 1 Axis 2 Axis 3
device program
The setting value range differs depending on the " Pr.1
Unit setting".
Pr.55 Zero point shift Here, the value within the [Table 1] range is set. 84 234 384
0
amount 85 235 385
[Table 1] on right page
Pr.56 Zero point return
1 to 300 (%) 1 to 300 (%) 300 86 236 386
torque limit value
Pr.57 Speed designation 0 : Zero point return speed 0
0 88 238 388
during zero point shift 1 : Creep speed 1
0 to 65535 (ms)
0 to 32767 :
Pr.58 Dwell time during Set as a decimal
0 to 65535 (ms) 0 89 239 389
zero point return retry 32768 to 65535 :
Convert into hexadecimal
and set
Pr.59 Absolute position 0 : Standard mode 0
0 91 241 391
restoration selection 1 : Infinite length mode 1
*: When Pr.59 is set with the peripheral device, setting can be made using GX Configurator-AP only. For details, refer to
the "GX Configurator-AP Operating Manual".
Pr.55 Zero point shift amount
Set the amount to shift (move) from the position stopped at with machine zero
point return.
* The zero point shift function is used to compensate the zero point position
stopped at with machine zero point return.
If there is a physical limit to the zero point position, due to the relation of the near-
point dog installation position, use this function to compensate the zero point to an
optimum position.
Pr.46 Zero point return direction
When " Pr.55 Zero point
shift amount" is positive
Shift point
Start point Shift point
Shift operation is
When " Pr.55 Zero point performed
shift amount" is negative
Near-point dog signal
Zero point
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5 DATA USED FOR POSITIONING CONTROL
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[Table 1]
Pr.1 Value set with peripheral device Value set with sequence program
setting value (unit) (unit)
0 : mm –214748364.8 to 214748364.7 (µm) –2147483648 to 2147483647 (× 10-1µm)
1 : inch –21474.83648 to 21474.83647 (inch) –2147483648 to 2147483647 (× 10-5inch)
2 : degree –21474.83648 to 21474.83647 (degree) –2147483648 to 2147483647 (× 10-5degree)
3 : pulse –2147483648 to 2147483647 (pulse) –2147483648 to 2147483647 (pulse)
Pr.56 Zero point return torque limit value
For the machine zero point return, set a value to limit the torque of the servomotor
after starting the deceleration to the creep speed."
Refer to section "12.4.2 Torque limit function" for details on the torque limits.
Pr.57 Speed designation during zero point shift
Set the operation speed for when a value other than "0" is set for " Pr.55 Zero
point shift amount". Select the setting from " Pr.48 Zero point return speed" or
" Pr.49 Creep speed".
0 : Designate " Pr.48 Zero point return speed" as the setting value.
1 : Designate " Pr.49 Creep speed" as the setting value.
Pr.58 Dwell time during zero point return retry
When zero point return retry is validated (when "1" is set for Pr.50 ), set the stop
time after decelerating in 2) and 4) in the following drawing.
Temporarily stop for 5)
the time set in Pr. 58 1) Temporarily stop for
2)
the time set in Pr. 58
Start position
4)
3)
Pr.59 Absolute position restoration selection
In the absolute position detection system in the control unit "degree", set the mode
for absolute position restoration. Select either the standard mode or infinite length
mode for the setting.
0 : Standard mode
1 : Infinite length mode
Setting of other than "1" is regarded as "0", the standard mode.
After setting, turning the PLC READY signal [Y1D] from OFF to ON and making a
machine zero point return establishes the mode for absolute position restoration.
The established mode for absolute position restoration is stored into the axis
monitor " Md.121 Absolute position restoration mode".
For details of the mode for absolute position restoration, refer to section "12.6.2
Absolute position restoration mode switching function".
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5.2.7 Servo parameters for MR-H-B (MR-H-BN)
(1) Servo basic parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
0 : MR-H-B(MR-H-BN) 0000H
Pr.100 1 : MR-J-B 0001H
– – 0000H 100 250 400
Servo series 2 : MR-J2-B 0002H
3 : Other 001EH
0 : Absolute position
Pr.101 0
detection invalid
Amplifier No.1 *AMS 0 101 251 401
1 : Absolute position
setting 1
detection valid
Regenerative brake option
00 : External regenerative
00H
brake option not used
01 : FR-RC, FR-BU 01H
02 : MR-RB013 02H
03 : MR-RB033 03H
05 : MR-RB32 05H
06 : MR-RB34 06H
Pr.102 07 : MR-RB54 07H
Regenerative No.2 *REG 08 : MR-RB30 08H 0000H 102 252 402
brake resister 09 : MR-RB50 09H
0B : MR-RB31 0BH
0C: MR-RB51 0CH
0E : Standard + fan 0EH
External dynamic brake selection
0 : External dynamic brake
0 H
invalid
1 : External dynamic brake
1 H
valid
0000H: HA-SH standard 0000H
0001H: HA-LH low inertia 0001H
0002H: HA-UH flat 0002H
Pr.103
No.3 *MTY 0003H: HA-FH/HA-FF 0003H 0000H 103 253 403
Motor type
0005H: HA-MH 0005H
0080H: Automatic setting
0080H
(MR-H-BN only)
Pr.104 Set the "motor output capacity (kW) 100" value in
Motor No.4 *MCA hexadecimal. (With the exception of 50W, the first digit 0000H 104 254 404
capacity is discarded.)
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
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5 DATA USED FOR POSITIONING CONTROL
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Pr.100 Servo series
Set this parameter to "0: MR-H-B (MR-H-BN)".
Pr.101 Amplifier setting
Set whether an absolute position detection system is valid or invalid.
When using the servo amplifier in an incremental system, set this parameter to
"0: Absolute position detection invalid".
When using the servo amplifier in an absolute position detection system, set
this parameter to "1: Absolute position detection valid".
Note) A parameter error will occur if "Absolute position detection valid" is
selected for the incremental encoder.
Pr.102 Regenerative brake resister
Select the regenerative brake resistor to be used and whether an external
dynamic brake is valid or invalid.
0 H
Regenerative brake option selection
00 : External regenerative brake option not used*
01 : FR-RC, FR-BU
02 : MR-RB013
03 : MR-RB033 * : When using the converter unit
05 : MR-RB32 MR-RB-138-4 with the large
06 : MR-RB34 capacity type servo amplifier,
07 : MR-RB54 select "00: External regenerative
08 : MR-RB30 brake option not used".
09 : MR-RB50 At this time, setting must also be
0B : MR-RB31 made to the converter unit.
0C : MR-RB51
0E : Standard+fan
External dynamic brake valid/invalid selection
0 : External dynamic brake invalid
1 : External dynamic brake valid
Pr.103 Motor type
Set the motor type to be used.
"80H" is valid only when the servo amplifier is the MR-H-BN.
(Set "80H" when using the motor other than "00H, 01H, 02H, 03H or 05H".)
When the motor type is set to "0080H: Automatic setting", " Pr.105 Motor speed"
and " Pr.106 Feedback pulse" are automatically set in the servo amplifier.
Pr.104 Motor capacity
Set 100 times greater than the output capacity (kW) of the motor in hexadecimal.
For the output capacity of the motor, refer to the MR-H-B(N) Servo Amplifier
Instruction Manual.
Example 1) When the motor capacity is 50W
0.05 (kW) 100 5 ...... Set "5H".
Example 2) When the motor capacity is 22kW
22 (kW) 100 2200 ...... Set "2200H".
POINT
Always set the motor capacity.
At the default value "0", operation cannot be performed since communication with
the servo amplifier is not made.
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Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
Pr.105
No.5 *MTR 1 to 3 1 to 3 1 105 255 405
Motor speed
Pr.106 0 : 16384pulse 0
Feedback No.6 *FBP 0 106 256 406
1 : 8192pulse 1
pulse
0 : Forward run with
positioning address 0
Pr.107
increment
Rotation No.7 *POL 0 107 257 407
1 : Reverse run with
direction
positioning address 1
increment
0 : Auto tuning selected for
use of interpolation axis
0
control in position
Pr.108 control
No.8 ATU 1 108 258 408
Auto tuning 1 : Auto tuning for ordinary
1
operation
2 : Invalid 2
1 : Normal (Low response) 0001H
2 : Normal
0002H
(Low/middle response)
3 : Normal
0003H
(Middle response)
4 : Normal
0004H
(Middle/high response)
Pr.109 5 : Normal (High response) 0005H
Servo No.9 RSP 8 : Large friction 0008H 0001H 109 259 409
response (Low response)
setting 9 : Large friction
0009H
(Low/middle response)
A : Large friction
000AH
(Middle response)
B : Large friction
000BH
(Middle/high response)
C : Large friction
000CH
(High response)
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.105 Motor speed
-3
Set the "10 of the rated speed (r/min) of the servomotor" value.
For the rated speed of the servomotor, refer to the MR-H-B(N) Servo Amplifier
Instruction Manual.
Example) Set "2" for 2000r/min.
Pr.106 Feedback pulse
Set the feedback pulse (resolution per servomotor revolution).
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5 DATA USED FOR POSITIONING CONTROL
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Pr.107 Rotation direction
Set the rotation direction as viewed from the load side.
Foward run(CCW)
Reverse run(CW)
Pr.108 Auto tuning
Select the auto tuning function.
Pr.109 Servo response setting
Set this parameter to increase the response of the servo.
Description Guideline for position
Setting 2 2 settling time
Machine type Guideline for GDL /GDM
value 2 2
Response corresponding guideline for GDL /GDM guideline
machine rigidity load inertia = within 5 times
1 Low response Low rigidity 50 to 300ms
Normal 2
(Standard 3 Middle response Middle rigidity 10 to 70ms
mode) 4
5 High response High rigidity 10 to 30ms
1 to 10 times
Large friction 8 Low response Low rigidity 70 to 400ms
(Friction 9
load A Middle response Middle rigidity 10 to 100ms
reduction B
mode) 10 to 50ms
C High response High rigidity
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(2) Servo adjustment parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
Pr.112
Load inertia No.12 GD2 0.0 to 100.0 (%) 0 to 1000 (0.1%) 30 112 262 412
ratio
Pr.113
Position loop No.13 PG1 4 to 1000 (rad/s) 4 to 1000 (rad/s) 70 113 263 413
gain 1
Pr.114
Speed loop No.14 VG1 20 to 5000 (rad/s) 20 to 5000 (rad/s) 1200 114 264 414
gain 1
Pr.115
Position loop No.15 PG2 1 to 500 (rad/s) 1 to 500 (rad/s) 25 115 265 415
gain 2
Pr.116
Speed loop No.16 VG2 20 to 8000 (rad/s) 20 to 8000 (rad/s) 600 116 266 416
gain 2
Pr.117
Speed No.17 VIC 1 to 1000 (ms) 1 to 1000 (ms) 20 117 267 417
integral
compensation
0 : Not used 0
1 : 1125 1
2 : 563 2
Pr.118 3 : 375 3
Notch filter No.18 NCH 0 118 268 418
selection 4 : 282 4
5 : 225 5
6 : 188 6
7 : 161 7
Pr.119
Feed forward No.19 FFC 0 to 100 (%) 0 to 100 (%) 0 119 269 419
gain
Pr.120
In-position No.20 INP 0 to 50000 (pulse) 0 to 50000 (pulse) 100 120 270 420
range
Pr.121
Solenoid No.21 MBR 0 to 1000 (ms) 0 to 1000 (ms) 100 121 271 421
brake output
POINT
" Pr.112 Load inertia ratio" to " Pr.117 Speed integral compensation" are
transferred to the servo amplifier when the PLC CPU is powered ON or reset or the
PLC READY signal [Y1D] turns ON. When auto tuning is executed and operation is
performed, however, they are changed to the optimum values in the servo amplifier.
At this time, the auto tuning results are not reflected on the AD75.
Hence, if " Pr.108 Auto tuning" is changed to "2: Invalid" and the PLC CPU is
powered ON or reset or the PLC READY signal [Y1D] is turned ON, the settings
return to the status before auto tuning, and the motor may vibrate.
When it is desired to save the optimum values obtained by auto tuning, set the data
read from the buffer memory addresses 858 to 863 (Axis 1), 958 to 963 (Axis 2),
1058 to 1063 (Axis 3) to Pr.112 to Pr.117 , and perform write to flash ROM.
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5 DATA USED FOR POSITIONING CONTROL
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Pr.112 Load inertia ratio (Ratio of load inertia to servomotor inertia)
Set the ratio of load inertia to servomotor inertia.
When auto tuning is executed, this parameter is automatically changed to the auto
tuning result in the servo amplifier.
Pr.113 Position loop gain 1 (Model position gain)
Set the gain of the position loop.
Increase the position loop gain 1 to improve trackability in response to the position
command.
Pr.114 Speed loop gain 1 (Model speed gain)
Normally use this parameter at the initial value.
Higher setting of the speed loop gain 1 increases the response level, but is liable
to generate vibration and/or noise.
Pr.115 Position loop gain 2 (Actual position gain)
Set the gain of the position loop.
The response to load disturbance can be increased.
Higher setting of the position loop gain 2 increases the response level, but is liable
to generate vibration and/or noise.
Pr.116 Speed loop gain 2 (Actual speed gain)
Set this parameter when vibration occurs on machines of low rigidity or large
backlash.
Higher setting of the speed loop gain 2 increases the response level, but is liable
to generate vibration and/or noise.
Pr.117 Speed integral compensation
Set the time constant for integral compensation.
Pr.118 Notch filter selection
Select the frequency that matches the resonance frequency of the mechanical
system.
Pr.119 Feed forward gain
Set the feed forward gain factor for position control.
When the setting is 0%, feed forward control is not performed.
When the setting is 100%, droop pulses are not generated during constant-speed
operation.
However, if sudden acceleration/deceleration is made, overshoot increases. (The
guideline of the acceleration/deceleration time at 100% is 1s or more.)
POINT
When setting this parameter, always set " Pr.108 Auto tuning" to "2: Invalid".
Pr.120 In-position range
Set the droop pulse range in which the in-position output is provided to the AD75.
Pr.121 Solenoid brake output
Set a time delay from when the solenoid brake interlock signal (MBR) turns OFF
until the servo amplifier shuts OFF the base circuit.
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Servo amplifier Setting value buffer
side parameter Setting value, setting range memory address
Default
Item value
Abbre- Value set with peripheral Value set with sequence
No. viation program Axis 1 Axis 2 Axis 3
device
0 : Servomotor speed 0 H/ 0H
1 : Torque 1 H/ 1H
2 : Servomotor speed (+) 2 H/ 2H
3 : Torque (+) 3 H/ 3H
Pr.122 4 : Current command 4 H/ 4H
Monitor output No.22 MOD 5 : Command speed 5 H/ 5H 0001H 122 272 422
mode
selection 6 : Droop pulse 1/1 6 H/ 6H
7 : Droop pulse 1/4 7 H/ 7H
8 : Droop pulse 1/16 8 H/ 8H
9 : Droop pulse 1/32 9 H/ 9H
A : Droop pulse 1/64 A H/ AH
Carrier frequency selection
0 : 2.25KHz (Standard) 0 H
Pr.123 3 : 9.0KHz (Low noise) 3 H
Option No.23 *OP1 Serial encoder cable selection 0000H 123 273 423
function 1
0 : 2-wire 0 H
1 : 4-wire (Supports long
distance cables) 1 H
Motor-less operation selection
0 : Invalid 0 H
1 : Valid 1 H
Pr.124 Solenoid brake interlock output selection
Option No.24 *OP2 0 : Independent of motor 0000H 124 274 424
function 2 speed (Output under 0 H
specific condition)
1 : Output under specific
condition at motor
speed of zero speed or 1 H
less
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.122 Monitor output mode selection
Select the signals to be output from the analog monitor CH1 and CH2 of the servo
amplifier.
0 0 H
Monitor output 2 selection
Set any of 0 to A. (Refer to the settings of the following monitor output 1)
Monitor output 1 selection
0: Servomotor speed
1: Torque
2: Servomotor speed (+)
3: Torque (+)
4: Current command
5: Command speed
6: Droop pulse 1/1
7: Droop pulse 1/4
8: Droop pulse 1/16
9: Droop pulse 1/32
A: Droop pulse 1/64
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Pr.123 Option function 1
Set the option function 1 (carrier frequency selection, serial encoder cable
selection).
• Carrier frequency selection (low acoustic noise mode selection)
Select the carrier frequency of "1: 9.0KHz" to reduce the electromagnetic sound
generated by the servomotor by about 20dB.
At this time, the continuous output of the servomotor reduces.
• Serial encoder cable selection
Select the serial encoder cable to be used.
0 0 H
Carrier frequency selection
0:2.5KHz (Standard)
3:9.0KHz (Low noise)
Serial encoder cable selection
0:2-wire
1:4-wire (Supports long distance cables)
Pr.124 Option function 2
Set the option function 2 (motor-less operation selection, solenoid brake interlock
output selection).
• Motor-less operation selection
When motor-less operation is valid, signals can be output or the status displayed
without connection of the servomotor.
• Solenoid brake interlock output selection
Selection of "0: Independent of motor speed (Output under specific condition)"
provides output in any of the following statuses regardless of the servomotor
speed.
1) Servo OFF
2) During alarm occurrence
3) Emergency stop input is OFF (valid)
Selection of "1: Output under specific condition at motor speed of zero speed or
less" provides output in any of the above statuses 1) to 3) and under the
condition that the servomotor speed is equal to or less than " Pr.130 Zero
speed". Use " Pr.121 Solenoid brake output" to set the time from when the
solenoid brake interlock signal is output until the servo amplifier shuts OFF the
base circuit.
0 0 H
Motor-less operation selection
0:Invalid
1:Valid
Solenoid brake interlock output selection
0: Independent of motor speed (Output under specific condition)
1: Output under specific condition at motor speed of zero speed or less
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(3) Servo extension parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
Pr.127
Monitor output No.27 MO1 -9999 to 9999 (mV) -9999 to 9999 (mV) 0 127 277 427
1 offset
Pr.128
Monitor output No.28 MO2 -9999 to 9999 (mV) -9999 to 9999 (mV) 0 128 278 428
2 offset
Data selection 1/data selection 2
0 : Servomotor speed 0H / 0 H
1 : Torque 1H / 1 H
2 : Servomotor speed (+) 2H / 2 H
3 : Torque (+) 3H / 3 H
4 : Current command 4H / 4 H
5 : Command speed 5H / 5 H
6 : Droop pulse 1/1 6H / 6 H
Pr.129 7 : Droop pulse 1/4 7H / 7 H
Pre-alarm No.29 MOA 0001H 129 279 429
data selection 8 : Droop pulse 1/16 8H / 8 H
9 : Droop pulse 1/32 9H / 9 H
A : Droop pulse 1/64 AH / A H
Pre-alarm data sampling time selection
0 : 1.77ms 0 H
1 : 3.55ms 1 H
2 : 7.11ms 2 H
3 : 14.2ms 3 H
4 : 28.4ms 4 H
Pr.130
No.30 ZSP 0 to 10000 (r/min) 0 to 10000 (r/min) 50 130 280 430
Zero speed
Pr.131
Error
No.31 ERZ 1 to 1000 (kpulse) 1 to 1000 (kpulse) 80 131 281 431
excessive
alarm level
PI-PID control switching
0 : PI control is always
0
valid
1 : Switched to PID control
Pr.132 when value set to "PI-
Option No.32 OP5 PID switching position 0 132 282 432
function 5 1
droop" is reached or
exceeded during
position control
2 : PID control is always
2
valid
Pr.134
PI-PID
No.34 VPI 0 to 50000 (pulse) 0 to 50000 (pulse) 0 134 284 434
switching
position droop
Pr.136
Speed
No.36 VDC 0 to 1000 0 to 1000 980 136 286 436
differential
compensation
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Pr.127 Monitor output 1 offset
Set the offset voltage for the monitor output 1.
Pr.128 Monitor output 2 offset
Set the offset voltage for the monitor output 2.
Pr.129 Pre-alarm data selection
Set the data to be output in analog form at alarm occurrence.
0 H
Data selection 2
Set any of 0 to A. (Refer to the settings
of the following data selection 1)
Data selestion 1
0: Servomotor speed
1: Torque
Pre-alarm data sampling
2: Servomotor speed (+)
time selection
3: Torque (+)
0: 1.77ms 4: Current command
1: 3.55ms 5: Commanad speed
2: 7.11ms 6: Droop speed 1/1
3: 14.2ms 7: Droop speed 1/4
4: 28.4ms 8: Droop speed 1/16
9: Droop speed 1/32
A: Droop speed 1/64
Pr.130 Zero speed
Set the servomotor speed at which the motor speed is judged as zero.
Pr.131 Error excessive alarm level
Set the range in which a droop pulse excess alarm will be output.
Pr.132 Option function 5
Select the PI-PID control switching.
Pr.134 PI-PID switching position droop
Set the position droop amount at which PI control is switched to PID control during
position control.
Pr.136 Speed differential compensation
Set the differential compensation value of the actual speed loop.
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5.2.8 Servo parameters for MR-J-B
(1) Servo basic parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
0 : MR-H-B(MR-H-BN) 0000H
Pr.100 1 : MR-J-B 0001H
– – 0000H 100 250 400
Servo series 2 : MR-J2-B 0002H
3 : Other 001EH
Pr.101 0 : Absolute position
0
detection invalid
Amplifier No.1 *AMS 0 101 251 401
1 : Absolute position
setting 1
detection valid
Regenerative brake option
00 : External regenerative
00H
brake option not used
02 : MR-RB013 02H
03 : MR-RB033 03H
04 : MR-RB064 2 04H
Pr.102 05 : MR-RB32 05H
Regenerative No.2 *REG 06 : MR-RB34 06H 0000H 102 252 402
brake resister
07 : MR-RB54 07H
0F : MR-RB064 0FH
External dynamic brake selection
0 : External dynamic brake
0 H
invalid
1 : External dynamic brake
1 H
valid
0000H: HA-SH standard 0000H
Pr.103
No.3 *MTY 0003H: HA-FH 0003H 0000H 103 253 403
Motor type
0005H: HA-MH 0005H
Pr.104 Set the "motor output capacity (kW) 100" value in
Motor No.4 *MCA hexadecimal. (With the exception of 50W, the first digit 0000H 104 254 404
capacity is discarded.)
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.100 Servo series
Set this parameter to "1: MR-J-B".
Pr.101 Amplifier setting
Set whether an absolute position detection system is valid or invalid.
When using the servo amplifier in an incremental system, set this parameter to
"0: Absolute position detection invalid".
When using the servo amplifier in an absolute position detection system, set
this parameter to "1: Absolute position detection valid".
Note) A parameter error will occur if "Absolute position detection valid" is
selected for the incremental encoder.
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5 DATA USED FOR POSITIONING CONTROL
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Pr.102 Regenerative brake resister
Select the regenerative brake resistor to be used and whether an external
dynamic brake is valid or invalid.
0 H
Regenerative brake option selection
00: External regenerative brake option not used
02: MR-RB013
03: MR-RB033
04: MR-RB064 2
05: MR-RB32
06: MR-RB34
07: MR-RB54
0F: MR-RB064
External dynamic brake valid/invalid selection
0: External dynamic brake invalid
1: External dynamic brake valid
Pr.103 Motor type
Set the motor type to be used.
Pr.104 Motor capacity
Set 100 times greater than the output capacity (kW) of the motor in hexadecimal.
For the output capacity of the motor, refer to the MR-J-B Servo Amplifier
Specifications and Installation Guide.
Example 1) When the motor capacity is 50W
0.05 (kW) 100 5 ...... Set "5H".
Example 2) When the motor capacity is 22kW
22 (kW) 100 2200 ...... Set "2200H".
POINT
Always set the motor capacity.
At the default value "0", operation cannot be performed since communication with
the servo amplifier is not made.
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Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
Pr.105
No.5 *MTR 1 to 3 1 to 3 1 105 255 405
Motor speed
Pr.106 0 : 16384pulse 0
Feedback No.6 *FBP 0 106 256 406
1 : 8192pulse 1
pulse
0 : Forward run with
positioning address 0
Pr.107
increment
Rotation No.7 *POL 0 107 257 407
1 : Reverse run with
direction
positioning address 1
increment
0 : Auto tuning selected for
use of interpolation axis
0
control in position
Pr.108 control
No.8 ATU 1 108 258 408
Auto tuning 1 : Auto tuning for ordinary
1
operation
2 : Invalid 2
1 : Normal (Low response) 1
2 : Normal
2
Pr.109 (Low/middle response)
Servo 3 : Normal
No.9 RSP 3 1 109 259 409
response (Middle response)
setting 4 : Normal
4
(Middle/high response)
5 : Normal (High response) 5
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.105 Motor speed
-3
Set the "10 of the rated speed (r/min) of the servomotor" value.
For the rated speed of the servomotor, refer to the MR-J-B Servo Amplifier
Specifications and Installation Guide.
Example) Set "2" for 2000r/min.
Pr.106 Feedback pulse
Set the feedback pulse (resolution per servomotor revolution).
Pr.107 Rotation direction
Set the rotation direction as viewed from the load side.
Foward run(CCW)
Reverse run(CW)
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Pr.108 Auto tuning
Select the auto tuning function.
If "0: Auto tuning selected for use of interpolation axis control in position control" or
"1: Auto tuning for ordinary operation" is selected, the setting automatically
changes to "2: Invalid" after auto tuning.
Pr.109 Servo response setting
Set this parameter to increase the response of the servo.
Description Guideline for position
settling time
Machine type
Setting Guideline for GDL2/GDM2
value 2 2
Response corresponding guideline for GDL /GDM guideline
machine rigidity load inertia = within 5 times
1 Low response Low rigidity 50 to 300ms
Normal 2
(Standard 3 Middle response Middle rigidity 1 to 10 times 10 to 70ms
mode) 4
5 High response High rigidity 10 to 30ms
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(2) Servo adjustment parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
Pr.112
Load inertia No.12 GD2 0.0 to 100.0 (%) 0 to 1000 (0.1%) 30 112 262 412
ratio
Pr.113
Position loop No.13 PG1 4 to 1000 (rad/s) 4 to 1000 (rad/s) 70 113 263 413
gain 1
Pr.114
Speed loop No.14 VG1 20 to 5000 (rad/s) 20 to 5000 (rad/s) 1200 114 264 414
gain 1
Pr.115
Position loop No.15 PG2 1 to 500 (rad/s) 1 to 500 (rad/s) 25 115 265 415
gain 2
Pr.116
Speed loop No.16 VG2 20 to 8000 (rad/s) 20 to 8000 (rad/s) 600 116 266 416
gain 2
Pr.117
Speed No.17 VIC 1 to 1000 (ms) 1 to 1000 (ms) 20 117 267 417
integral
compensation
0 : Not used 0
1 : 1125 1
2 : 563 2
Pr.118 3 : 375 3
Notch filter No.18 NCH 0 118 268 418
selection 4 : 282 4
5 : 225 5
6 : 188 6
7 : 161 7
Pr.119
Feed forward No.19 FFC 0 to 100 (%) 0 to 100 (%) 0 119 269 419
gain
Pr.120
In-position No.20 INP 0 to 50000 (pulse) 0 to 50000 (pulse) 100 120 270 420
range
POINT
" Pr.112 Load inertia ratio" to " Pr.117 Speed integral compensation" are
transferred to the servo amplifier when the PLC CPU is powered ON or reset or the
PLC READY signal [Y1D] turns ON. When auto tuning is executed and operation is
performed, however, they are changed to the optimum values in the servo amplifier.
At this time, the auto tuning results are not reflected on the AD75.
Hence, if " Pr.108 Auto tuning" is changed to "2: Invalid" and the PLC CPU is
powered ON or reset or the PLC READY signal [Y1D] is turned ON, the settings
return to the status before auto tuning, and the motor may vibrate.
When it is desired to save the optimum values obtained by auto tuning, set the data
read from the buffer memory addresses 858 to 863 (Axis 1), 958 to 963 (Axis 2),
1058 to 1063 (Axis 3) to Pr.112 to Pr.117 , and perform write to flash ROM.
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5 DATA USED FOR POSITIONING CONTROL
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Pr.112 Load inertia ratio (Ratio of load inertia to servomotor inertia)
Set the ratio of load inertia to servomotor inertia.
When auto tuning is executed, this parameter is automatically changed to the auto
tuning result in the servo amplifier.
Pr.113 Position loop gain 1 (Model position gain)
Set the gain of the position loop.
Increase the position loop gain 1 to improve trackability in response to the position
command.
Pr.114 Speed loop gain 1 (Model speed gain)
Normally use this parameter at the initial value.
Higher setting of the speed loop gain 1 increases the response level, but is liable
to generate vibration and/or noise.
Pr.115 Position loop gain 2 (Actual position gain)
Set the gain of the position loop.
The response to load disturbance can be increased.
Higher setting of the position loop gain 2 increases the response level, but is liable
to generate vibration and/or noise.
Pr.116 Speed loop gain 2 (Actual speed gain)
Set this parameter when vibration occurs on machines of low rigidity or large
backlash.
Higher setting of the speed loop gain 2 increases the response level, but is liable
to generate vibration and/or noise.
Pr.117 Speed integral compensation
Set the time constant for integral compensation.
Pr.118 Notch filter selection
Select the frequency that matches the resonance frequency of the mechanical
system.
Pr.119 Feed forward gain
Set the feed forward gain factor for position control.
When the setting is 0%, feed forward control is not performed.
When the setting is 100%, droop pulses are not generated during constant-speed
operation.
However, if sudden acceleration/deceleration is made, overshoot increases. (The
guideline of the acceleration/deceleration time at 100% is 1s or more.)
POINT
When setting this parameter, always set " Pr.108 Auto tuning" to "2: Invalid".
Pr.120 In-position range
Set the droop pulse range in which the in-position output is provided to the AD75.
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Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
0 : Servomotor speed 0 H
1 : Torque 1 H
2 : Servomotor speed (+) 2 H
Pr.122 3 : Torque (+) 3 H
Monitor output No.22 4 : Current command 4 H
MOD 0001H 122 272 422
mode 5 : Command speed 5 H
selection 6 : Droop pulse 1/1 6 H
7 : Droop pulse 1/4 7 H
8 : Droop pulse 1/16 8 H
9 : Droop pulse 1/32 9 H
Carrier frequency selection
0 : 2.25KHz (Standard) 0 H
Pr.123 3 : 9.0KHz (Low noise) 3 H
Option No.23 *OP1 Serial encoder cable selection 0000H 123 273 423
function 1 0 : 2-wire 0 H
1 : 4-wire (Supports long
1 H
distance cables)
Pr.124 Motor-less operation selection
Option No.24 *OP2 0 : Invalid 0 H 0000H 124 274 424
function 2 1 : Valid 1 H
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.122 Monitor output mode selection
Select the signals to be output from the analog monitor CH1 of the servo amplifier.
0 0 0 H
Monitor output 1 selection
0: Servomotor speed
1: Torque
2: Servomotor speed (+)
3: Torque (+)
4: Current command
5: Command speed
6: Droop pulse 1/1
7: Droop pulse 1/4
8: Droop pulse 1/16
9: Droop pulse 1/32
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Pr.123 Option function 1
Set the option function 1 (carrier frequency selection, serial encoder cable
selection).
• Carrier frequency selection (low acoustic noise mode selection)
Select the carrier frequency of "1: 9.0KHz" to reduce the electromagnetic sound
generated by the servomotor by about 20dB.
At this time, the continuous output of the servomotor reduces.
• Serial encoder cable selection
Select the serial encoder cable to be used.
0 0 H
Carrier frequency selection
0: 2.5KHz (Standard)
3: 9.0KHz (Low noise)
Serial encoder cable selection
0: 2-wire
1: 4-wire (Supports long distance cables)
Pr.124 Option function 2
Set the option function 2 (motor-less operation selection selection).
•Motor-less operation selection
When motor-less operation is valid, signals can be output or the status displayed
without connection of the servomotor.
0 0 0 H
Motor-less operation selection
0: Invaid
1: Valid
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(3) Servo extension parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
Pr.127
Monitor output No.27 MO1 -9999 to 9999 (mV) -9999 to 9999 (mV) 0 127 277 427
1 offset
Pr.130
No.30 ZSP 0 to 10000 (r/min) 0 to 10000 (r/min) 50 130 280 430
Zero speed
Pr.131
Error No.31 ERZ 1 to 1000 (kpulse) 1 to 1000 (kpulse) 80 131 281 431
excessive
alarm level
Pr.136
Speed No.36 VDC 0 to 1000 0 to 1000 980 136 286 436
differential
compensation
Pr.127 Monitor output 1 offset
Set the offset voltage for the monitor output 1.
Pr.130 Zero speed
Set the servomotor speed at which the motor speed is judged as zero.
Pr.131 Error excessive alarm level
Set the range in which a droop pulse excess alarm will be output.
Pr.136 Speed differential compensation
Set the differential compensation value of the actual speed loop.
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MEMO
5 - 77
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5.2.9 Servo parameters for MR-J2-B
(1) Servo basic parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
0 : MR-H-B(MR-H-BN) 0000H
Pr.100 1 : MR-J-B 0001H
– – 0000H 100 250 400
Servo series 2 : MR-J2-B 0002H
3 : Other 001EH
0 : Absolute position
Pr.101 0
detection invalid
Amplifier No.1 *AMS 0 101 251 401
1 : Absolute position
setting 1
detection valid
Regenerative brake option
00 : External regenerative
00H
brake option not used
05 : MR-RB32 05H
08 : MR-RB30 08H
Pr.102 09 : MR-RB50 09H
Regenerative No.2 *REG 10 : MR-RB032 10H 0000H 102 252 402
brake resister 11 : MR-RB12 11H
External dynamic brake selection
0 : External dynamic brake
0 H
invalid
1 : External dynamic brake
1 H
valid
Pr.103
No.3 *MTY 0080H: Automatic setting 0080H 0000H 103 253 403
Motor type
Pr.104
Motor No.4 *MCA 1 to 9999 1 to 9999H 0000H 104 254 404
capacity
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.100 Servo series
Set this parameter to "2: MR-J2-B".
Pr.101 Amplifier setting
Set whether an absolute position detection system is valid or invalid.
When using the servo amplifier in an incremental system, set this parameter to
"0: Absolute position detection invalid".
When using the servo amplifier in an absolute position detection system, set
this parameter to "1: Absolute position detection valid".
Note) A parameter error will occur if "Absolute position detection valid" is
selected for the incremental encoder.
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Pr.102 Regenerative brake resister
Select the regenerative brake resistor to be used and whether an external
dynamic brake is valid or invalid.
0 H
Regenerative brake option selection
00: External regenerative brake option not used
05: MR-RB32
08: MR-RB30
09: MR-RB50
10: MR-RB032
11: MR-RB12
External dynamic brake valid/invalid selection
0: External dynamic brake invalid
1: External dynamic brake valid
Pr.103 Motor type
Set the motor type to be used.
When the motor type is set to "0080H: Automatic setting", " Pr.104 Motor capacity"
is automatically set in the servo amplifier.
However, set the " Pr.104 Motor capacity" of the AD75 to other than the initial
value "0".
(Refer to the following " Pr.104 Motor capacity".)
Pr.104 Motor capacity
Set any of 1 to 9999 in hexadecimal.
The value is automatically set in the servo amplifier according to the used
servomotor.
POINT
Always set the motor capacity to other than "0".
At the default value "0", operation cannot be performed since communication with
the servo amplifier is not made.
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Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
0 : Forward run with
positioning address 0
Pr.107
increment
Rotation No.7 *POL 0 107 257 407
1 : Reverse run with
direction
positioning address 1
increment
0 : Auto tuning selected for
use of interpolation axis
0
control in position
Pr.108 control
No.8 ATU 1 108 258 408
Auto tuning 1 : Auto tuning for ordinary
1
operation
2 : Invalid 2
1 : Normal (Low response) 0001H
2 : Normal
0002H
(Low/middle response)
3 : Normal
0003H
(Middle response)
4 : Normal
0004H
(Middle/high response)
Pr.109 5 : Normal (High response) 0005H
Servo No.9 RSP 8 : Large friction 0008H 0001H 109 259 409
response (Low response)
setting 9 : Large friction
0009H
(Low/middle response)
A : Large friction
000AH
(Middle response)
B : Large friction
000BH
(Middle/high response)
C : Large friction
000CH
(High response)
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.107 Rotation direction
Set the rotation direction as viewed from the load side.
Foward run(CCW)
Reverse run(CW)
Pr.108 Auto tuning
Select the auto tuning function.
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Pr.109 Servo response setting
Set this parameter to increase the response of the servo.
Description Guideline for position
settling time
Machine type
Setting Guideline for GDL2/GDM2 2 2
value Response corresponding guideline for GDL /GDM guideline
machine rigidity load inertia = within 5 times
1 Low response Low rigidity 50 to 300ms
Normal 2
(Standard 3 Middle response Middle rigidity 10 to 70ms
mode) 4
5 High response High rigidity 10 to 30ms
1 to 10 times
Large friction 8 Low response Low rigidity 70 to 400ms
(Friction 9
load A Middle response Middle rigidity 10 to 100ms
reduction B
mode) 10 to 50ms
C High response High rigidity
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(2) Servo adjustment parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
Pr.112
Load inertia No.12 GD2 0.0 to 100.0 (%) 0 to 1000 (0.1%) 30 112 262 412
ratio
Pr.113
Position loop No.13 PG1 4 to 1000 (rad/s) 4 to 1000 (rad/s) 70 113 263 413
gain 1
Pr.114
Speed loop No.14 VG1 20 to 5000 (rad/s) 20 to 5000 (rad/s) 1200 114 264 414
gain 1
Pr.115
Position loop No.15 PG2 1 to 500 (rad/s) 1 to 500 (rad/s) 25 115 265 415
gain 2
Pr.116
Speed loop No.16 VG2 20 to 8000 (rad/s) 20 to 8000 (rad/s) 600 116 266 416
gain 2
Pr.117
Speed No.17 VIC 1 to 1000 (ms) 1 to 1000 (ms) 20 117 267 417
integral
compensation
0 : Not used 0
1 : 1125 1
2 : 563 2
Pr.118 3 : 375 3
Notch filter No.18 NCH 0 118 268 418
selection 4 : 282 4
5 : 225 5
6 : 188 6
7 : 161 7
Pr.119
Feed forward No.19 FFC 0 to 100 (%) 0 to 100 (%) 0 119 269 419
gain
Pr.120
In-position No.20 INP 0 to 50000 (pulse) 0 to 50000 (pulse) 100 120 270 420
range
Pr.121
Solenoid No.21 MBR 0 to 1000 (ms) 0 to 1000 (ms) 100 121 271 421
brake output
POINT
" Pr.112 Load inertia ratio" to " Pr.117 Speed integral compensation" are
transferred to the servo amplifier when the PLC CPU is powered ON or reset or the
PLC READY signal [Y1D] turns ON. When auto tuning is executed and operation is
performed, however, they are changed to the optimum values in the servo amplifier.
At this time, the auto tuning results are not reflected on the AD75.
Hence, if " Pr.108 Auto tuning" is changed to "2: Invalid" and the PLC CPU is
powered ON or reset or the PLC READY signal [Y1D] is turned ON, the settings
return to the status before auto tuning, and the motor may vibrate.
When it is desired to save the optimum values obtained by auto tuning, set the data
read from the buffer memory addresses 858 to 863 (Axis 1), 958 to 963 (Axis 2),
1058 to 1063 (Axis 3) to Pr.112 to Pr.117 , and perform write to flash ROM.
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5 DATA USED FOR POSITIONING CONTROL
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Pr.112 Load inertia ratio (Ratio of load inertia to servomotor inertia)
Set the ratio of load inertia to servomotor inertia.
When auto tuning is executed, this parameter is automatically changed to the auto
tuning result in the servo amplifier.
Pr.113 Position loop gain 1 (Model position gain)
Set the gain of the position loop.
Increase the position loop gain 1 to improve trackability in response to the position
command.
Pr.114 Speed loop gain 1 (Model speed gain)
Normally use this parameter at the initial value.
Higher setting of the speed loop gain 1 increases the response level, but is liable
to generate vibration and/or noise.
Pr.115 Position loop gain 2 (Actual position gain)
Set the gain of the position loop.
The response to load disturbance can be increased.
Higher setting of the position loop gain 2 increases the response level, but is liable
to generate vibration and/or noise.
Pr.116 Speed loop gain 2 (Actual speed gain)
Set this parameter when vibration occurs on machines of low rigidity or large
backlash.
Higher setting of the speed loop gain 2 increases the response level, but is liable
to generate vibration and/or noise.
Pr.117 Speed integral compensation
Set the time constant for integral compensation.
Pr.118 Notch filter selection
Select the frequency that matches the resonance frequency of the mechanical
system.
Pr.119 Feed forward gain
Set the feed forward gain factor for position control.
When the setting is 0%, feed forward control is not performed.
When the setting is 100%, droop pulses are not generated during constant-speed
operation.
However, if sudden acceleration/deceleration is made, overshoot increases. (The
guideline of the acceleration/deceleration time at 100% is 1s or more.)
POINT
When setting this parameter, always set " Pr.108 Auto tuning" to "2: Invalid".
Pr.120 In-position range
Set the droop pulse range in which the in-position output is provided to the AD75.
Pr.121 Solenoid brake output
Set a time delay from when the solenoid brake interlock signal (MBR)
turns OFF until the servo amplifier shuts OFF the base circuit.
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Servo amplifier Setting value buffer
side parameter Setting value, setting range memory address
Default
Item value
Abbre- Value set with peripheral Value set with sequence
No. viation program Axis 1 Axis 2 Axis 3
device
0 : Servomotor speed 0 H/ 0H
1 : Torque 1 H/ 1H
2 : Servomotor speed (+) 2 H/ 2H
3 : Torque (+) 3 H/ 3H
Pr.122 4 : Current command 4 H/ 4H
Monitor output No.22 MOD 5 : Command speed 5 H/ 5H 0001H 122 272 422
mode
selection 6 : Droop pulse 1/1 6 H/ 6H
7 : Droop pulse 1/16 7 H/ 7H
8 : Droop pulse 1/64 8 H/ 8H
9 : Droop pulse 1/256 9 H/ 9H
A : Droop pulse 1/1024 A H/ AH
Amplifier EMG selection
0 : Valid 0H
Pr.123 1 : Invalid 1H
Option No.23 *OP1 Serial encoder cable selection 0000H 123 273 423
function 1
0 : 2-wire 0 H
1 : 4-wire (Supports long
distance cables) 1 H
Slight vibration suppression function selection
0 : Invalid 0 H
Pr.124
1 : Valid 1 H
Option No.24 *OP2 0000H 124 274 424
Motor-less operation selection
function 2
0 : Invalid 0 H
1 : Valid 1 H
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.122 Monitor output mode selection
Select the signals to be output from the analog monitor CH1 and CH2 of the servo
amplifier.
0 0 H
Monitor output 2 selection
Set any of 0 to A. (Refer to the settings of the following monitor output 1)
Monitor output 1 selection
0: Servomotor speed
1: Torque
2: Servomotor speed (+)
3: Torque (+)
4: Current command
5: Command speed
6: Droop pulse 1/1
7: Droop pulse 1/16
8: Droop pulse 1/64
9: Droop pulse 1/256
A: Droop pulse 1/1024
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Pr.123 Option function 1
Set the option function 1 (amplifier EMG selection, serial encoder cable selection).
• Amplifier EMG selection
The external emergency stop signal EM1 can be made invalid.
• Serial encoder cable selection
Select the serial encoder cable to be used.
0 0 H
Amplifier EMG selection
0: Valid
1: Invalid
Serial encoder cable selection
0: 2-wire
1: 4-wire (Supports long distance cables)
Pr.124 Option function 2
Set the option function 2 (slight vibration suppression function selection, motor-
less operation selection).
• Slight vibration suppression function selection
When " Pr.108 Auto tuning" is set to "2: Invalid", the function to suppress
vibration at a stop can be made valid.
• Motor-less operation selection
When motor-less operation is valid, signals can be output or the status displayed
without connection of the servomotor.
0 0 H
Slight viblation suppression function selection
0: Invalid
1: Valid
Motor-less operation selection
0: Invalid
1: Valid
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(3) Servo extension parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
Pr.127
Monitor output No.27 MO1 -999 to 999 (mV) -999 to 999 (mV) 0 127 277 427
1 offset
Pr.128
Monitor output No.28 MO2 -999 to 999 (mV) -999 to 999 (mV) 0 128 278 428
2 offset
Pr.130
No.30 ZSP 0 to 10000 (r/min) 0 to 10000 (r/min) 50 130 280 430
Zero speed
Pr.131
Error No.31 ERZ 1 to 1000 (kpulse) 1 to 1000 (kpulse) 80 131 281 431
excessive
alarm level
PI-PID control switching
0 : PI control is always
0
valid
1 : Switched to PID control
Pr.132 when value set to "PI-
Option No.32 OP5 PID switching position 0 132 282 432
function 5 1
droop" is reached or
exceeded during
position control
2 : PID control is always
2
valid
Pr.134
PI-PID No.34 VPI 0 to 50000 (pulse) 0 to 50000 (pulse) 0 134 284 434
switching
position droop
Pr.136
Speed No.36 VDC 0 to 1000 0 to 1000 980 136 286 436
differential
compensation
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Pr.127 Monitor output 1 offset
Set the offset voltage for the monitor output 1.
Pr.128 Monitor output 2 offset
Set the offset voltage for the monitor output 2.
Pr.130 Zero speed
Set the servomotor speed at which the motor speed is judged as zero.
Pr.131 Error excessive alarm level
Set the range in which a droop pulse excess alarm will be output.
Pr.132 Option function 5
Select the PI-PID control switching.
Pr.134 PI-PID switching position droop
Set the position droop amount at which PI control is switched to PID control during
position control.
Pr.136 Speed differential compensation
Set the differential compensation value of the actual speed loop.
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5.2.10 Servo parameters for MR-J2S-B
When using the servo amplifier MR-J2Super (Model MR-J2S- B), set the servo
series to the "MR-J2-B" on the peripheral device.
For the items and ranges that cannot be set as the MR-J2-B, set them in a sequence
program (refer to section "6.4 Positioning program examples").
(1) Servo basic parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
0 : MR-H-B(MR-H-BN) 0000H
Pr.100 1 : MR-J-B 0001H
– – 0000H 100 250 400
Servo series 2 : MR-J2-B 0002H
3 : Other 001EH
0 : Absolute position
Pr.101 0
detection invalid
Amplifier No.1 *AMS 0 101 251 401
1 : Absolute position
setting 1
detection valid
Regenerative brake option
00 : External regenerative
00H
brake option not used
05 : MR-RB32 05H
08 : MR-RB30 08H
Pr.102 09 : MR-RB50 09H
Regenerative No.2 *REG 10 : MR-RB032 10H 0000H 102 252 402
brake resister 11 : MR-RB12 11H
External dynamic brake selection
0 : External dynamic brake
0 H
invalid
1 : External dynamic brake
1 H
valid
Pr.103
No.3 *MTY 0080H: Automatic setting 0080H 0000H 103 253 403
Motor type
Pr.104
Motor No.4 *MCA 1 to 9999 1 to 9999H 0000H 104 254 404
capacity
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
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5 DATA USED FOR POSITIONING CONTROL
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Pr.100 Servo series
Set this parameter to "2: MR-J2-B".
Pr.101 Amplifier setting
Set whether an absolute position detection system is valid or invalid.
When using the servo amplifier in an incremental system, set this parameter to
"0: Absolute position detection invalid".
When using the servo amplifier in an absolute position detection system, set
this parameter to "1: Absolute position detection valid".
Note) A parameter error will occur if "Absolute position detection valid" is
selected for the incremental encoder.
Pr.102 Regenerative brake resister
Select the regenerative brake resistor to be used and whether an external
dynamic brake is valid or invalid.
0 H
Regenerative brake option selection
00: External regenerative brake option not used
05: MR-RB32
08: MR-RB30
09: MR-RB50
10: MR-RB032
11: MR-RB12
External dynamic brake valid/invalid selection
0: External dynamic brake invalid
1: External dynamic brake valid
Pr.103 Motor type
Set "0080H".
Since setting is made as the MR-J2-B on the peripheral device, "00FFH: Special
motor" can be selected, but set "0080H: Automatic setting" (initial setting).
" Pr.104 Motor capacity" and " Pr.106 Feedback pulse" are automatically set in the
servo amplifier.
However, set the " Pr.104 Motor capacity" of the AD75 to other than the initial
value "0".
(Refer to the following " Pr.104 Motor capacity".)
Pr.104 Motor capacity
Set any of 1 to 9999 in hexadecimal.
The value is automatically set in the servo amplifier according to the used
servomotor.
POINT
Always set the motor capacity to other than "0".
At the default value "0", operation cannot be performed since
communication with the servo amplifier is not made.
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Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
Pr.106 0 : 16384pulse
Setting disabled
Feedback No.6 *FBP 0 106 256 406
("0: 16384pulse" fixed) 1 : 8192pulse
pulse
0 : Forward run with
positioning address 0
Pr.107
increment
Rotation No.7 *POL 0 107 257 407
1 : Reverse run with
direction
positioning address 1
increment
0 : Interpolation mode 0
1 : Auto tuning mode 1 1
Pr.108
No.8 ATU 2 : Manual mode 2 2 1 108 258 408
Auto tuning
– 3
– 4
1 : 15Hz 0001H
2 : 20Hz 0002H
3 : 25Hz 0003H
4 : 30Hz 0004H
5 : 35Hz 0005H
– 0006H
Pr.109 – 0007H
Servo No.9 RSP 8 : 70Hz 0008H 0001H 109 259 409
response
setting 9 : 85Hz 0009H
A : 105Hz 000AH
B : 130Hz 000BH
C : 160Hz 000CH
– 000DH
– 000EH
– 000FH
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.106 Feedback pulse
Set the feedback pulse (resolution per servomotor revolution).
Set any of the following values according to the resolution of the used encoder.
Resolution of used encoder Pr.106 Feedback pulse Pr.2 No. of pulses per rotation
131072pulse 0 : 16384pulse 16384pulse
16384pulse 0 : 16384pulse 16384pulse
8192pulse 1 : 8192pulse 8192pulse
When setting this parameter to "1: 8192 pulse", set it with a sequence program.
(When the peripheral device is used, this parameter is fixed to "0: 16384 pulse" as
the MR-J2-B.)
When any value other than "0" or "1" is set on the AD75, operation cannot be
guaranteed.
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Pr.107 Rotation direction
Set the rotation direction as viewed from the load side.
Foward run(CCW)
Reverse run(CW)
Pr.108 Auto tuning
Select the auto tuning function.
0: Interpolation mode
1: Auto tuning mode 1
2: Manual mode 2
3: Auto tuning mode 2
4: Manual mode 1
On the peripheral device, only "0", "1" or "2" may be set.
(Since the setting is made as the MR-J2-B, the screen display differs from the
above.)
When setting "3" or "4", set this parameter in the sequence program.
Pr.109 Servo response setting
Set the response level of auto tuning.
Setting Guideline for machine • If the machine hunts or
Response
value resonance frequency generates large gear sound,
1 Low response 15 Hz decrease the setting value.
2 20 Hz
3 25 Hz • To improve performance, e.g.
4 30 Hz shorten the settling time,
increase the setting value.
5 35 Hz
6 45 Hz
7 55 Hz
8 Middle response 70 Hz
9 85 Hz
A 105 Hz
B 130 Hz
C 160 Hz
D 200 Hz
E High response 240 Hz
F 300 Hz
On the peripheral device, any value in the range "0" to "C" can be set.
(Since the setting is made as the MR-J2-B, the screen display differs from the
above.)
When setting any of "D" to "F", set this parameter in the sequence program.
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(2) Servo adjustment parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
Pr.112 0.0 to 100.0 (%) 0 to 1000 (0.1%)
Load inertia No.12 GD2 30 112 262 412
ratio – 1001 to 3000 (0.1%)
Pr.113 4 to 1000 (rad/s) 4 to 1000 (rad/s)
Position loop No.13 PG1 70 113 263 413
gain 1 – 1001 to 2000 (rad/s)
Pr.114 20 to 5000 (rad/s) 20 to 5000 (rad/s)
Speed loop No.14 VG1 1200 114 264 414
gain 1 – 5001 to 8000 (rad/s)
Pr.115 1 to 500 (rad/s) 1 to 500 (rad/s)
Position loop No.15 PG2 25 115 265 415
gain 2 – 501 to 1000 (rad/s)
Pr.116 20 to 8000 (rad/s) 20 to 8000 (rad/s)
Speed loop No.16 VG2 600 116 266 416
gain 2 – 8001 to 20000 (rad/s)
Pr.117
Speed No.17 VIC 1 to 1000 (ms) 1 to 1000 (ms) 20 117 267 417
integral
compensation
POINT
" Pr.112 Load inertia ratio" to " Pr.117 Speed integral compensation" are
transferred to the servo amplifier when the PLC CPU is powered ON or reset or the
PLC READY signal [Y1D] turns ON. When auto tuning is executed and operation is
performed, however, they are changed to the optimum values in the servo amplifier.
At this time, the auto tuning results are not reflected on the AD75.
Hence, if " Pr.108 Auto tuning" is changed to "2: Manual mode 2" and the PLC
CPU is powered ON or reset or the PLC READY signal [Y1D] is turned ON, the
settings return to the status before auto tuning, and the motor may vibrate.
When it is desired to save the optimum values obtained by auto tuning, set the data
read from the buffer memory addresses 858 to 863 (Axis 1), 958 to 963 (Axis 2),
1058 to 1063 (Axis 3) to Pr.112 to Pr.117 , and perform write to flash ROM.
Pr.112 Load inertia ratio (Ratio of load inertia to servomotor inertia)
Set the ratio of load inertia to servomotor inertia.
When " Pr.108 Auto tuning" is set to "0: Interpolation mode" or "1: Auto tuning
mode 1", this parameter is automatically changed to the auto tuning result in the
servo amplifier.
On the peripheral device, any value in the range 0.0 to 100.0% can be set since
the setting is made as the MR-J2-B.
When setting any of 100.1 to 300.0%, set this parameter in the sequence program.
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Pr.113 Position loop gain 1 (Model position gain)
Set the gain of the position loop.
Increase the position loop gain 1 to improve trackability in response to the position
command.
When " Pr.108 Auto tuning" is set to "1: Auto tuning mode 1" or "3: Auto tuning
mode 2", this parameter is automatically changed to the auto tuning result in the
servo amplifier.
On the peripheral device, any value in the range 4 to 1000rad/s can be set since
the setting is made as the MR-J2-B.
When setting any of 1001 to 2000rad/s, set this parameter in the sequence program.
Pr.114 Speed loop gain 1 (Model speed gain)
Normally use this parameter at the initial value.
Higher setting of the speed loop gain 1 increases the response level, but is liable
to generate vibration and/or noise.
When " Pr.108 Auto tuning" is set to "1: Auto tuning mode 1", "3: Auto tuning
mode 2" or "4: Manual mode 1", this parameter is automatically changed to the
auto tuning result in the servo amplifier.
On the peripheral device, any value in the range 20 to 5000rad/s can be set since
the setting is made as the MR-J2-B.
When setting any of 5001 to 8000rad/s, set this parameter in the sequence program.
Pr.115 Position loop gain 2 (Actual position gain)
Set the gain of the position loop.
The response to load disturbance can be increased.
Higher setting of the position loop gain 2 increases the response level, but is liable
to generate vibration and/or noise.
When " Pr.108 Auto tuning" is set to "0: Interpolation mode", "1: Auto tuning mode
1" or "3: Auto tuning mode 2", this parameter is automatically changed to the auto
tuning result in the servo amplifier.
On the peripheral device, any value in the range 1 to 500rad/s can be set since the
setting is made as the MR-J2-B.
When setting any of 501 to 1000rad/s, set this parameter in the sequence program.
Pr.116 Speed loop gain 2 (Actual speed gain)
Set this parameter when vibration occurs on machines of low rigidity or large
backlash.
Higher setting of the speed loop gain 2 increases the response level, but is liable
to generate vibration and/or noise.
When " Pr.108 Auto tuning" is set to "0: Interpolation mode", "1: Auto tuning mode
1" or "3: Auto tuning mode 2", this parameter is automatically changed to the auto
tuning result in the servo amplifier.
On the peripheral device, any value in the range 20 to 8000rad/s can be set since
the setting is made as the MR-J2-B.
When setting any of 8001 to 20000rad/s, set this parameter in the sequence
program.
Pr.117 Speed integral compensation
Set the time constant for integral compensation.
When " Pr.108 Auto tuning" is set to "0: Interpolation mode", "1: Auto tuning mode
1" or "3: Auto tuning mode 2", this parameter is automatically changed to the auto
tuning result in the servo amplifier.
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Servo amplifier Setting value, setting range Setting value buffer
side parameter Default memory address
Item value
No. Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3
viation device program
Notch frequency
0 : Invalid 00H
1 : 4500 01H
2 : 2250 02H
3 : 1500 03H
Pr.118
4 : 1125 04H
Machine
resonance No.18 NCH 5 : 900 05H 0000H 118 268 418
suppression 6 : 750 06H
filter 1
7 : 642.9 07H
– 08 to 1FH
Notch depth
0 : -40db 0 H
– 1 to 3 H
Pr.119
Feed forward No.19 FFC 0 to 100 (%) 0 to 100 (%) 0 119 269 419
gain
Pr.120
In-position No.20 INP 0 to 50000 0 to 50000 100 120 270 420
range
Pr.121
Solenoid No.21 MBR 0 to 1000 (ms) 0 to 1000 (ms) 100 121 271 421
brake output
Pr.118 Machine resonance suppression filter 1
Set the machine resonance suppression filter 1 (notch frequency, notch depth).
0 H
Notch frequency
Setting Frequency Setting Frequency Setting Frequency Setting Frequency
00 Invalid 08 562.5 10 281.3 18 187.5
01 4500 09 500 11 264.7 19 180
02 2250 0A 450 12 250 1A 173.1
03 1500 0B 409.1 13 236.8 1B 166.7
04 1125 0C 375 14 225 1C 160.1
05 900 0D 346.2 15 214.3 1D 155.2
06 750 0E 321.4 16 204.5 1E 150
07 642.9 0F 300 17 195.7 1F 145.2
Notch depth
Setting Depth Gain
0 Deep -40dB
1 -14dB
2 -8dB
3 shallow -4dB
On the peripheral device, any of only the notch frequencies "00" to "07" can be set
as the notch filter selection of the MR-J2-B.
(Since the setting is made as the MR-J2-B, the screen display differs from the above.)
On the peripheral device, the notch depth cannot be set. (It is set to the initial
setting "0".)
When setting any of notch frequencies "08" to "1F" and notch depths "1" to "3", set
this parameter in the sequence program.
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Pr.119 Feed forward gain
Set the feed forward gain factor for position control.
When the setting is 0%, feed forward control is not performed.
When the setting is 100%, droop pulses are not generated during constant-speed
operation.
However, if sudden acceleration/deceleration is made, overshoot increases. (The
guideline of the acceleration/deceleration time at 100% is 1s or more.)
POINT
When setting this parameter, always set " Pr.108 Auto tuning" to "2: Manual mode
2".
Pr.120 In-position range
Set the droop pulse range in which the in-position output is provided to the AD75.
Set this parameter in the unit of " Pr.106 Feedback pulse".
Example) When setting 10 m as the in-position range at the ballscrew lead of
10mm and the feedback pulse of 8192 pulse, set the value indicated by
the following expression.
10 10-6
8192 = 8.192 8
10 10-3
Pr.121 Solenoid brake output
Set a time delay from when the solenoid brake interlock signal (MBR)
turns OFF until the servo amplifier shuts OFF the base circuit.
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Servo amplifier Setting value buffer
side parameter Setting value, setting range memory address
Default
Item value
Abbre- Value set with peripheral Value set with sequence
No. viation program Axis 1 Axis 2 Axis 3
device
0 : Servomotor speed 0 H/ 0H
( 8V/max. speed)
1 : Torque
1 H/ 1H
( 8V/max. torque)
2 : Servomotor speed
2 H/ 2H
(+8V/max. speed)
3 : Torque
3 H/ 3H
(+8V/max. torque)
4 : Current command
( 8V/max. current 4 H/ 4H
Pr.122 command)
Monitor output No.22 5 : Command speed
MOD 5 H/ 5H 0001H 122 272 422
mode ( 8V/max. speed)
selection 6 : Droop pulse
6 H/ 6H
( 10V/128 pulses)
7 : Droop pulse
7 H/ 7H
( 10V/2048 pulses)
8 : Droop pulse
8 H/ 8H
( 10V/8192 pulses)
9 : Droop pulse
9 H/ 9H
( 10V/32768 pulses)
A : Droop pulse
A H/ AH
( 10V/131072 pulses)
– B H/ BH
Amplifier EMG selection
0 : Valid 0H
Pr.123 1 : Invalid 1H
Option No.23 *OP1 Serial encoder cable selection 0000H 123 273 423
function 1
0 : 2-wire 0 H
1 : 4-wire (Supports long
distance cables) 1 H
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
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Pr.122 Monitor output mode selection
Select the signals to be output from the analog monitor CH1 and CH2 of the servo
amplifier.
0 0 H
Monitor output 2 selection
Set any of 0 to B.
(Refer to the settings of the following monitor output 1)
Monitor output 1 selection
0: Servomotor speed ( 8V/max. speed)
1: Torque ( 8V/max. torque)
2: Servomotor speed (+8V/max. speed)
3: Torque (+8V/max. torque)
4: Current command ( 8V/max. current command)
5: Command speed ( 8V/max. speed)
6: Droop pulse ( 10V/128 pulses)
7: Droop pulse ( 10V/2048 pulses)
8: Droop pulse ( 10V/8192 pulses)
9: Droop pulse ( 10V/32768 pulses)
A: Droop pulse ( 10V/131072 pulses)
B: Bus voltage
Pr.123 Option function 1
Set the option function 1 (amplifier EMG selection, serial encoder cable
selection).
• Amplifier EMG selection
The external emergency stop signal EM1 can be made invalid.
• Serial encoder cable selection
Select the serial encoder cable to be used.
0 0 H
Amplifier EMG selection
0: Valid
1: Invalid
Serial encoder cable selection
0: 2-wire
1: 4-wire (Supports long distance cables)
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Servo amplifier Setting value buffer
side parameter Setting value, setting range memory address
Default
Item value
Abbre- Value set with peripheral Value set with sequence
No. viation program Axis 1 Axis 2 Axis 3
device
Slight vibration suppression function selection
0 : Invalid 0 H
Pr.124
1 : Valid 1 H
Option No.24 *OP2 0000H 124 274 424
Motor-less operation selection
function 2
0 : Invalid 0 H
1 : Valid 1 H
Low pass filter selection
– 0 H
– 1 H
Pr.125
Adaptive vibration suppression control selection
Low pass
filter/adaptive – 0 H
No.25 LPF 0000H 125 275 425
vibration – 1 H
suppression – 2 H
control
Adaptive vibration suppression control sensitivity
– 0 H
– 1 H
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.124 Option function 2
Set the option function 2 (slight vibration suppression function selection, motor-
less operation selection).
• Slight vibration suppression function selection
When " Pr.149 Servo parameter transmission setting" is set to "F003H" and
" Pr.108 Auto tuning" is set to "2: Manual mode", the function to suppress
vibration at a stop can be made valid.
• Motor-less operation selection
When motor-less operation is valid, signals can be output or the status displayed
without connection of the servomotor.
0 0 H
Slight viblation suppression function selection
0: Invalid
1: Valid
Motor-less operation selection
0: Invalid
1: Valid
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Pr.125 Low pass filter/adaptive vibration suppression control
Set the low pass filter and adaptive vibration suppression control.
This parameter cannot be set on the peripheral device.
Set this parameter with a sequence program.
• Low pass filter selection
Select whether the low pass filter in response to the torque command to prevent
the resonance at high frequency is made valid (automatic adjustment) or invalid.
• Adaptive vibration suppression control selection
Select whether the adaptive vibration suppression control, in which the servo
amplifier detects machine resonance and automatically sets the filter
characteristics to suppress mechanical system vibration, is made invalid or valid
or is held.
• Adaptive vibration suppression control sensitivity
Select the sensitivity at which machine resonance is detected.
0 H
Low pass filter selection
0: Valid (Automatic adjustment)
1: Invalid
Adaptive viblation suppression control selection
0: Invalid
1: Valid (The machine resonance frequency is always detected and the filter is
generated in response to resonance to suppress machine vibration.)
2: Hold (The characteristics of the filter generated so far are held, and detection
of machine resonance is stopped.)
Adaptive viblation suppression control sensitivity
0: Normal
1: Large sensitivity
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(3) Servo extension parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
Pr.127
Monitor output No.27 MO1 -999 to 999 (mV) -999 to 999 (mV) 0 127 277 427
1 offset
Pr.128
Monitor output No.28 MO2 -999 to 999 (mV) -999 to 999 (mV) 0 128 278 428
2 offset
Pr.130
No.30 ZSP 0 to 10000 (r/min) 0 to 10000 (r/min) 50 130 280 430
Zero speed
Pr.131
Error No.31 ERZ 0.025 to 25.000 (0.025rev) 1 to 1000 (0.025rev) 80 131 281 431
excessive
alarm level
PI-PID control switching
0 : PI control is always
0
valid
1 : Switched to PID control
Pr.132 when value set to "PI-
Option No.32 OP5 PID switching position 0 132 282 432
function 5 1
droop" is reached or
exceeded during
position control
2 : PID control is always
2
valid
Serial communication baud rate selection
– 0H
– 1H
– 2H
Pr.133 – 3H
Option No.33 *OP6 Serial communication response delay time 0000H 133 283 433
function 6 – 0 H
– 1 H
Encoder pulse output setting selection
– 0 H
– 1 H
Pr.134
PI-PID No.34 VPI 0 to 50000 (pulse) 0 to 50000 (pulse) 0 134 284 434
switching
position droop
Pr.136
Speed No.36 VDC 0 to 1000 0 to 1000 980 136 286 436
differential
compensation
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.127 Monitor output 1 offset
Set the offset voltage for the monitor output 1.
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Pr.128 Monitor output 2 offset
Set the offset voltage for the monitor output 2.
Pr.130 Zero speed
Set the servomotor speed at which the motor speed is judged as zero.
Pr.131 Error excessive alarm level
Set the range in which a droop pulse excess alarm will be output.
Set any value in the range 0.025 to 25.000rev in 0.025rev increments.
Example) When 80 is set
80 0.025=2.000 [rev]
Since setting is made as the MR-J2-B on the peripheral device, the setting range
is 1 to 1000kpulse, but set this parameter to any of 0.025 to 25.000rev.
Pr.132 Option function 5
Select the PI-PID control switching.
Pr.133 Option function 6
Set the option function 6 (serial communication baud rate selection, serial
communication response delay time, encoder pulse output setting selection).
This parameter cannot be set on the peripheral device.
Set this parameter with a sequence program.
• Serial communication baud rate selection
Select the serial communication baud rate.
• Serial communication response delay time
Select the serial communication response delay time.
• Encoder pulse output setting selection
Select the output system of the encoder pulses (A phase, B phase) output by the
servo amplifier when " Pr.149 Servo parameter transmission setting" is set to
"F003H". (For details, refer to " Pr.138 Encoder output pulses".)
0 H
Serial communication baud rate selection
0: 9600 [bps]
1: 19200 [bps]
2: 38400 [bps]
3: 57600 [bps]
Serial communication response delay time
0: Invalid
1: Valid (reply made after 800 s or more delay time)
Encoder pulse output setting selection
0: Output pulses setting
1: Dividing frequency ratio setting
Pr.134 PI-PID switching position droop
Set the position droop amount at which PI control is switched to PID control during
position control.
Pr.136 Speed differential compensation
Set the differential compensation value of the actual speed loop.
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Servo amplifier Setting value buffer
side parameter Setting value, setting range memory address
Default
Item value
Abbre- Value set with peripheral Value set with sequence
No. viation program Axis 1 Axis 2 Axis 3
device
Pr.138
Encoder No.38 *ENR – 0 to 65535 4000 138 288 438
output pulses
Pr.149
Servo
parameter – – – 0, F003H 0 149 299 449
transmission
setting
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.138 Encoder output pulses
Set the encoder pulses (A phase, B phase) output by the servo amplifier. Set the
value 4 times smaller than the A phase and B phase pulses.
This parameter cannot be set on the peripheral device.
Set this parameter with a sequence program.
Use " Pr.133 Option function 6" to select the output pulses setting or output
dividing frequency ratio setting.
The number of A phase and B phase pulses actually output is 1/4 times greater
than the preset number of pulses.
The maximum output frequency is 1.3Mpulse (after multiplication by 4). Use this
parameter within this range.
• For output pulses setting
Set " Pr.133 Option function 6" to " 0 H" (initial value).
Set the number of pulses per servomotor revolution.
Output pulses = setting value [pulse/rev]
(Example) When the setting is 5600, the actually output A phase and B phase
pulses are as indicated below.
5600
A phase and B phase output pulses = = 1400 [pulse]
4
• For dividing frequency ratio setting
Set " Pr.133 Option function 6" to " 1 H ".
The number of pulses per servomotor revolution is divided by the setting value.
Resoution per servomotor revolution
Output pulses = [pulse/rev]
Setting value
(Example) When the setting is 8, the actually output A phase and B phase
pulses are as indicated below.
131072 1
A phase and B phase output pulses= = 4096 [pulse]
8 4
Pr.149 Servo parameter transmission setting
Set whether the encoder output pulse function and slight vibration suppression
function of the MR-J2S-B are valid or invalid.
This parameter cannot be set on the peripheral device.
Set this parameter with a sequence program.
0 : Invalid
F003H : Valid
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MEMO
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5.2.11 Servo parameters for MR-J2-03B5
When using the servo amplifier MR-J2-Jr series (Model MR-J2-03B5), set the servo
series to the "MR-J2-B" on the peripheral device.
For the items and ranges that cannot be set as the MR-J2-B, set them in a sequence
program (refer to section "6.4 Positioning program examples").
(1) Servo basic parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
0 : MR-H-B(MR-H-BN) 0000H
Pr.100 1 : MR-J-B 0001H
– – 0000H 100 250 400
Servo series 2 : MR-J2-B 0002H
3 : Other 001EH
Pr.101
Amplifier No.1 – Use prohibited (set the default value) 0 101 251 401
setting
Pr.102
Regenerative No.2 – Use prohibited (set the default value) 0000H 102 252 402
brake resister
Pr.103
No.3 *MTY 0080H: Automatic setting 0080H 0000H 103 253 403
Motor type
Pr.104
Motor No.4 *MCA 1 to 9999 1 to 9999 0000H 104 254 404
capacity
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.100 Servo series
Set this parameter to "2: MR-J2-B".
Pr.103 Motor type
Set "0080H".
Since setting is made as the MR-J2-B on the peripheral device, "00FFH: Special
motor" can be selected, but set "0080H: Automatic setting" (initial setting).
" Pr.104 Motor capacity" is automatically set in the servo amplifier.
However, set the " Pr.104 Motor capacity" of the AD75 to other than the initial
value "0".
(Refer to the following " Pr.104 Motor capacity".)
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5 DATA USED FOR POSITIONING CONTROL
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Pr.104 Motor capacity
Set any of 1 to 9999 in hexadecimal.
The value is automatically set in the servo amplifier according to the used
servomotor.
POINT
Always set the motor capacity to other than "0".
At the default value "0", operation cannot be performed since communication with
the servo amplifier is not made.
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5 DATA USED FOR POSITIONING CONTROL
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Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
0 : Forward run with
positioning address 0
Pr.107
increment
Rotation No.7 *POL 0 107 257 407
1 : Reverse run with
direction
positioning address 1
increment
0 : Auto tuning selected for
use of interpolation axis
0
control in position
Pr.108 control
No.8 ATU 1 108 258 408
Auto tuning 1 : Auto tuning for ordinary
1
operation
2 : Invalid 2
1 : Normal (Low response) 0001H
2 : Normal
0002H
(Low/middle response)
3 : Normal
0003H
(Middle response)
4 : Normal
0004H
(Middle/highresponse)
Pr.109 5 : Normal (High response) 0005H
Servo No.9 RSP 8 : Large friction 0008H 0001H 109 259 409
response (Low response)
setting 9 : Large friction
0009H
(Low/middle response)
A : Large friction
000AH
(Middle response)
B : Large friction
000BH
(Middle/high response)
C : Large friction
000CH
(High response)
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.107 Rotation direction
Set the rotation direction as viewed from the load side.
Foward run (CCW)
Reverse run (CW)
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5 DATA USED FOR POSITIONING CONTROL
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Pr.108 Auto tuning
Select the auto tuning function.
Pr.109 Servo response setting
Set this parameter to increase the response of the servo.
Description Guideline for position
settling time
Machine type
Setting Guideline for GDL2/GDM2
value 2 2
Response corresponding guideline for GDL /GDM guideline
machine rigidity load inertia = within 5 times
1 Low response Low rigidity 50 to 300ms
Normal 2
(Standard 3 Middle response Middle rigidity 10 to 70ms
mode) 4
5 High response High rigidity 10 to 30ms
1 to 10 times
Large friction 8 Low response Low rigidity 70 to 400ms
(Friction 9
load A Middle response Middle rigidity 10 to 100ms
reduction B
mode) 10 to 50ms
C High response High rigidity
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5 DATA USED FOR POSITIONING CONTROL
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(2) Servo adjustment parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
Pr.112
Load inertia No.12 GD2 0.0 to 100.0 (%) 0 to 1000 (0.1%) 30 112 262 412
ratio
Pr.113
Position loop No.13 PG1 4 to 1000 (rad/s) 4 to 1000 (rad/s) 70 113 263 413
gain 1
Pr.114
Speed loop No.14 VG1 20 to 5000 (rad/s) 20 to 5000 (rad/s) 1200 114 264 414
gain 1
Pr.115
Position loop No.15 PG2 1 to 500 (rad/s) 1 to 500 (rad/s) 25 115 265 415
gain 2
Pr.116
Speed loop No.16 VG2 20 to 8000 (rad/s) 20 to 8000 (rad/s) 600 116 266 416
gain 2
Pr.117
Speed No.17 VIC 1 to 1000 (ms) 1 to 1000 (ms) 20 117 267 417
integral
compensation
0 : Not used 0
1 : 1125 1
2 : 563 2
Pr.118 3 : 375 3
Notch filter No.18 NCH 0 118 268 418
selection 4 : 282 4
5 : 225 5
6 : 188 6
7 : 161 7
Pr.119
Feed forward No.19 FFC 0 to 100 (%) 0 to 100 (%) 0 119 269 419
gain
Pr.120
In-position No.20 INP 0 to 50000 (pulse) 0 to 50000 (pulse) 100 120 270 420
range
Pr.121
Solenoid No.21 MBR 0 to 1000 (ms) 0 to 1000 (ms) 100 121 271 421
brake output
POINT
" Pr.112 Load inertia ratio" to " Pr.117 Speed integral compensation" are
transferred to the servo amplifier when the PLC CPU is powered ON or reset or the
PLC READY signal [Y1D] turns ON. When auto tuning is executed and operation is
performed, however, they are changed to the optimum values in the servo amplifier.
At this time, the auto tuning results are not reflected on the AD75.
Hence, if " Pr.108 Auto tuning" is changed to "2: Invalid" and the PLC CPU is
powered ON or reset or the PLC READY signal [Y1D] is turned ON, the settings
return to the status before auto tuning, and the motor may vibrate.
When it is desired to save the optimum values obtained by auto tuning, set the data
read from the buffer memory addresses 858 to 863 (Axis 1), 958 to 963 (Axis 2),
1058 to 1063 (Axis 3) to Pr.112 to Pr.117 , and perform write to flash ROM.
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5 DATA USED FOR POSITIONING CONTROL
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Pr.112 Load inertia ratio (Ratio of load inertia to servomotor inertia)
Set the ratio of load inertia to servomotor inertia.
When auto tuning is executed, this parameter is automatically changed to the auto
tuning result in the servo amplifier.
Pr.113 Position loop gain 1 (Model position gain)
Set the gain of the position loop.
Increase the position loop gain 1 to improve trackability in response to the position
command.
Pr.114 Speed loop gain 1 (Model speed gain)
Normally use this parameter at the initial value.
Higher setting of the speed loop gain 1 increases the response level, but is liable
to generate vibration and/or noise.
Pr.115 Position loop gain 2 (Actual position gain)
Set the gain of the position loop.
The response to load disturbance can be increased.
Higher setting of the position loop gain 2 increases the response level, but is liable
to generate vibration and/or noise.
Pr.116 Speed loop gain 2 (Actual speed gain)
Set this parameter when vibration occurs on machines of low rigidity or large
backlash.
Higher setting of the speed loop gain 2 increases the response level, but is liable
to generate vibration and/or noise.
Pr.117 Speed integral compensation
Set the time constant for integral compensation.
Pr.118 Notch filter selection
Select the frequency that matches the resonance frequency of the mechanical
system.
Pr.119 Feed forward gain
Set the feed forward gain factor for position control.
When the setting is 0%, feed forward control is not performed.
When the setting is 100%, droop pulses are not generated during constant-speed
operation.
However, if sudden acceleration/deceleration is made, overshoot increases. (The
guideline of the acceleration/deceleration time at 100% is 1s or more.)
POINT
When setting this parameter, always set " Pr.108 Auto tuning" to "2: Invalid".
Pr.120 In-position range
Set the droop pulse range in which the in-position output is provided to the AD75.
Pr.121 Solenoid brake output
Set a time delay from when the solenoid brake interlock signal (MBR) turns OFF
until the servo amplifier shuts OFF the base circuit.
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5 DATA USED FOR POSITIONING CONTROL
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Servo amplifier Setting value buffer
side parameter Setting value, setting range memory address
Default
Item value
Abbre- Value set with peripheral Value set with sequence
No. viation program Axis 1 Axis 2 Axis 3
device
Pr.122
Monitor output No.22 – Use prohibited (set the default initial value) 0001H 122 272 422
mode
selection
Amplifier EMG selection
Pr.123 0 : Valid 0H
Option No.23 *OP1 1 : Invalid 1H 0000H 123 273 423
function 1 Serial encoder cable selection
Use prohibited (set "0")
Slight vibration suppression function selection
0 : Invalid 0 H
Pr.124
1 : Valid 1 H
Option No.24 *OP2 0000H 124 274 424
Motor-less operation selection
function 2
0 : Invalid 0 H
1 : Valid 1 H
* This parameter is made valid when the servo amplifier is powered OFF, then ON again after it has been transferred
from the AD75 to the servo amplifier.
Pr.123 Option function 1
Set the option function 1 (amplifier EMG selection).
• Amplifier EMG selection
The external emergency stop signal EM1 can be made invalid.
0 0 0 H
Amplifier EMG selection
0: Valid
1: Invalid
Pr.124 Option function 2
Set the option function 2 (slight vibration suppression function selection,
motor-less operation selection).
• Slight vibration suppression function selection
When " Pr.108 Auto tuning" is set to "2: Invalid", the function to suppress
vibration at a stop can be made valid.
• Motor-less operation selection
When motor-less operation is valid, signals can be output or the status displayed
without connection of the servomotor.
0 0 H
Slight viblation suppression function selection
0: Invalid
1: Valid
Motor-less operation selection
0: Invalid
1: Valid
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(3) Servo extension parameters
Servo amplifier Setting value buffer
Setting value, setting range
side parameter Default memory address
Item
Abbre- Value set with peripheral Value set with sequence value
No. Axis 1 Axis 2 Axis 3
viation device program
Pr.127
Monitor output No.27 – Use prohibited (set the default value) 0 127 277 427
1 offset
Pr.128
Monitor output No.28 – Use prohibited (set the default value) 0 128 278 428
2 offset
Pr.130
No.30 ZSP 0 to 10000 (r/min) 0 to 10000 (r/min) 50 130 280 430
Zero speed
Pr.131
Error No.31 ERZ 1 to 1000 (kpulse) 1 to 1000 (kpulse) 80 131 281 431
excessive
alarm level
PI-PID control switching
0 : PI control is always
0
valid
1 : Switched to PID control
Pr.132 when value set to "PI-
Option No.32 OP5 PID switching position 0 132 282 432
function 5 1
droop" is reached or
exceeded during
position control
2 : PID control is always
2
valid
Pr.134
PI-PID No.34 VPI 0 to 50000 (pulse) 0 to 50000 (pulse) 0 134 284 434
switching
position droop
Pr.136
Speed No.36 VDC 0 to 1000 0 to 1000 980 136 286 436
differential
compensation
Pr.130 Zero speed
Set the servomotor speed at which the motor speed is judged as zero.
Pr.131 Error excessive alarm level
Set the range in which a droop pulse excess alarm will be output.
Pr.132 Option function 5
Select the PI-PID control switching.
Pr.134 PI-PID switching position droop
Set the position droop amount at which PI control is switched to PID control during
position control.
Pr.136 Speed differential compensation
Set the differential compensation value of the actual speed loop.
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5 DATA USED FOR POSITIONING CONTROL
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5.3 List of positioning data
Before explaining the positioning data setting items Da.1 to Da.9 , the
configuration of the positioning data will be shown below.
The positioning data stored in the AD75 buffer memory has the following type of
configuration.
99 100 *
Up to 100 positioning data items can be set (stored) for each axis
2290 in the buffer memory address shown on the left.
3 2280
Positioning data No. 1 2 This data is controlled as positioning data No. 1 to 100 for each axis.
One positioning data item is configured of the items shown in the
Positioning identifier 1310 1320 2291
1300 2281 bold box.
Da.1 to Da.4
Da.9 1311 1321 2292
1301 2282
M code
1312 1322 2294
Axis 1
Da.8 2284
1302 2295
Dwell time 2285
1304 1314 1324 2296
Da.7 2286
1305 1315 1325 2297
Command speed 2287
Da.5
1306 1316 1326 2298
2288
Positioning address/ 1307 1317 1327 2299
2289
movement amount
Da.6 1308 1318 1328
1309 1319 1329
Arc address
Ê̂ u
’ Œ
ˆ ß
‚ 100 *
99
3280 3290
2 3
Positioning data No. 1
Positioning identifier 2320 Configuration of positioning identifier
2300 2310 3281 3291
Da.1 to Da.4
b15 b12 b8 b4 b0
0 0 Buffer memory
Da.9 2301 2311 2321 3282 3292
M code
Da.8 3294
2312 2322 3284
Axis 2
2302 3295
Dwell time 3285 Da.2 Da.1
Control method Operation pattern
2304 2314 2324 3296 Da.3
Da.7 3286
2305 2315 2325 3297
Command speed 3287 Acceleration time No.
Da.4
Da.5 2326 3298
2306 2316 2327 3288 Deceleration time No.
Positioning address/ 2307 2317 3289 3299
movement amount
Da.6 2318 2328
2308
2319 2329
Arc address 2309
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5 DATA USED FOR POSITIONING CONTROL
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100 *
99
4280 4290
2 3
Positioning data No. 1
Positioning identifier 3310 3320 4291
3300 4281
Da.1 to Da.4
Da.9 3311 3321 4292
3301 4282
M code
Da.8 3312 3322 4284 4294
3302 4295
Dwell time 4285
Axis 3
Da.7 3304 3314 3324 4296
3315 3325 4286
3305 4287 4297
Command speed
Da.5
3306 3316 3326 4298
4288
Positioning address/ 3307 3317 3327 4299
4289
movement amount
Da.6 3308 3318 3328
3309 3319 3329
Arc address
Buffer memory address
Da.
The positioning data setting items ( Da.1 to Da.9 ) are explained in the following
section.
(The buffer memory addresses for the axis 1 to axis 3 "positioning data No. 1" are
shown.)
REMARK
*: Positioning data No. 101 to 600 cannot be set in the buffer memory.
The data set in positioning data No. 101 to 600 is directly set into the AD75 OS
memory from a peripheral device using the AD75 software package.
(To set without using a peripheral device, transmission must be carried out using
the block transmission memory.)
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5 DATA USED FOR POSITIONING CONTROL
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Setting value buffer
Setting value Default
Item memory address
value
Value set with peripheral device Value set with sequence program Axis 1 Axis 2 Axis 3
00 : Positioning complete 00 Operation pattern
Da.1
Operation 01 : Continuous positioning control 01
pattern
11 : Continuous path control 11
ABS Linear 1 :
01H
1-axis linear control (ABS)
INC Linear 1 :
02H
1-axis linear control (INC)
Fixed-dimension feed 1 :
03H
1-axis fixed-dimension feed control
ABS Linear 2 :
04H
2-axis linear interpolation control (ABS)
INC Linear 2 :
05H
2-axis linear interpolation control (INC)
Fixed-dimension feed 2 :
06H
2-axis fixed-dimension feed control
ABS Circular interpolation : Control method
Circular interpolation control with 07H
auxiliary point designation (ABS)
INC Circular interpolation : Setting value
Circular interpolation control with 08H
auxiliary point designation (INC)
ABS Circular right :
Circular interpolation control with center 09H H
point designation (ABS, CW)
Da.2
ABS Circular left :
Positioning identifier
Control Convert into hexadecimal
method Circular interpolation control with center 0AH
point designation (ABS, CCW)
b15 b12 b8 b4 b0
INC Circular right : 00
Circular interpolation control with center 0BH 0000H 1300 2300 3300
point designation (INC, CW)
INC Circular left :
Circular interpolation control with center 0CH
point designation (INC, CCW)
Forward run Speed limited :
0DH
Speed control (forward run)
Reverse run Speed limited :
0EH
Speed control (reverse run)
Forward run speed/position :
Speed/position changeover control 0FH
(forward run)
Reverse run speed/position :
Speed/position changeover control 10H
(reverse run)
Current value change :
11H
Current value change
JUMP command :
20H
JUMP command
0 : Pr.8 Acceleration time 0 00
Da.3 1 : Pr.26 Acceleration time 1 01
Acceleration Acceleration
time No. 2 : Pr.27 Acceleration time 2 10
time
3 : Pr.28 Acceleration time 3 11
0 : Pr.9 Deceleration time 0 00
Da.4 1 : Pr.29 Deceleration time 1 01
Deceleration Deceleration time
time No. 2 : Pr.30 Deceleration time 2 10
3 : Pr.31 Deceleration time 3 11
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Da.1 Operation pattern
The operation pattern designates whether positioning of a certain data No. is to be
ended with just that data, or whether the positioning for the next data No. is to be
carried out in succession.
[Operation pattern]
Positioning complete ...................................................................... Independent positioning control
(Positioning complete)
Continuous positioning with one start signal .......... Continuous positioning control
Positioning
continued
Continuous path positioning with speed change ..... Continuous path control
1) Positioning complete..................... Set to execute positioning to the designated
address, and then complete positioning.
2) Continuous positioning control ..... Positioning is carried out successively in
order of data Nos. with one start signal.
The operation stops once at each positioning
data.
3) Continuous path control................ Positioning is carried out successively in
order of data Nos. with one start signal.
The operation does not stop at each
positioning data.
Da.2 Control method
Set the "control method" for carrying out positioning control.
Note) • When "JUMP command" is set for the control method, the " Da.8
Dwell time" and " Da.9 M code" setting details will differ.
• Refer to "Chapter 9 MAIN POSITIONING CONTROL" for details on the
control methods.
• If "degree" is set for " Pr.1 Unit setting", circular interpolation control
cannot be carried out. (The "Control method setting error" (error code:
524) will occur when executed.)
Da.3 Acceleration time No.
Set which of "acceleration time 0 to 3" to use for the acceleration time during
positioning.
0 : Use the value set in " Pr.8 Acceleration time 0".
1 : Use the value set in " Pr.26 Acceleration time 1".
2 : Use the value set in " Pr.27 Acceleration time 2".
3 : Use the value set in " Pr.28 Acceleration time 3".
Da.4 Deceleration time No.
Set which of "deceleration time 0 to 3" to use for the deceleration time during
positioning.
0 : Use the value set in " Pr.9 Deceleration time 0".
1 : Use the value set in " Pr.29 Deceleration time 1".
2 : Use the value set in " Pr.30 Deceleration time 2".
3 : Use the value set in " Pr.31 Deceleration time 3".
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5 DATA USED FOR POSITIONING CONTROL
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Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with peripheral Value set with sequence value
Axis 1 Axis 2 Axis 3
device program
The setting value range differs according to the " Da.2
Control method".
Here, the value within the following range of [Table 1] range
Da.5 Positioning address/ is set. 1306 2306 3306
0
movement amount 1307 2307 3307
[Table 1] on right page
Da.5 Positioning address/movement amount
Set the address to be used as the target value for positioning control.
The setting value range differs according to the " Da.2 Control method".
((1) to (3))
There are restrictions for the absolute position detection system. Refer to section
"12.6 Absolute position restoration function".
(1) Absolute (ABS) system, Current value charge
• The setting value (positioning address) for the ABS system and current value
change is set with an absolute address (address from zero point).
Stop position
(positioning start address)
-1000 1000 3000
Movement Movement
amount : 2000 amount : 2000
(2) Incremental (INC) system, fixed-dimension feed 1, fixed-dimension
feed 2
• The setting value (movement amount) for the INC system is set as a
movement amount with sign.
When movement amount is positive: Moves in the positive direction (address
increment direction)
When movement amount is negative: Moves in the negative direction (address
decrement direction)
Stop position
(positioning start position)
(Movement amount) (Movement amount)
-30000 30000
Moves in Moves in
negative direction positive direction
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5 DATA USED FOR POSITIONING CONTROL
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[Table 1]
When " Pr.1 Unit setting" is "mm"
Da.2 Value set with peripheral device Value set with sequence program *1
setting value (µm) (× 10-1µm)
ABS Linear 1 : 01H
◊ Set the address ◊ Set the address
ABS Linear 2 : 04H
–214748364.8 to 214748364.7 –2147483648 to 2147483647
Current value change : 11H
INC Linear 1 : 02H
INC Linear 2 : 05H ◊ Set the movement amount ◊ Set the movement amount
Fixed-dimension feed 1 : 03H –214748364.8 to 214748364.7 –2147483648 to 2147483647
Fixed dimension feed 2 : 06H
Forward run speed/position : 0FH ◊ Set the movement amount ◊ Set the movement amount
Reverse run speed/position : 10H 0 to 214748364.7 0 to 2147483647
Forward run Speed control : 0DH
Reverse run Speed control : 0EH (Setting not required) (Setting not required)
JUMP command : 20H
ABS Circular interpolation : 07H
◊ Set the address ◊ Set the address
ABS Circular right : 09H
–214748364.8 to 214748364.7 –2147483648 to 2147483647
ABS Circular left : 0AH
INC Circular interpolation : 08H
◊ Set the movement amount ◊ Set the movement amount
INC Circular right : 0BH
–214748364.8 to 214748364.7 –2147483648 to 2147483647
INC Circular left : 0CH
*1 Decimal points cannot be used in the sequence program, so input the setting value as an integer.
(The value will be converted into the specified value within the system.)
(3) For speed/position changeover control
• Set the movement amount from when the control changes from the speed
control to the position control.
Speed
Movement amount setting
Speed Position
control control
Time
Speed/position changeover
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When " Pr.1 Unit setting" is "degree"
Da.2 Value set with peripheral device Value set with sequence program *1
setting value (degree) (× 10-5 degree)
ABS Linear 1 : 01H
◊ Set the address ◊ Set the address
ABS Linear 2 : 04H
0 to 359.99999 0 to 35999999
Current value change : 11H
INC Linear 1 : 02H
INC Linear 2 : 05H ◊ Set the movement amount ◊ Set the movement amount
Fixed-dimension feed 1 : 03H –21474.83648 to 21474.83647 –2147483648 to 2147483647
Fixed-dimension feed 2 : 06H
Forward run speed/position : 0FH ◊ Set the movement amount ◊ Set the movement amount
Reverse run speed/position : 10H 0 to 21474.83647 0 to 2147483647
Forward run Speed control : 0DH
Reverse run Speed control : 0EH (Setting not required) (Setting not required)
JUMP command : 12H
ABS Circular interpolation : 07H
ABS Circular right : 09H
ABS Circular left : 0AH
Circular interpolation control is not possible
INC Circular interpolation : 08H
INC Circular right : 0BH
INC Circular left : 0CH
When " Pr.1 Unit setting" is "pulse"
Da.2 Value set with peripheral device Value set with sequence program *1
setting value (pulse) (pulse)
ABS Linear 1 : 01H
◊ Set the address ◊ Set the address
ABS Linear 2 : 04H
–2147483648 to 2147483647 –2147483648 to 2147483647
Current value change : 11H
INC Linear 1 : 02H
INC Linear 2 : 05H ◊ Set the movement amount ◊ Set the movement amount
Fixed-dimension feed 1 : 03H –2147483648 to 2147483647 –2147483648 to 2147483647
Fixed-dimension feed 2 : 06H
Forward run speed/position : 0FH ◊ Set the movement amount ◊ Set the movement amount
Reverse run speed/position : 10H 0 to 2147483647 0 to 2147483647
Forward run Speed control : 0DH
Reverse run Speed control : 0EH (Setting not required) (Setting not required)
JUMP command : 20H
ABS Circular interpolation : 07H
◊ Set the address ◊ Set the address
ABS Circular right : 09H
–2147483648 to 2147483647 –2147483648 to 2147483647
ABS Circular left : 0AH
INC Circular interpolation : 08H
◊ Set the movement amount ◊ Set the movement amount
INC Circular right : 0BH
–2147483648 to 2147483647 –2147483648 to 2147483647
INC Circular left : 0CH
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5 DATA USED FOR POSITIONING CONTROL
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When " Pr.1 Unit setting" is "inch"
Da.2 Value set with peripheral device Value set with sequence program *1
setting value (inch) (× 10-5 inch)
ABS Linear 1 : 01H
◊ Set the address ◊ Set the address
ABS Linear 2 : 04H
–21474.83648 to 21474.83647 –2147483648 to 2147483647
Current value change : 11H
INC Linear 1 : 02H
INC Linear 2 : 05H ◊ Set the movement amount ◊ Set the movement amount
Fixed-dimension feed 1 : 03H –21474.83648 to 21474.83647 –2147483648 to 2147483647
Fixed-dimension feed 2 : 06H
Forward run speed/position : 0FH ◊ Set the movement amount ◊ Set the movement amount
Reverse run speed/position : 10H 0 to 21474.83647 0 to 2147483647
Forward run Speed control : 0DH
Reverse run Speed control : 0EH (Setting not required) (Setting not required)
JUMP command : 20H
ABS Circular interpolation : 07H
◊ Set the address ◊ Set the address
ABS Circular right : 09H
–21474.83648 to 21474.83647 –2147483648 to 2147483647
ABS Circular left : 0AH
INC Circular interpolation : 08H
◊ Set the movement amount ◊ Set the movement amount
INC Circular right : 0BH
–21474.83648 to 21474.83647 –2147483648 to 2147483647
INC Circular left : 0CH
*1 Decimal points cannot be used in the sequence program, so input the setting value as an integer.
(The value will be converted into the specified value within the system.)
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5 DATA USED FOR POSITIONING CONTROL
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Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with peripheral Value set with sequence value
Axis 1 Axis 2 Axis 3
device program
The setting value range differs according to the " Da.2
Control method".
Here, the value within the [Table 1] range is set. 1308 2308 3308
Da.6 Arc address 0
1309 2309 3309
[Table 1] on right page
Da.6 Arc address
The arc address is data required only when carrying out circular interpolation
control.
(1) When carrying out circular interpolation with auxiliary point designation, set the
auxiliary point (passing point) address as the arc address.
(2) When carrying out circular interpolation with center point designation, set the
center point address of the arc as the arc address.
End point address End point address
(Address set with Da.5 ) (Address set with Da.5 )
Center point address
Auxiliary point (Address set with Da.6 )
(Address set with Da.6 )
Start point address (Address before starting positioning) Start point address (Address before starting positioning)
<(1) Circular interpolation with auxiliary <(2) Circular interpolation with center
point designation> point designation>
When not carrying out circular interpolation control, the value set in " Da.6 Arc
address" will be invalid.
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[Table 1]
When " Pr.1 Unit setting" is "mm"
Da.2 Value set with peripheral device Value set with sequence program *1
setting value (µm) (× 10-1µm)
ABS Circular interpolation : 07H
◊ Set the address ◊ Set the address
ABS Circular right : 09H
–214748364.8 to 214748364.7 –2147483648 to 2147483647
ABS Circular left : 0AH
INC Circular interpolation : 08H
◊ Set the movement amount ◊ Set the movement amount
INC Circular right : 0BH
INC Circular left : 0CH –214748364.8 to 214748364.7 –2147483648 to 2147483647
ABS Linear 1 : 01H
ABS Linear 2 : 04H
INC Linear 1 : 02H
INC Linear 2 : 05H
Fixed-dimension feed 1 : 03H
Fixed-dimension feed 2 : 06H
(Setting not required) (Setting not required)
Forward run Speed control : 0DH
Reverse run Speed control : 0EH
Forward run speed/position : 0FH
Reverse run speed/position : 10H
JUMP command : 20H
Current value change : 11H
*1 Decimal points cannot be used in the sequence program, so input the setting value as an integer.
(The value will be converted into the specified value within the system.)
When " Pr.1 Unit setting" is "degree"
Da.2 Value set with peripheral device Value set with sequence program *1
setting value (degree) (× 10-5 degree)
ABS Circular interpolation : 07H
ABS Circular right : 09H
ABS Circular left : 0AH
Circular interpolation control is not possible (If set, an error occurs.)
INC Circular interpolation : 08H
INC Circular right : 0BH
INC Circular left : 0CH
ABS Linear 1 : 01H
ABS Linear 2 : 04H
INC Linear 1 : 02H
INC Linear 2 : 05H
Fixed-dimension feed 1 : 03H
Fixed-dimension feed 2 : 06H
(Setting not required) (Setting not required)
Forward run Speed control : 0DH
Reverse run Speed control : 0EH
Forward run speed/position : 0FH
Reverse run speed/position : 10H
JUMP command : 20H
Current value change : 11H
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When " Pr.1 Unit setting" is "pulse"
Da.2 Value set with peripheral device Value set with sequence program *1
setting value (pulse) (pulse)
ABS Circular interpolation : 07H
◊ Set the address ◊ Set the address
ABS Circular right : 09H
–2147483648 to 2147483647 –2147483648 to 2147483647
ABS Circular left : 0AH
INC Circular interpolation : 08H
◊ Set the movement amount ◊ Set the movement amount
INC Circular right : 0BH
INC Circular left : 0CH –2147483648 to 2147483647 –2147483648 to 2147483647
ABS Linear 1 : 01H
ABS Linear 2 : 04H
INC Linear 1 : 02H
INC Linear 2 : 05H
Fixed-dimension feed 1 : 03H
Fixed-dimension feed 2 : 06H
(Setting not required) (Setting not required)
Forward run Speed control : 0DH
Reverse run Speed control : 0EH
Forward run speed/position : 0FH
Reverse run speed/position : 10H
JUMP command : 20H
Current value change : 11H
*1 Decimal points cannot be used in the sequence program, so input the setting value as an integer.
(The value will be converted into the specified value within the system.)
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When " Pr.1 Unit setting" is "inch"
Da.2 Value set with peripheral device Value set with sequence program *1
setting value (inch) (× 10-5 inch)
ABS Circular interpolation : 07H
◊ Set the address ◊ Set the address
ABS Circular right : 09H
–21474.83648 to 21474.83647 –2147483648 to 2147483647
ABS Circular left : 0AH
INC Circular interpolation : 08H
◊ Set the movement amount ◊ Set the movement amount
INC Circular right : 0BH
–21474.83648 to 21474.83647 –2147483648 to 2147483647
INC Circular left : 0CH
ABS Linear 1 : 01H
ABS Linear 2 : 04H
INC Linear 1 : 02H
INC Linear 2 : 05H
Fixed-dimension feed 1 : 03H
Fixed-dimension feed 2 : 06H
(Setting not required) (Setting not required)
Forward run Speed control : 0DH
Reverse run Speed control : 0EH
Forward run speed/position : 0FH
Reverse run speed/position : 10H
JUMP command : 20H
Current value range : 11H
*1 Decimal points cannot be used in the sequence program, so input the setting value as an integer.
(The value will be converted into the specified value within the system.)
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Setting value buffer
Setting value, setting range
Default memory address
Item
Value set with peripheral Value set with sequence value
Axis 1 Axis 2 Axis 3
device program
The setting value range differs depending on the " Pr.1
Unit setting".
Here, the value within the [Table 1] range is set.
1304 2304 3306
Da.7 Command speed [Table 1] on right page 0
1305 2305 3307
–1: Current speed
(Speed set for previous –1
positioning data No.)
Da.8 The setting value range differs according to the " Da.2
Dwell time Control method".
Dwell time/
JUMP Here, the value within the [Table 2] range is set. 0 1302 2302 3302
destination JUMP
positioning data destination [Table 2] on right page
No. positioning
data No.
The setting value range differs according to the " Da.2
M code Control method".
Da.9 Here, the value within the [Table 3] range is set. 0 1301 2301 3301
M code
Condition [Table 3] on right page
data No.
Da.7 Command speed
Set the command speed for positioning.
(1) If the set command speed exceeds the speed limit value, positioning will be
carried out at the speed limit value.
(2) If "–1" is set for the command speed, the current speed (speed set for previous
positioning data No.) will be used for positioning control. Use the current
speed for uniform speed control, etc. If "–1" is set for continuing positioning
data, and the speed is changed, the following speed will also change.
(Note that when starting positioning, if the "–1" speed is set for the positioning
data that carries out positioning control first, the error "no command speed"
(error code:503) will occur, and the positioning will not start.
Refer to section "14.2 List of errors" for details on the errors.)
Da.9 M code (condition data No.)
Set an "M code" or "condition data No." corresponding to the " Da.2 Control
method".
• When a method other than "JUMP command" is set for " Da.2 Control method"
..... Set an "M code". If an "M code" is not to be output, set "0" (default value).
• When "JUMP command" is set for " Da.2 Control method"
..... Set the "condition data No."* for JUMP
0 : Unconditionally JUMP to the positioning data set in Da.8 .
1 to 10 : JUMP according to the condition data No. 1 to No. 10.
* The condition data sets the conditions for executing the JUMP command. (The
JUMP is established when the set conditions are satisfied.)
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[Table 1]
Pr.1 Value set with sequence program
Value set with peripheral device (unit)
setting value (unit)
0 : mm 0.01 to 6000000.00 (mm/min) 1 to 600000000 (× 10-2mm/min)
1 : inch 0.001 to 600000.000 (inch/min) 1 to 600000000 (× 10-3inch/min)
2 : degree 0.001 to 600000.000 (degree/min) 1 to 600000000 (× 10-3degree/min)
3 : pulse 1 to 1000000 (pulse/s) 1 to 1000000 (pulse/s)
[Table 2]
Da.2 Value set with peripheral Value set with sequence
Setting item
setting value device program
JUMP command : 20H Positioning data No. 1 to 600 1 to 600
Other than JUMP command * : 01H to 10H Dwell time 0 to 65535 (ms) 0 to 65535 (ms)
[Table 3]
Da.2 Value set with peripheral Value set with sequence
Setting item
setting value device program
JUMP command : 20H Condition data No. 0 to 10 0 to 10
Other than JUMP command * : 01H to 10H M code 0 to 32767 0 to 32767
* Setting is not required at the actual value modification(11H).
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Da.8 Dwell time/JUMP designation positioning data No.
Set the "dwell time" or "positioning data No." corresponding to the " Da.2 Control
method".
• When a method other than "JUMP command" is set for " Da.2 Control method"
..... Set the "dwell time".
• When "JUMP command" is set for " Da.2 Control method"
..... Set the "positioning data No." for the JUMP destination.
When the "dwell time" is set, the setting details of the "dwell time" will be as follows
according to " Da.1 Operation pattern".
V
1) When " Da.1 Operation pattern" in "00: Positioning complete Positioning control
· Set the time from when the positioning ends to when the
"positioning complete signal" turns ON as the "dwell time".
t
ON
Positioning complete signal OFF
Da.8
Dwell time
V
2) When " Da.1 Operation pattern" is "01: Continuous positioning control" Positioning control
Next positioning
· Set the time from when positioning control ends to when control
the next positioning control starts as the "dwell time".
t
Da.8
Dwell time
V
3) When " Da.1 Operation pattern" is "11: Continuous path control" Positioning control
· The setting value is irrelevant to the control. Next positioning control
(The "dwell time" is 0ms.)
t
No dwell time (0ms)
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5.4 List of start block data
Before explaining the start block data setting items Da.1 to Da.13 , the configuration
of the start block data will be shown below.
The start block data stored in the AD75 buffer memory has the following type of
configuration.
50th point
Buffer memory
Setting item
address
Up to 50 start block data points can be set
2nd point (stored) for each axis in the buffer memory
1st point Buffer memory address shown on the left.
Setting item
ddress 4349
Buffer memory One start block data item is configured of
Setting item address
the items shown in the bold box.
b15 b8 b7 b0 4301
4300
Da.11
Axis 1
Da.10 4399
Start data No.
Shape
b15 b8 b7 b0 4351
4350
Da.12 Da.13
Special start Parameter
command
50th point
Buffer memory
Setting item address
2nd point
1st point Setting item Buffer memory
ddress 4599
Buffer memory
Setting item address
b15 b8 b7 b0 4551
4550
Da.11
Axis 2
Da.10 4649
Start data No.
Shape
b15 b8 b7 b0 4601
4600
Da.12 Da.13
Special start Parameter
command
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50th point
Buffer memory
Setting item address
2nd point
1st point Setting item Buffer memory
ddress 4849
Buffer memory
Setting item address
b15 b8 b7 b0 4801
4800
Da.11
Axis 3
Da.10 4899
Start data No.
Shape
b15 b8 b7 b0 4851
4850
Da.12 Da.13
Special start Parameter
command
The start block data setting items ( Da.10 to Da.13 ) are explained in the following
section.
(The buffer memory addresses for the axis 1 to axis 3 "1st point start block data (block
No. 7000)" are shown.)
REMARK
When carrying out advanced positioning control using the "positioning start
information", set a number between "7000 and 7010" in " Cd.11 Positioning start
No.", and set the "start block data" for the nth point block between "1 and 50" in the
" Cd.31 Positioning starting point No.".
This number between "7000 and 7010" is called the "block No.".
With the AD75, the "start block data (50 points)" and "condition data (10 items)" can
be set for each "block No.".
* Data corresponding to block No. 7001 to 7010 cannot be set in the buffer
memory. The data corresponding to block No. 7001 to 7010 is directly set into the
AD75 OS memory from a peripheral device using the AD75 software package.
Block Buffer AD75 software
Axis Start block data Condition
No. memory package
Axis 1 Start block data (1 to 50) Condition data (1 to 10)
7000 Axis 2 Start block data (1 to 50) Condition data (1 to 10)
Axis 3 Start block data (1 to 50) Condition data (1 to 10)
Axis 1 Start block data (1 to 50) Condition data (1 to 10)
7001 to
Axis 2 Start block data (1 to 50) Condition data (1 to 10)
7010
Axis 3 Start block data (1 to 50) Condition data (1 to 10)
: Can be set, : Cannot be set
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Setting value buffer
Setting value
Default memory address
Item
Value set with peripheral value
Value set with sequence program Axis 1 Axis 2 Axis 3
device
0 : End 0
Da.10
Shape
b15 b11 b7 b3 b0
0 0 0
1 : Continue 1 0000H 4300 4550 4800
Shape
Da.11 01H
Positioning data No.: 1 to 600
to
Start data No. (01H to 258H) 258H
Start data No.
0 : Normal start 00H
1 : Condition start 01H
2 : Wait start 02H b15 b11 b7 b3 b0
Da.12 3 : Simultaneous start 03H
Special start
command 4 : Stop 04H
0000H 4350 4600 4850
5 : FOR loop 05H
Special start
6 : FOR condition 06H command
7 : NEXT start 07H
Condition data No.:
Da.13 1 to 10 (01H to 0AH) 00H
to Parameter
Parameter No. of repetitions: FFH
0 to 255 (00H to FFH)
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Da.10 Shape
Set whether to carry out only the local "start block data" and then end control, or to
execute the "start block data" set in the next point.
Setting value Setting details
0 : End Execute the designated point's "start block data", and then complete the control.
Execute the designated point's "start block data", and after completing control, execute the next
1 : Continue
point's "start block data".
Da.11 Start data No.
Set the "positioning data No." designated with the "start block data".
Da.12 Special start command
Set the "special start command" for using "advanced positioning control". (Set how
to start the positioning data set in Da.11 .)
Setting value Setting details
00H : Block start
Execute the random block positioning data in the set order with one start.
(Normal start)
Carry out the condition judgment set in "condition data" for the designated positioning data, and
01H : Condition start when the conditions are established, execute the "start block data". If not established, ignore
that "start block data", and then execute the next point's "start block data".
Carry out the condition judgment set in "condition data" for the designated positioning data, and
02H : Wait start when the conditions are established, execute the "start block data". If not established, stop the
control (wait) until the conditions are established.
03H : Simultaneous Simultaneous execute (output position/speed commands at same timing) the positioning data
start with the No. designated for the axis designated in the "condition data".
04H : Stop Stop the positioning operation.
05H : Repeated start Repeat the program from the start block data with the "FOR loop" to the start block data with
(FOR loop) "NEXT" for the designated No. of times.
06H: Repeated start Repeat the program from the start block data with the "FOR condition" to the start block data
(FOR condition) with "NEXT" until the conditions set in the "condition data" are established.
Set the end of the repetition when "05H: Repetition start (FOR loop)" or "06H: Repetition start
07H : NEXT start
(FOR condition)" is set.
Refer to "Chapter 10 ADVANCED POSITIONING CONTROL" for details on the
control.
Da.13 Parameter
Set the value as required for " Da.12 Special start command".
Da.12 Special start command Setting value Setting details
Block start (Normal start) – Not used. (There is no need to set.)
Condition start Set the condition data No. (No. of
"condition data" set to perform
Wait start 1 to 10 condition judgment)
(For details of the condition data, refer
Simultaneous start to Section 5.5.)
Stop – Not used. (There is no need to set.)
Repeated start (FOR loop) 0 to 255 Set the No. of repetitions.
Set the condition data No. (No. of
"condition data" set to perform
Repeated start (FOR condition) 1 to 10 condition judgment)
(For details of the condition data, refer
to Section 5.5.)
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5.5 List of condition data
Before explaining the condition data setting items Da.14 to Da.18 , the configuration
of the condition data will be shown below.
The condition data stored in the AD75 buffer memory has the following type of
configuration.
No.10
Buffer memory
Setting item
address Up to 10 condition data items can be set (stored)
No.2 for each axis in the buffer memory address shown
No.1 Buffer memory on the left.
Setting item
ddress 4490
Buffer memory One condition data item is configured of the items
Setting item address shown in the bold box.
b15 b12 b11 b8 b7 b0
4410 4491
4400 4492
4493
Da.15 Da.14
Axis 1
4411 4494
Condition operator Condition target 4495
Open 4401 4412 4496
4413 4497
Da.16 Address 4402
4403 4414 4498
4415 4499
Da.17 Parameter 1 4404
4405 4416
4417
Da.18 Parameter 2 4406
4407 4418
4419
4408
Open 4409
No.10
Buffer memory
Setting item address
No.2
No.1 Buffer memory
Setting item
ddress 4740
Buffer memory
Setting item address
b15 b12 b11 b8 b7 b0
4660 4741
4650 4742
4743
Da.15 Da.14
Axis 2
4661 4744
Condition operator Condition target 4745
Open 4651 4662 4746
4663 4747
Da.16 Address 4652
4653 4664 4748
4665 4749
Da.17 Parameter 1 4654
4655 4666
4667
Da.18 Parameter 2 4656
4657 4668
4669
4658
Open 4659
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No.10
Buffer memory
Setting item address
No.2
No.1 Buffer memory
Setting item
ddress 4990
Buffer memory
Setting item address
b15 b12 b11 b8 b7 b0
4910 4991
4900 4992
4993
Da.15 Da.14
Axis 3
4911 4994
Condition operator Condition target 4995
Open 4901 4912 4996
4913 4997
Da.16 Address 4902
4903 4914 4998
4915 4999
Da.17 Parameter 1 4904
4905 4916
4917
Da.18 Parameter 2 4906
4907 4918
4919
4908
Open 4909
The condition data setting items ( Da.14 to Da.18 ) are explained in the following
section.
(The buffer memory addresses for the axis 1 to axis 3 "condition data No. 1 (block No.
7000)" are shown.)
REMARK
When carrying out advanced positioning control using the "positioning start
information", set a number between "7000 and 7010" in " Cd.11 Positioning start
No.", and set the "start block data" for the nth point block between "1 and 50" in the
" Cd.31 Positioning starting point No.".
This number between "7000 and 7010" is called the "block No.".
With the AD75, the "start block data (50 points)" and "condition data (10 items)" can
be set for each "block No.".
* Data corresponding to block No. 7001 to 7010 cannot be set in the buffer
memory. The data corresponding to block No. 7001 to 7010 is directly set into the
AD75 OS memory from a peripheral device using the AD75 software package.
Block Buffer AD75 software
Axis Start block data Condition
No. memory package
Axis 1 Start block data (1 to 50) Condition data (1 to 10)
7000 Axis 2 Start block data (1 to 50) Condition data (1 to 10)
Axis 3 Start block data (1 to 50) Condition data (1 to 10)
Axis 1 Start block data (1 to 50) Condition data (1 to 10)
7001 to
Axis 2 Start block data (1 to 50) Condition data (1 to 10)
7010
Axis 3 Start block data (1 to 50) Condition data (1 to 10)
: Can be set, : Cannot be set
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Setting value buffer
Setting value
Default memory address
Item
Value set with peripheral value
Value set with sequence program Axis 1 Axis 2 Axis 3
device
01 : Device X 01H
Da.14 02 : Device Y 02H
Condition target
Condition 03 : Buffer memory (1-word) 03H
target 04 : Buffer memory (2-word) 04H
05 : Positioning data No. 05H
01 : ∗∗=P1 01H
02 : ∗∗≠P1 02H
03 : ∗∗≤P1 03H Condition operator
Condition identifier
04 : ∗∗≥P1 04H
05 : P1≤∗∗≤ P2 05H
06 : ∗∗≤P1, P2≤∗∗ 06H b15 b8 b7 b0 0000H 4490 4740 4990
07 : DEV=ON 07H
Da.15
08 : DEV=OFF 08H
Condition
operator 09 : Axis 1 designation 09H
0A : Axis 2 designation 0AH
0B : Axis 1 and axis 2
0BH
designation
0C : Axis 3 designation 0CH
0D: Axis 1 and axis 3
0DH
designation
0E : Axis 2 and axis 3
0EH
designation
Example)
4493 4492
b31 (High-order) b16 b15 (Low-order) b0 4492 4742 4992
Da.16 Address Buffer memory address 0000H
4493 4743 4993
Buffer memory address
Example)
4495 4494
Da.17 b31 (High-order) b16 b15 (Low-order) b0 4494 4744 4994
Value 0000H
Parameter 1 4495 4745 4995
Value
Example)
4497 4496
Da.18 b31 (High-order) b16 b15 (Low-order) b0 4496 4746 4996
Value 0000H
Parameter 2 4497 4747 4997
Value
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Da.14 Condition target
Set the condition target as required for each control.
Setting value Setting details
01H : Device X
Set the input/output signal ON/OFF as the conditions.
02H : Device Y
03H : Buffer memory (1-word) Set the value stored in the buffer memory as the condition.
03H: The target buffer memory is "1-word (16 bits)"
04H : Buffer memory (2-word)
04H: The target buffer memory is "2-word (32 bits)"
05H : Positioning data No. Select only for "simultaneous start".
Da.15 Condition operator
Set the condition operator as required for the " Da.14 Condition target".
Da.14 Condition target Setting value Setting details
01H : Device X 07H : DEV=ON When the input/output signal ON/OFF is set as the
02H : Device Y 08H : DEV=OFF condition, set "ON" or "OFF".
01H : ∗∗=P1
03H : Buffer memory (1-word) Set how to judge the conditions for the value (∗∗)
04H : Buffer memory (2-word) target stored in the buffer memory.
06H : ∗∗≤P1, P2≤∗∗
09H : Axis 1 designation
Set the axis to start simultaneously when
05H : Positioning data No.
0EH : Axis 2 and axis 3 "simultaneous start" is selected.
designation
Da.16 Address
Set the address as required for the " Da.14 Condition target".
Da.14 Condition target Setting value Setting details
01H : Device X
– Not used. (There is no need to set.)
02H : Device Y
03H : Buffer memory (1-word) Set the target "buffer memory address".
Value
(For 2 word, set the low-order buffer memory
04H : Buffer memory (2-word) (Buffer memory address)
address.)
05H : Positioning data No. – Not used. (There is no need to set.)
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Da.17 Parameter 1
Set the parameters as required for the " Da.15 Condition operator".
Da.15 Condition operator Setting value Setting details
01H : ∗∗=P1
Value Set the "P1" value.
06H : ∗∗≤P1, P2≤∗∗
07H : DEV=ON Value Set the device's bit No.
08H : DEV=OFF (Bit No.) X : 0H to FH, Y : 10H to 1DH
09H : Axis 1 designation Set the positioning data No. for starting axis 1 and axis 2.
Low-order 16-bit:
Value
Axis 1 positioning data No. 1 to 600 (01H to 258H)
(Positioning data No.)
0EH : Axis 2 and axis 3 designation High-order 16-bit:
Axis 2 positioning data No. 1 to 600 (01H to 258H)
Da.18 Parameter 2
Set the parameters as required for the " Da.15 Condition operator".
Da.15 Condition operator Setting value Setting details
01H : ∗∗=P1
– Not used. (There is no need to set.)
04H : ∗∗≥P1
05H : P1≤∗∗≤ P2 Value Set the "P2" value.
06H : ∗∗≤P1, P2≤∗∗
07H : DEV=ON
08H : DEV=OFF
– Not used. (There is no need to set.)
09H : Axis 1 designation
0AH : Axis 2 designation
0BH : Axis 1 and axis 2 designation
0CH : Axis 3 designation Set the positioning data No. for starting axis 3.
0DH : Axis 1 and axis 3 designation Value Low-order 16-bit:
(Positioning data No.) Axis 3 positioning data No. 1 to 600 (01H to 258H)
0EH : Axis 2 and axis 3 designation High-order 16-bit: No setting
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5.6 List of monitor data
5.6.1 System monitor data
Storage item Storage details
Whether the mode is the test mode from the peripheral device or not is stored.
Md.1 In test mode flag • When not in test mode : OFF
• When in test mode : ON
Md.2 Module name The AD75 module name is stored.
The AD75 OS type is stored.
Md.3 OS type
(Stored with an 8-character ASCII code.)
The AD75 OS version is stored.
Md.4 OS version
(Stored with a 4-character ASCII code.)
The software clock data created by the system in the AD75 is stored.
• This is used to record the history occurrence time.
Md.5 Clock data (hour: minute) Note) To utilize the clock data, the correct time must be set from the PLC CPU
with Cd.1 to Cd.3 . If this setting is not made, the clock data will start
counting from "00 hours 00 minutes" when the AD75 power is turned ON.
The software clock data created by the system in the AD75 is stored.
• This is used to record the history occurrence time.
Md.6 Clock data (second: 100 ms) Note) To utilize the clock data, the correct time must be set from the PLC CPU
with Cd.1 to Cd.3 . If this setting is not made, the clock data will start
counting from "00 seconds 00 ms" when the AD75 power is turned ON.
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Storage buffer
memory address
Reading the monitor value Default value (common for axis 1 to
axis 3)
Monitoring is carried out with a decimal.
Monitor
Storage value 0 450
value
0: Not in test mode
1: In test mode
Monitoring is carried out with a decimal.
Monitor
Storage value
–
value (Corresponding 451
0: A1SD75M1/AD75M1
1: A1SD75M2/AD75M2 name)
2: A1SD75M3/AD75M3
Monitoring is carried out with a Monitor value
hexadecimal.
452 3 7 3 5
Example) When name is "AD75" Name
and OS type is "S000". 7 5 AD75
453 4 1 4 4
452
A D – Md.
453
(Corresponding
454
454 3 0 3 0 OS name)
455
OS type
0 0 S000
455 5 3 3 0
S 0
(Converted with ASCII code)
Monitoring is carried out with a hexadecimal.
Example) When OS version is "V00M".
Monitor value
456 3 0 4 D –
456
OS version (Corresponding
0 M 457
V00M OS version)
457 5 6 3 0
V 0
(Converted with ASCII code)
Monitoring is carried out with a hexadecimal.
Buffer memory (stored with BCD code)
1 5 3 0 Monitor value
0000 460
5
b15 b12 b8 b4 b0
0 0 0 1 0 1 0 1 0 0 1 1 0 0 0 0 1 3 0
0 to 2 0 to 9 0 to 5 0 to 9
00 to 23 00 to 59
(hour) (minute)
Monitoring is carried out with a hexadecimal.
Buffer memory (stored with BCD code)
4 9 0 7 Monitor value
b15 b12 b8 b4 b0 0000 461
0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 4 9 0 7
0 to 5 0 to 9 0 0 to 9
00 to 59 00 to 09
(second) (100 ms)
(Unless noted in particular, the monitor value is saved as binary data.)
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MELSEC-A
Storage item Storage details Reading the monitor value
Monitoring is carried out with a decimal.
Md.7 Monitor
The No. of the axis that started is value Storage value
Start axis stored. 1: Axis 1
2: Axis 2
3: Axis 3
[Stored contents] The operation information (restart flag, start origin, operation type) is stored.
• Restart flag : Whether the operation restarted after stopping once
• Start origin : Where the start signal was input from
• Operation type : What type of operation was carried out
[Reading the monitor value] Monitoring is carried out with a hexadecimal.
A B C D
Monitor value
b15 b12 b8 b4 b0
Buffer
memory A B C D
Md.8 a B C D
Operation type Start origin Operation type
Stored contents Storage value Storage value Remarks
Stored contents
PLC CPU 00 a B C D (decimal)
External signal 01 0 0 0 1 001
Peripheral device 10 Positioning operation ~
0 2 5 8 600
1 B 5 8 7000
Restart flag
Block positioning operation ~
1 B 6 2 7010
Stored contents Storage value
JOG operation 1 F 7 C 8060
Restart flag OFF 0 Manual pulse generator operation 1 F 7 D 8061
Restart flag ON 1 Machine zero point return
Starting history (up to 16 items can be stored)
1 F 7 3 8051
High-speed zero point return 1 F 7 4 8052
Current value change 1 F 7 5 8053
a : Binary, B to D: Hexadecimal
Monitoring is carried out with a hexadecimal.
Buffer memory (stored with BCD code)
Md.9 The starting time is stored. 1 5 3 0 Monitor value
Start time (Software clock data created by
5
b15 b12 b8 b4 b0
(Hour: minute) system in AD75.) 0 0 0 1 0 1 0 1 0 0 1 1 0 0 0 0 1 3 0
0 to 2 0 to 9 0 to 5 0 to 9
00 to 23 00 to 59
(hour) (minute)
Monitoring is carried out with a hexadecimal.
Buffer memory (stored with BCD code)
Md.10 The starting time is stored. 4 9 0 7 Monitor value
Start time (Software clock data created by b15 b12 b8 b4 b0
(Second:100 ms) system in AD75.)
0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 4 9 0 7
0 to 5 0 to 9 0 0 to 9
00 to 59 00 to 09
(second) (100 ms)
[Stored contents] The error judgment results when starting (shown below) are stored.
• BUSY start warning flag • Error flag • Error No.
[Reading the monitor value] Monitoring is carried out with a hexadecimal.
A B C D
Monitor value
Buffer b15 b12 b8 b4 b0
memory A B C D
Md.11 a B C D
Error judgment Error flag Error No.
Stored contents Storage value a, B, C and D are converted into a decimal,
Error flag OFF 0 which can be confirmed in section "14.2 List of errors".
Error flag ON 1
BUSY start warning
Stored contents Storage value
BUSY start 0
warning OFF
BUSY start
1
warning ON
Monitoring is carried out with a decimal.
Md.12 The pointer No. following the
Monitor Storage value (Pointer No.)
Starting history pointer No. where the latest start value 0 to 15
pointer history is stored is indicated.
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Default value Storage buffer memory address (common for axis 1 to axis 3)
Md.12
542
Starting history pointer
The pointer No. following the pointer No.
where the latest start history is stored is stored.
0000H
Pointer No.
14 15
12 13
10 11
8 9
6 7 537
4 5 527 532
2 3 517 522
Pointer No. 0 1 512
502 507
492 497
477 482 487
Md.7 472
462 467 528 533
538
Start axis 513 518 523
503 508
493 498
478 483 488
Md.8 473
463 468 529 534
539
Operation type
514 519 524
Starting history
504 509
494 499
Md.9 479 484 489
474
Start time 464 469 535 540
0000 525 530
(Hour: minute) 510 515 520
505
495 500
Md.10 485 490
475 480
Start time 465 470 536 541
526 531
(Second: 100ms) 511 516 521
506
496 501
486 491
Md.11 476 481
466 471
Error judgment
0000 A "pointer No." is assigned to each block of buffer memory
that configures one start history.
Item Buffer memory Example)
address Pointer No. 0 = Buffer memory 462 to 466
Pointer No. 1 = Buffer memory 467 to 471
Pointer No. 2 = Buffer memory 472 to 476
The history is stored in order in pointer No. "0" to "15".
If the No. of history items exceeds this, the history will
return to "0" and be stored in order.
(When newly storing history items, the previous history will be cleared.)
0000H
0 542
5 - 139
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage item Storage details Reading the monitor value
Monitoring is carried out with a decimal.
Md.13 The No. of the axis for which an Monitor
value Storage value
error was detected when starting 1: Axis 1
Start axis is stored. 2: Axis 2
3: Axis 3
[Stored contents] The operation information (restart flag, start origin, operation type) is stored.
• Restart flag : Whether the operation restarted after stopping once
• Start origin : Where the start signal was input from
• Operation type : What type of operation was carried out
[Reading the monitor value] Monitoring is carried out with a hexadecimal.
A B C D
Monitor value
Buffer b15 b12 b8 b4 b0
memory A B C D
Md.14 a B C D
Operation type Start origin Operation type
Stored contents Storage value Storage value Remarks
Stored contents
PLC CPU 00 a B C D (decimal)
External signal 01 0 0 0 1 001
Peripheral device 10 Positioning operation ~
0 2 5 8 600
1 B 5 8 7000
Restart flag
Block positioning operation ~
1 B 6 2 7010
Stored contents Storage value JOG operation 1 F 7 C 8060
Error at start history (up to 16 items can be stored)
Restart flag OFF 0 Manual pulse generator operation 1 F 7 D 8061
Restart flag ON 1 Machine zero point return 1 F 7 3 8051
High-speed zero point return 1 F 7 4 8052
Current value change 1 F 7 5 8053
a : Binary, B to D: Hexadecimal
Monitoring is carried out with a hexadecimal.
Buffer memory (stored with BCD code)
Md.15 The error detection time is stored. 1 5 3 0 Monitor value
Start time (Software clock data created by
5
b15 b12 b8 b4 b0
(Hour: minute) system in AD75.)
0 0 0 1 0 1 0 1 0 0 1 1 0 0 0 0 1 3 0
0 to 2 0 to 9 0 to 5 0 to 9
00 to 23 00 to 59
(hour) (minute)
Monitoring is carried out with a hexadecimal.
Buffer memory (stored with BCD code)
Md.16 The error detection time is stored. 4 9 0 7 Monitor value
Start time (Software clock data created by b15 b12 b8 b4 b0
(Second:100 ms) system in AD75.)
0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 4 9 0 7
0 to 5 0 to 9 0 0 to 9
00 to 59 00 to 09
(second) (100 ms)
[Stored contents] The error judgment results when starting (shown below) are stored.
• BUSY start warning flag • Error flag • Error No.
[Reading the monitor value] Monitoring is carried out with a hexadecimal.
A B C D
Monitor value
Buffer b15 b12 b8 b4 b0
memory A B C D
Md.17 a B C D
Error judgment Error flag Error No.
Stored contents Storage value a, B, C and D are converted into a decimal,
Error flag OFF 0 which can be confirmed in section "14.2 List of errors".
Error flag ON 1
BUSY start warning
Stored contents Storage value
BUSY start 0
warning OFF
BUSY start
1
warning ON
The pointer No. following the Monitoring is carried out with a decimal.
Md.18
pointer No. where the latest start Monitor Storage value (Pointer No.)
Starting history history during errors is stored is value 0 to 15
pointer at error indicated.
5 - 140
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Default value Storage buffer memory address (common for axis 1 to axis 3)
Md.18
Starting history pointer 623
at error
The pointer No. following the pointer No. where the
latest start history during errors is stored is stored.
0000H
Pointer No.
14 15
12 13
10 11
8 9
6 7
5 613 618
3 4 603 608
1 2 593 598
Pointer No. 0 588
578 583
568 573
Md.7 553 558 563
543 548 614 619
Start axis 604 609
589 594 599
579 584
569 574
559 564
Start history during errors
Md.8 549 554 620
544 610 615
Operation type 600 605
585 590 595
580
570 575
Md.9 560 565
0000 545 550 555 621
Start time 611 616
(Hour: minute) 601 606
586 591 596
581
571 576
Md.10 561 566
546 551 556 622
Start time 612 617
(Second: 100ms) 602 607
587 592 597
582
572 577
Md.11 562 567
547 552 557
Error judgment
0000
A "pointer No." is assigned to each block of buffer memory
that configures one start history.
Item Buffer memory Example)
address Pointer No. 0 = Buffer memory 543 to 547
Pointer No. 1 = Buffer memory 548 to 552
Pointer No. 2 = Buffer memory 553 to 557
·
··
The history is stored in order in pointer No. "0" to "15".
If the No. of history items exceeds this, the history will
return to "0" and be stored in order.
(When newly storing history items, the previous history will be cleared.)
0000H
0 623
5 - 141
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage item Storage details Reading the monitor value
Monitoring is carried out with a decimal.
Md.19 Monitor
The axis No. for which an value Storage value
Axis in which the error was detected is stored. 1: Axis 1
error occurred 2: Axis 2
3: Axis 3
Monitoring is carried out with a decimal.
Monitor
Md.20 value Error No.
The axis error No. is stored
Axis error No. Refer to section "14.2 List
of errors" for details on the
error Nos. (error codes).
Error history (up to 16 items can be stored)
Monitoring is carried out with a hexadecimal.
Buffer memory (stored with BCD code)
Md.21 The axis error detection time
1 5 3 0 Monitor value
Axis error is stored.
5
b15 b12 b8 b4 b0
occurrence time (Software clock data created
by system in AD75.)
0 0 0 1 0 1 0 1 0 0 1 1 0 0 0 0 1 3 0
(Hour: minute) 0 to 2 0 to 9 0 to 5 0 to 9
00 to 23 00 to 59
(hour) (minute)
Monitoring is carried out with a hexadecimal.
Buffer memory (stored with BCD code)
Md.22 The axis error detection time
4 9 0 7 Monitor value
Axis error is stored.
b15 b12 b8 b4 b0
occurrence time (Software clock data created 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 4 9 0 7
(Second: 100 ms) by system in AD75.) 0 to 9
0 to 5 0 to 9 0
00 to 59 00 to 09
(second) (100 ms)
Monitoring is carried out with a decimal.
Md.23 The pointer No. following the
pointer No. where the latest Monitor Storage value (Pointer No.)
Error history error history is stored is value 0 to 15
pointer indicated.
5 - 142
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Default value Storage buffer memory address (common for axis 1 to axis 3)
0 Md.23
688
Error history pointer
The pointer No. following the pointer No.
where the latest error history is stored is stored.
Pointer No.
14 15
12 13
10 11
8 9
6 7 684
4 5 676 680
2 3 668 672
Pointer No. 0 1 664
0 656 660
648 652
Md.19 636 640 644
628 632 685
Axis in which the 624 677 681
665 669 673
error occurred 661
653 657
641 645 649
637
629 633
Error history
Md.20 686
625 678 682
Axis error No.
666 670 674
658 662
650 654
Md.21 638 642 646
630 634 683 687
Axis error occurrence 626 675 679
671
time (Hour: minute) 663 667
655 659
643 647 651
Md.21 639
0000 631 635
Axis error occurrence 627
time (Second: 100ms)
A "pointer No." is assigned to each block of buffer memory
that configures one start history.
Item Buffer memory Example)
address Pointer No. 0 = Buffer memory 624 to 627
Pointer No. 1 = Buffer memory 628 to 631
Pointer No. 2 = Buffer memory 632 to 635
··
·
The history is stored in order in pointer No. "0" to "15".
0000 If the No. of history items exceeds this, the history will
return to "0" and be stored in order.
(When newly storing history items, the previous history will be cleared.)
0 688
5 - 143
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage item Storage details Reading the monitor value
Monitoring is carried out with a decimal.
Md.24
The axis No. for which a Monitor
Axis in which the warning was detected is value Storage value
warning 1: Axis 1
stored. 2: Axis 2
occurred
3: Axis 3
Monitoring is carried out with a decimal.
Monitor
Md.25 Warning No.
The axis warning No. is value
Refer to section
Axis warning No. stored. "14.3 List of warnings"
for details on the warning
Nos. (error codes).
Warning history (up to 16 items can be stored)
Monitoring is carried out with a hexadecimal.
Md.26 The axis warning detection Buffer memory (stored with BCD code)
Axis warning time is stored. 1 5 3 0 Monitor value
occurrence time (Software clock data created
1 5 3 0
b15 b12 b8 b4 b0
(Hour: minute) by system in AD75.) 0 0 0 1 0 1 0 1 0 0 1 1 0 0 0 0
0 to 2 0 to 9 0 to 5 0 to 9
00 to 23 00 to 59
(hour) (minute)
Monitoring is carried out with a hexadecimal.
Buffer memory (stored with BCD code)
Md.27 The axis warning detection
4 9 0 7 Monitor value
Axis warning time is stored.
b15 b12 b8 b4 b0
occurrence time (Software clock data created
by system in AD75.)
0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 4 9 0 7
(Second: 100 ms) 0 to 5 0 to 9 0 0 to 9
00 to 59 00 to 09
(second) (100 ms)
Monitoring is carried out with a decimal.
Md.28 The pointer No. following the
pointer No. where the latest Monitor Storage value (Pointer No.)
Warning history warning history is stored is value 0 to 15
pointer indicated.
5 - 144
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Default value Storage buffer memory address (common for axis 1 to axis 3)
Md.28
0
Warning history 753
pointer
The pointer No. following the pointer No.
where the latest warning history is stored is stored.
Pointer No.
14 15
12 13
10 11
8 9
6 7 749
4 5 741 745
2 3 733 737
Pointer No. 1 729
0 0
717 721
725
705 709 713
Md.24 697 701
Axis in which the 689 693 746 750
738 742
warning occurred 726 730 734
722
714 718
706 710
Warning history
Md.25 698 702
690 694 743 747
751
Axis warning No.
731 735 739
723 727
715 719
Md.26 703 707 711
699
Axis warning occurrence 691 695 748 752
740 744
time (Hour: minute)
728 732 736
724
716 720
Md.27 704 708 712
0000 692 696
700
Axis warning occurrence
time (Second: 100ms)
A "pointer No." is assigned to each block of buffer memory
that configures one start history.
Item Buffer memory Example)
address Pointer No. 0 = Buffer memory 689 to 692
Pointer No. 1 = Buffer memory 693 to 696
Pointer No. 2 = Buffer memory 697 to 700
··
·
The history is stored in order in pointer No. "0" to "15".
0000 If the No. of history items exceeds this, the history will
return to "0" and be stored in order.
(When newly storing history items, the previous history will be cleared.)
0 753
5 - 145
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
5.6.2 Axis monitor data
Storage item Storage details
The currently commanded address is stored. (Different from the actual motor
position during operation)
The current position address is stored.
• Update timing : 56.8ms
Md.29 Current feed value
• The zero point address is stored when the machine zero point return is
completed.
• When the current value is changed with the current value charge function, the
changed value is stored.
The address of the current position obtained with the machine coordinates is
stored. (Different from the actual motor position during operation)
Md.30 Machine feed value
• Machine coordinates: Characteristic coordinates determined with machine
• Update timing: 56.8ms
The output speed (average value per 910ms) commanded by the AD75 is stored.
(May be different from the actual motor speed during operation)
• During interpolation operation, the speed is stored in the following manner.
Md.31 Feedrate Reference axis : Composite speed or reference axis speed
(Set with Pr.21 )
Interpolation axis : 0
• Update timing: 910ms
The currently valid M code (set in the positioning data currently operating) is
Md.32 Valid M code stored.
• Update timing : When M code ON signal turns ON
When an axis error is detected, the error code corresponding to the error details is
stored.
• The latest error code is always stored.
Md.33 Axis error No.
(When a new axis error occurs, the error code is overwritten.)
• When "axis error reset" (axis control data) turns ON, the axis error No. is
cleared (set to 0).
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
Monitoring is carried out with a hexadecimal.
Low-order buffer memory Example) 800
Monitor b15 b12 b8 b4 b0
value E F G H 800 900 1000
0000H
E F G H 801 901 1001
High-order buffer memory Example) 801
b31 b28 b24 b20 b16
A B C D
A B C D
◊ Sorting
(High-order buffer memory) (Low-order buffer memory)
A B C D E F G H 1002
802 902
Unit conversion table 0000H
803 903 1003
◊ Converted from Md.29 Md.30 )
)
hexadecimal to decimal
n Unit
Decimal integer -1 mm
value R -5 inch
-5 degree
0 pulse
◊ Unit conversion
R × 10 n Unit conversion table
Md.31 )
)
n Unit
804 904 1004
Actual value
Md.29 Current feed value
-2 mm/min 0000H
805 905 1005
-3 inch/min
Md.30 Machine feed value
-3 degree/min
Md.31 Feedrate 0 pulse/s
Monitoring is carried out with a decimal.
Monitor 0 806 906 1006
value M code No.
(0 to 32767)
Monitoring is carried out with a decimal.
Monitor
value Error No.
0 807 907 1007
Refer to section "14.2 List of
errors" for details on the error
Nos. (error codes).
5 - 147
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage item Storage details
When an axis warning is detected, the warning code corresponding to the details of
the warning is stored.
• The latest warning code is always stored. (When a new axis warning occurs,
Md.34 Axis warning No.
the warning code is overwritten.)
• When " Cd.12 Axis error reset" (axis control data) turns ON, the axis warning
No. is cleared (set to 0).
Md.35 Axis operation status The axis operation state is stored.
" Da.7 Command speed" of the positioning data currently in execution is stored.
• When "–1" is set for " Da.7 Command speed": The command speed of the
previous positioning data is stored.
Md.36 Current speed • When a value other than "–1" is set for " Da.7 Command speed": The
command speed of the positioning data currently being executed is stored.
• When the speed change function is executed: " Cd.16 New speed value" is
stored. (For details of the speed change function, refer to Section 12.5.1.)
5 - 148
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
Monitoring is carried out with a decimal.
Monitor
Warning No.
value 0 808 908 1008
Refer to section "14.3 List of
warnings" for details on the
warning Nos. (warning codes).
Monitoring is carried out with a decimal.
Axis operation state
Monitor -4 : Step error occurring
value -3 : Step stopped
-2 : In step wait
-1 : Error occurring
0 : Waiting
1 : Stopped
2 : Interpolating
3 : In JOG operation 0 809 909 1009
4 : In manual pulse generator operation
5 : Analyzing
6 : Special start waiting
7 : In zero point return
8 : In position control
9 : In speed control
10 : In speed control for speed/position
control
11 : In position control for speed/position
control
20 : Servo has not been connected
21 : In servo OFF
Monitoring is carried out with a decimal.
Monitor
value R Decimal integer
value
Unit conversion table
Md.36 )
)
◊ Unit conversion 810 910 1010
n Unit
0
R × 10 n
811 911 1011
-2 mm/min
-3 inch/min
-3 degree/min
Actual
Md.36 Current speed 0 pulse/s
value
5 - 149
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage item Storage details
• The output speed (average value per 910ms) commanded by the AD75 to each
axis is stored. (May be different from the actual motor speed.)
Md.37 Axis feedrate
• “0” is stored when the axis is stopped.
• The update timing is 910ms.
Md.38 Speed/position changeover • The value set as the movement amount for the position control to end after
control positioning amount changing to position control with the speed/position changeover control is stored.
The ON/OFF state of the external input signal is stored.
The following items are stored.
• Near-point signal
• Stop signal
Md.39 External input signal • Upper limit signal
• Lower limit signal
• External start signal
• Speed/position changeover signal
5 - 150
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
Monitoring is carried out with a hexadecimal.
Low-order buffer memory Example) 812
Monitor b15 b12 b8 b4 b0
value E F G H
E F G H
High-order buffer memory Example) 813
b31 b28 b24 b20 b16
A B C D 812 912 1012
0000H
A B C D
813 913 1013
◊ Sorting
(High-order buffer memory) (Low-order buffer memory)
A B C D E F G H
Unit conversion table
◊ Converted from Md.37 )
)
hexadecimal to decimal
n Unit
Decimal integer -2 mm/min
value R -3 inch/min
-3 degree/min
0 pulse/s
◊ Unit conversion 814 914 1014
Unit conversion table 0000H
R × 10 n 815 915 1015
Md.38 )
)
n Unit
Actual value -1 mm
Md.37 Axis feedrate
-5 inch
Md.38 Speed/position changeover -5 degree
control positioning amount
0 pulse
Monitoring is carried out with a hexadecimal.
Monitor
0 value
Buffer b15 b12 b8 b4 b0
memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Not used Not used
0000H 816 916 1016
Stored items D e fa u lt Meaning
v a lu e
b3 Near-point signal 0
b4 Stop signal 0 0: OFF
b5 Upper limit signal 0 1: ON
b6 Lower limit signal 0
b7 External start signal 0
b8 Speed/position changeover signal 0
5 - 151
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage item Storage details
The ON/OFF state of each flag is stored.
The following items are stored.
In speed control flag :
This signal is used to judge whether the system is in speed control or position
control. This turns ON during speed control. This signal is OFF when the power
is turned ON, during position control, during JOG operation and during manual
pulse generator operation. During speed/position changeover control, this
signal turns ON during speed control, and turns OFF when speed control to
position control changeover is executed with the speed/position changeover
signal.
Speed/position changeover latch flag :
This signal is used for the movement amount change enable interlock during
speed/position changeover control. This signal turns ON when position control
is changed to during speed/position changeover control. This signal turns OFF
when the next positioning data is executed, during JOG operation and during
manual pulse generator operation.
Command in-position flag :
This signal turns ON when the remaining distance is less than the command in-
position range (set with the detailed parameters). The position is checked every
56.8ms, and is not checked during speed control or controlling speed of
speed/position changeover control. This signal turns OFF during axis
movement in each operation.
Md.40 Status
Zero point return request flag :
This signal turns ON when communication with the servo amplifier is broken,
when the PLC READY signal [Y1D] turns ON, or when a machine zero point
return is stared. This signal turns OFF when the machine zero point return is
completed.
Zero point return complete flag :
This signal turns ON when the machine zero point return is completed
normally. It turns OFF when operation is started or communication with the
servo amplifier is broken.
Axis warning detection :
This signal turns ON when an axis warning occurs, and turns OFF when axis
error reset is turned ON.
Speed change 0 flag :
This signal turns ON when a speed change is requested at the new speed
value 0, and turns OFF when the speed change is requested at a new speed
value other than 0.
Zero point absolute position overflow/underflow flag :
This turns ON if the zero point absolute position overflows or underflows when
the current value change function is executed.
This turns OFF when the current value change function is executed in the
reverse direction of the flowing direction.
The target value ( Da.5 Positioning address/movement amount) during
positioning operation is stored.
Md.41 Target value • During positioning start : The " Da.5 Positioning address/movement amount"
is stored.
• Other times : "0" is stored.
5 - 152
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
Monitoring is carried out with a hexadecimal.
Monitor
value
Buffer b15 b12 b8 b4 b0
memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Not used Not used
Stored items D e fa u lt
va lu e Meaning 0000H 817 917 1017
b0 In speed control flag 0
b1 Speed/position changeover latch flag 0
b2 Command in-position flag 0
b3 Zero point return request flag 0
b4 Zero point return complete flag 0 0: OFF
b9 Axis warning detection 0 1: ON
b10 Speed change 0 flag 0
b11 Zero point absolute position overflow 0
flag
Zero point absolute position underflow
b12 flag 0
Monitoring is carried out with a decimal.
Monitor
value R Decimal integer
value
Unit conversion table
Md.41 )
)
◊ Unit conversion 818 918 1018
n Unit 0
R × 10 n 819 919 1019
-1 mm
-5 inch
-5 degree
Actual
Md.41 Target value 0 pulse
value
5 - 153
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage item Storage details
• During operation with positioning data : The actual target speed, considering
the override and speed limit value,
etc., is stored. "0" is stored when
positioning is completed.
• During interpolation : The composite speed or reference
axis speed is stored in the reference
Md.42 Target speed
axis address, and "0" is stored in the
interpolation axis address.
• During JOG operation : The actual target speed, considering
the JOG speed limit value for the
JOG speed, is stored.
• During manual pulse generator operation : "0" is stored.
• The "zero point absolute position" address is stored.
• "0" is stored when the power is turned ON, and the zero point return basic
parameter " Pr.47 Zero point address" is stored when the machine zero point
Md.43 Zero point absolute position
return is completed.
• The zero point absolute position value is changed when the current value charge
function is executed.
• "0" is stored when machine zero point return starts.
• After machine zero point return starts, the movement amount from the near-point
Md.44 Movement amount after
near-point dog ON dog ON to the machine zero point return completion is stored.
(Movement amount: Movement amount to machine zero point return completion
using near-point dog ON as "0".)
The " Pr.18 Torque limit setting value" or " Cd.30 New torque value" is stored.
• During positioning start, JOG operation start, manual pulse generator operation
Md.45 Torque limit stored value ...The " Pr.18 Torque limit setting value" is stored.
• When value is changed to " Cd.30 New torque value" during operation
...The " Cd.30 New torque value" is stored.
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Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
Monitoring is carried out with a hexadecimal display.
Low-order buffer memory Example) 820
Monitor b15 b12 b8 b4 b0 820 920 1020
0000H
value E F G H 821 921 1021
E F G H
High-order buffer memory Example) 821
b31 b28 b24 b20 b16
A B C D
A B C D
◊ Sorting
(High-order buffer memory) (Low-order buffer memory)
A B C D E F G H
Unit conversion table
822 922 1022
0000H
823 923 1023
◊ Converted from Md.42 )
)
hexadecimal to decimal
n Unit
Decimal integer -2 mm/min
value R -3 inch/min
-3 degree/min
0 pulse/s
◊ Unit conversion
R × 10 n Unit conversion table
Md.43 Md.44 )
)
n Unit
Actual value -1 mm
Md.42 Target speed
-5 inch
Md.43 Zero point absolute position -5 degree 824 924 1024
0000H
Md.44 Movement amount after 0 pulse 825 925 1025
near-point dog ON
Monitoring is carried out with a decimal display.
Monitor Storage value
value 0 to 500 (%) 0 826 926 1026
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Storage item Storage details
Md.46 Special start data command • The "command code" used with special start and indicated by the start data
code setting value pointer currently being executed is stored.
The "command parameter" used with special start and indicated by the start data
Md.47 Special start data command
pointer currently being executed is stored.
parameter setting value
The stored value differs according to the value set for Md.46 .
Md.48 Start positioning data No. • The "positioning data No." indicated by the start data pointer currently being
setting value executed is stored.
• If the speed exceeds the " Pr.7 Speed limit value" due to a speed change or
override, the speed limit functions, and the in speed limit flag turns ON.
Md.49 In speed limit flag
• When the speed drops to less than " Pr.7 Speed limit value", or when the axis
stops, the in speed limit flag turns OFF.
• The speed change process flag turns ON when the speed is changed during
positioning control.
Md.50 In speed change processing
• After the speed change process is completed or when deceleration starts with
flag
the stop signal during the speed change process, the in speed change process
flag turns OFF.
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Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
Monitoring is carried out with a decimal display.
Monitor Storage value
value 00: Block start (Normal start)
01: Condition start
02: Wait start 0 827 927 1027
03: Simultaneous start
04: Stop
05: FOR loop
06: FOR condition
07: NEXT
Monitoring is carried out with a decimal display.
Monitor value
Storage value
Md.46 setting value Stored contents Storage value
00
04 None None 0 828 928 1028
07
01
02 Condition 1 to 10
03 data No.
06
No. of
05 0 to 255
repetitions
Monitoring is carried out with a decimal display.
Monitor Storage value
value 1 to 600 0 829 929 1029
Monitoring is carried out with a decimal display.
Monitor Storage value
value 0 830 930 1030
0: Not in speed limit (OFF)
1: In speed limit (ON)
Monitoring is carried out with a decimal display.
Monitor Storage value
value 0 831 931 1031
0: Not in speed change (OFF)
1: In speed change (ON)
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Storage item Storage details
Md.51 Start data pointer being • The point No. (1 to 50) of the start data currently being executed is stored.
executed • "0" is stored when positioning is completed.
Md.52 Last executed positioning • The positioning data No. executed last is stored.
data No. • The value is held until the next positioning is executed.
• During "repetitive" execution, the remaining No. of repetitions is stored.
• This value is decremented (-1) at the end of the repetition loop.
Md.53 Repeat counter
• The loop ends when "0" is reached.
• "0" is stored for an infinite loop.
• The positioning data No. currently being executed is stored.
Md.54 Positioning data No. being
• For an indirectly specificated positioning data No., the data No. converted to 1 to
executed
600 is stored.
• When controlling using the "start block data", the block No. "7000" to "7010"
Md.55 Block No. being executed currently being executed is stored.
• In all other cases, "0" is stored.
Md.56 Positioning data being • The details of the positioning data currently being executed (data of positioning
executed data No. stored in Md.54 ) are stored in the addresses shown on the right.
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Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
Monitoring is carried out with a decimal display.
Monitor Storage value
value 0 832 932 1032
1 to 50
Monitoring is carried out with a decimal display.
Monitor Storage value
value 1 to 600
0 833 933 1033
Monitoring is carried out with a decimal display.
Monitor Storage value
value 0 to 255
0 834 934 1034
Monitoring is carried out with a decimal display.
Monitor Storage value
value 1 to 600 0 835 935 1035
Monitoring is carried out with a decimal display.
Monitor Storage value
value 0 836 936 1036
0, 7000 to 7010
Each storage item is stored in the following storage address.
Storage address
Stored item Reference
Axis 1 Axis 2 Axis 3
838 938 1038 Positioning identifier Da.1 to Da.4
839 939 1039 M code Da.9
1038
840 940 1040 Dwell time Da.8 838 to 938 to
0 to
847 947
841 941 1041 Not used 1047
842 942 1042
Command speed Da.7
843 943 1043
844 944 1044
Positioning address Da.5
845 945 1045
846 946 1046
Arc address Da.6
847 947 1047
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Storage item Storage details
Md.100 Zero point return re- • The movement amount (signed) of movement up to the zero point by re-
movement amount movement is stored.
• The current value of actual movement (current feed value - droop value of
Md.101 Real current value
deviation counter) is stored.
• The droop pulse count of the deviation counter is stored.
Md.102 Deviation counter value
• The update timing is 56.8ms.
• The motor speed is stored with a sign. (Unit: 0.1r/min)
Md.103 Motor speed
• The update timing is 56.8ms.
• The motor current is stored in % to the rated current. (Unit: 0.1%)
• The update timing is 56.8ms.
Md.104 Motor current
(For the rated current value, refer to the Instruction Manual of the used servo
amplifier.)
• The " Pr.108 Auto tuning" servo parameter value set to the servo amplifier is
Md.105 Auto tuning stored.
• The update timing is 56.8ms.
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Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
Monitoring is carried out with a hexadecimal.
Low-order buffer memory Example) 848
Monitor b15 b12 b8 b4 b0
value E F G H
E F G H
High-order buffer memory Example) 849
b31 b28 b24 b20 b16 848 948 1048
A B C D 0
849 949 1049
A B C D
◊ Sorting
(High-order (Low-order
buffer memory) buffer memory)
A B C D E F G H
◊ Converted from hexadecimal to decimal
Decimal
integer value R
850 950 1050
◊ Unit conversion 0
851 951 1051
R 10n Unit conversion table
n Unit
-1 µm
Actual Md.100 Zero point return -5 inch
value re-movement amount
-5 degree
Md.101 Real current value
0 pulse
Monitoring is carried out with a decimal.
852 952 1052
Monitor value 0
Storage value (pulse) 853 953 1053
Monitoring is carried out with a decimal.
854 954 1054
Monitor value 0
Storage value (0.1r/min) 855 955 1055
Monitoring is carried out with a decimal.
Monitor value 0 856 956 1056
Storage value (0.1%)
Monitoring is carried out with a decimal.
Storage value
Monitor value Value set in Pr.108
0 857 957 1057
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Storage item Storage details
• The " Pr.112 Load inertia ratio" servo parameter value set to the servo amplifier
Md.106 Load inertia ratio is stored. (Unit: 0.1%)
(When auto tuning is valid, the value calculated by auto tuning is stored.)
• The " Pr.113 Position loop gain 1" servo parameter value set to the servo
Md.107 Position loop gain 1 amplifier is stored. (Unit: rad/s)
(When auto tuning is valid, the value calculated by auto tuning is stored.)
• The " Pr.114 Speed loop gain 1" servo parameter value set to the servo
Md.108 Speed loop gain 1 amplifier is stored. (Unit: rad/s)
(When auto tuning is valid, the value calculated by auto tuning is stored.)
• The " Pr.115 Position loop gain 2" servo parameter value set to the servo
Md.109 Position loop gain 2 amplifier is stored. (Unit: rad/s)
(When auto tuning is valid, the value calculated by auto tuning is stored.)
• The " Pr.116 Speed loop gain 2" servo parameter value set to the servo
Md.110 Speed loop gain 2 amplifier is stored. (Unit: rad/s)
(When auto tuning is valid, the value calculated by auto tuning is stored.)
• The " Pr.117 Speed integral compensation" servo parameter value set to the
Md.111 Speed integral
servo amplifier is stored. (Unit: ms)
compensation
(When auto tuning is valid, the value calculated by auto tuning is stored.)
Md.112 Servo amplifier software
• The used servo amplifier software No. is stored.
No.
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Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
Monitoring is carried out with a decimal.
Monitor value 0 858 958 1058
Storage value (0.1%)
0 859 959 1059
Monitoring is carried out with a decimal. 0 860 960 1060
Monitor value
Storage value (rad/s)
0 861 961 1061
0 862 962 1062
Monitoring is carried out with a decimal.
Monitor value 0 863 963 1063
Storage value (ms)
Monitoring is carried out with a hexadecimal. 864 964 1064
0 to to to
869 969 1069
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Storage item Storage details
Md.113 Parameter error • When a servo parameter error occurs, the bit corresponding to any of the servo
(No.1 to 15) parameter No. 1 to 15 ( Pr.101 to Pr.115 ) in error turns ON.
Md.114 Parameter error • When a servo parameter error occurs, the bit corresponding to any of the servo
(No.16 to 31) parameter No. 16 to 31 ( Pr.116 to Pr.131 ) in error turns ON.
Md.115 Parameter error • When a servo parameter error occurs, the bit corresponding to any of the servo
(No.32 to 36) parameter No. 32 to 36 ( Pr.132 to Pr.136 ) in error turns ON.
• The ON/OFF states of the servo status flags are stored.
The following data are stored.
• READY ON
Indicates the ready status of the servo amplifier.
ON indicates that the servo amplifier is ready, and OFF indicates that the servo
amplifier is not ready.
• Servo ON
Indicates the servo ON status.
ON indicates servo ON, and OFF indicates servo OFF.
• Zero point pass
Indicates whether the zero point (Z phase) of the pulse encoder installed on the
servomotor has been passed or not after a start.
ON indicates that the zero point has been passed at least once after a start.
OFF indicates that the zero point has never been passed after a start.
• In-position
Md.116 Servo status ON indicates that the droop pulse value of the deviation counter is within the
setting range of " Pr.120 In-position range".
OFF indicates any other case.
• Zero speed
ON indicates the speed (speed at which the motor speed is judged as 0) is
equal to or lower than the speed set in " Pr.130 Zero speed".
OFF indicates that the speed is higher than the zero speed.
• Torque limit
ON indicates that the servo amplifier is limiting the torque.
OFF indicates that the servo amplifier is not limiting the torque.
• Servo alarm
ON indicates that an alarm has occurred in the servo amplifier.
OFF indicates that no alarm has occurred.
• Servo warning
ON indicates that a warning has occurred in the servo amplifier.
OFF indicates that no warning has occurred.
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Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
Monitoring is carried out with a hexadecimal.
b15 b12 b8 b4 b0
Monitor value
b0: Not used 0000H 870 970 1070
b1: Servo parameter No.1 ( Pr.101 )
b15: Servo parameter No.15 ( Pr.115 )
Monitoring is carried out with a hexadecimal.
b15 b12 b8 b4 b0
Monitor value
b0: Servo parameter No.16 ( Pr.116 ) 0000H 871 971 1071
b1: Servo parameter No.17 ( Pr.117 )
b15: Servo parameter No. 31 ( Pr.131 )
Monitoring is carried out with a hexadecimal.
b15 b12 b8 b4 b0
Monitor value
0 0
b0: Servo parameter No.32 ( Pr.132 )
b1: Servo parameter No.33 ( Pr.133 )
0000H 872 972 1072
b4: Servo parameter No.36 ( Pr.136 )
b5 to b15: Not used
Monitoring is carried out with a hexadecimal.
0 Monitor value
b15 b12 b8 b4 b0
Buffer
memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Not Not Not Storage item
Default
Meaning
0000H 873 973 1073
used used used value
b0 READY ON 0
b1 Servo ON 0
b4 Zero point pass 0
b5 In-position 0 0: OFF
b6 Zero speed 0 1: ON
b7 Torque limit 0
b13 Servo alarm 0
b14 Servo warning 0
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Storage item Storage details
• The average value of the ratios of the regenerative load to the allowable value of
*1 the regenerative brake resistor selected in the servo basic parameter for the past
Md.117 Regenerative load ratio 15 seconds is stored. (Unit: 1%)
• The update timing is 1 second interval.
• The average value of the ratios of the load to the rated torque of the servomotor
*1
Md.118 Effective load ratio for the past 15 seconds is stored. (Unit: 1%)
• The update timing is 1 second interval.
• The held value of the ratio of the peak load to the rated torque of the servomotor
Md.119 Peak load ratio *1 is stored. (Unit: 1%)
• The update timing is 1 second interval.
• The FeRAM access count is stored.
• The value is incremented by "3" at power-on.
• Increase of the value at a machine zero point return in the absolute position
detection system
Md.120 FeRAM access count
(a) When " Md.121 Absolute position restoration mode" is switched between the
"standard mode" and "infinite length mode", the value is incremented by "4".
(b) When " Md.121 Absolute position restoration mode" is not switched, the
value is incremented by "2".
• The update timing is 56.8ms.
• The mode for absolute position restoration is stored in the axis where " Pr.1
Unit setting" is "2: degree" and absolute position detection is valid.
(Set timing)
Md.121 Absolute position At power-on
At completion of machine zero point return
restoration mode
• The update timing is 56.8ms.
Refer to section 12.6.2 for details of mode switching for absolute position
restoration.
*1: During any of the following processings, " Md.117 Regenerative load ratio", " Md.118 Effective load ratio" and
" Md.119 Peak load ratio" storage buffer memory data are not updated.
During the processing, therefore, a delay may occur in the updating of the " Md.117 Regenerative load ratio", " Md.118
Effective load ratio" and " Md.119 Peak load ratio" storage buffer memory data.
• When a machine zero point return is made (when ZCT is read, when the absolute position reference point is read)
• When initial communication is being made with the servo amplifier
• When the PLC READY signal [Y1D] is turned from OFF to ON
• When the servo parameters are updated with the "AD75M servo position control gain function" of GX Configurator-AP
(For details of GX Configurator-AP, refer to the GX Configurator-AP Operating Manual.)
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Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
0 876 976 1076
Monitoring is carried out with a decimal.
Monitor value
Storage value (%) 0 877 977 1077
0 878 978 1078
Monitoring is carried out with a hexadecimal.
<Reference>
Buffer memory status at the access count of 9,000,000,000 times
9,000,000,000 = (0000 0002 1871 1A00)16 <Address>
b15 b0
880
1 A 0 0 880 980 1080
b31 b16 0 to to to
881
1 8 7 1 883 983 1083
b47 b32
882
0 0 0 2
b63 b48
883
0 0 0 0
Monitoring is carried out with a decimal.
Monitor value
Storage value 0 879 979 1079
0: Standard mode
1: Infinite length mode
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5.7 List of control data
5.7.1 System control data
Setting item Setting details
• The clock data (hour) from the PLC CPU is set after the AD75 power is turned
Cd.1 Clock data setting (hour)
ON.
Cd.2 Clock data setting (minute, • The clock data (minute, second) from the PLC CPU is set after the AD75 power
second) is turned ON.
• After setting the clock data in Cd.1 and Cd.2 , when setting the data in
Cd.3 Clock data writing Md.5 and Md.6 as the AD75 clock data, set "1".
• When the setting is completed, the OS sets "0".
Cd.4 Target axis* • Set the axis targeted for reading or writing.
* Cd.4 to Cd.8 are data used to transmit the positioning data between the OS memory and buffer memory.
(Refer to section "7.2 Data transmission process".)
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Storage buffer
memory address
Setting value Default value (common for axis 1 to
axis 3)
Set with a BCD code.
00 to 23 (hour)
Setting value
0 0 1 0
0000 1100
b15 b12 b8 b4 b0
Buffer memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
No setting 0 to 2 0 to 3
Set with a BCD code.
00 to 59 (minute) 00 to 59 (second)
Setting value
0 0 0 0 Cd.
0000 1101
b15 b12 b8 b4 b0
Buffer memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 to 5 0 to 9 0 to 5 0 to 9
Set with a hexadecimal.
Setting value
0 0 0 1
Clock data wirte
1: Clock data 0000H 1102
b15 b12 b8 b4 b0
write request
Buffer memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
Not set
When the clock data is written,
"0" is stored from the OS.
Set with a hexadecimal.
Setting value
0 0 0
Target axis
1: Axis 1
b15 b12 b8 b4 b0 2: Axis 2 0000H 1103
Buffer memory 0 0 0 0 0 0 0 0 0 0 0 0 3: Axis 3
4: Axis 1 and axis 2
Not set interpolation
5: Axis 2 and axis 3
interpolation
6: Axis 3 and axis 1
interpolation
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Setting item Setting details
Cd.5 Positioning data No. • Set the positioning data No. targeted for reading or writing.
• When writing the positioning data stored in the Cd.8 data storage address into
the positioning data designated with Cd.5 , set the type of the data targeted for
writing.
* When reading, all data types are unconditionally read.
Address field
Cd.6 Write pattern
Set how to write data into the positioning address and arc address of the
positioning data.
Positioning data field
Set how to write the data other than the positioning address and arc address in
the positioning data.
• When reading the positioning data, set "1". When writing, set "2".
Cd.7 Read/write request • Reading and writing are also carried out simultaneously for the interpolation axis.
• Issue the write or read request when the PLC READY signal is OFF.
* Cd.4 to Cd.8 are data used to transmit the positioning data between the OS memory and buffer memory.
(Refer to section "7.2 Data transmission process".)
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Storage buffer
memory address
Setting value Default value (common for axis 1 to
axis 3)
Set with a decimal.
Setting value
K 0 1104
Positioning data
1 to 600
Set with a hexadecimal.
Setting
value
0 0
Buffer b15 b12 b8 b4 b0
memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Positioning data field
Not set Not set
Stored item Setting value
Positioning identifier
M code 0: Write
0000H 1105
Dwell time 1: Do not write
Command speed
Address field
Stored item Setting value
Arc address 0: Write
Positioning address 1: Do not write
Target of transfer 0: Positioning data
I/F for reading
or writing is
transferred.
1: The current feed
value is transferred.
Set with a decimal.
Setting value
K
Read/write request 0 1106
1: Read request (Set by sequence program)
2: Write request (Set by sequence program)
When reading/writing is completed, "0" is stored by the OS.
(Indicates that the reading/writing is completed.)
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Setting item Setting details
Cd.8 Read/write positioning data
• Store the data when reading or writing.
I/F
Cd.9 Flash ROM write request • Write the OS memory contents into the flash ROM.
• Set whether the setting data will be initialized or not.
Initialization:
Indicates that the setting values of the setting data are returned to
the default values.
Note) After completion of the setting data initialization processing, reset the PLC
CPU or power on the PLC again.
Cd.10 Parameter initialization
Initialized setting data
request
Parameter ( Pr.1 to Pr.150 )
Positioning data (No. 1 to 600)
Positioning start information (No. 7000 to 7010)
* Cd.4 to Cd.8 are data used to transmit the positioning data between the OS memory and buffer memory.
(Refer to section "7.2 Data transmission process".)
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Storage buffer
memory address
Setting value Default value (common for axis 1 to
axis 3)
Each stored item is stored in the following storage address.
Storage address
Stored item Reference
Axis 1 Axis 2 Axis 3
1108 1118 1128 Positioning identifier Da.1 to Da.4
1109 1119 1129 M code Da.9
1110 1120 1130 Dwell time Da.8
1111 1121 1131 Not used 0 1108 to 1137
1112 1122 1132
Command speed Da.7
1113 1123 1133
1114 1124 1134
Positioning address Da.5
1115 1125 1135
1116 1126 1136
Arc address Da.6
1117 1127 1137
Set with a decimal.
Setting value
K 1
Flash ROM write request 0 1138
1: Flash ROM write request
(Set by sequence program)
After writing is completed, "0" is stored by the OS.
(Indicates that the writing is completed.)
Set with a decimal.
Setting value
K 1
Parameter initialization request 0 1139
0: Parameter initialization no-execution
1: Parameter initialization request
(Set by sequence program)
After initialization, "0" is stored by the OS.
(Indicates that the writing is completed.)
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5.7.2 Axis control data
Setting item Setting details
Cd.11 Positioning start No. • Set the positioning start No.
• Clears the axis error detection, axis error No., axis warning detection and axis
warning No.
Cd.12 Axis error reset
• When the AD75 axis operation state is "in error occurrence", the error is cleared
and the AD75 is returned to the "waiting" state.
• When positioning is stopped for any reason (when axis operation state is
Cd.13 Restart command "stopped"), set "1" in Cd.13 . Positioning will be carried out again from the
stopped position to the end point of the stopped positioning data.
Cd.14 M code OFF request • The M code ON signal turns OFF.
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Storage buffer
Setting value Default value memory address
Axis 1 Axis 2 Axis 3
Set with a decimal.
Setting value
K
Positioning data No. 0 1150 1200 1250
· 1 to 600 : Positioning data No.
· 7000 to 7010 : Block start designation
· 8001 to 8050 : Indirectly specification
· 9001 : Machine zero point return
· 9002 : High-speed zero point return
· 9003 : Current value change
Set with a decimal.
Setting value
K 1
Error reset request 0 1151 1201 1251
Axis 1: Axis error is reset.
(Set by sequence program)
After the axis error reset is completed, "0" is stored by the OS.
(Indicates that the axis error reset is completed.)
Set with a decimal.
Setting value
K 1
Restart command 0 1152 1202 1252
1: Restarts
(Set by sequence program)
After restart acceptance is completed, "0" is stored by the OS.
(Indicates that the restart acceptance is completed.)
Set with a decimal.
Setting value
K 1
M code OFF request 0 1153 1203 1253
1: M code ON signal turns OFF
(Set by sequence program)
After the M code ON signal turns OFF, "0" is stored by the OS.
(Indicates that the OFF request is completed.)
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Setting item Setting details
• When changing the current feed value using the start No. "9003", set the new
current feed value.
• The value is set within the following range.
Cd.15 New current value mm inch degree pulse
(×10-1µm) (×10-5inch) (×10-5degree) (pulse)
–2147483648 to –2147483648 to –2147483648 to
0 to 35999999
+2147483647 +2147483647 +2147483647
• When changing the speed, set the new speed.
• The operation will stop when "0" is set.
• The value is set within the following range.
Cd.16 New speed value mm inch degree pulse
(×10-2mm/min) (×10-3 inch/min) (×10-3 degree/min) (pulse/s)
0 to 600000000 0 to 600000000 0 to 600000000 0 to 1000000
To request the speed change process (to validate the Cd.16 value) after setting
Cd.17 Speed change request
the " Cd.16 New speed value", set "1".
• When applying an override on the speed during positioning operation, set the
Cd.18 Positioning operation speed
"override" value.
override
* Refer to section "12.5.2 Override function" for details on the "override".
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Storage buffer
Setting value Default value memory address
Axis 1 Axis 2 Axis 3
Set with a decimal.
Actual Cd.15 New current value
value
Cd.16 New speed value
1154 1204 1254
0
1155 1205 1255
◊ Integer value Unit conversion table
× 10 n )
Cd.15 )
n Unit
Setting value 1 mm
(decimal) R
5 inch
5 degree
0 pulse
Example)
Unit conversion table
When setting "10000.00mm/min" in the )
Cd.16 )
" Cd.16 New speed value", set "1000000" n Unit 1156 1206 1256
0
in the buffer memory.
2 mm/min 1157 1207 1257
3 inch/min
3 degree/min
0 pulse/s
Set with a decimal.
Setting value
K 1
Cd.17 Speed change request 0 1158 1208 1258
1: Change speed
(Set by sequence program)
After accepting the speed change, "0" is stored by the OS.
(Indicates that the speed change acceptance is completed.)
Set with a decimal.
Setting value
K 0 1159 1209 1259
Override value (%)
1 to 300
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Setting item Setting details
• Set the JOG speed for JOG operation.
• The value is set within the following range.
mm inch degree pulse
(×10-2mm/min) (×10-3 inch/min) (×10-3 degree/min) (pulse/s)
Cd.19 JOG speed
0 to 600000000 0 to 600000000 0 to 600000000 0 to 1000000
Cd.20 Speed/position changeover • Set whether to validate the control signal (speed/position changeover signal)
enable flag from an external source.
• To change the movement amount for the position control during speed control of
speed/position changeover control, set the movement amount after changing to
position control.
• Make the setting during the speed control of speed/positioning changeover
control.
• The setting value is cleared to 0 at the next start.
• Set the value within the following range.
Cd.21 Speed/position changeover mm inch degree pulse
control movement amount (×10-1µmm) (×10-5inch) (×10-5degree) (pulse)
change register
0 to 2147483647 0 to 2147483647 0 to 2147483647 0 to 2147483647
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Storage buffer
Setting value Default value memory address
Axis 1 Axis 2 Axis 3
Set with a decimal.
Actual
value Cd.19 JOG speed
◊ Integer value
Unit conversion table
× 10 n
Cd.19 )
)
n Unit 1160 1210 1260
Setting value 0
mm/min 1161 1211 1261
(decimal) R 2
3 inch/min
3 degree/min
0 pulse/s
Example)
When setting "20000.00mm/min" in the
" Cd.19 JOG speed", set "2000000" in
the buffer memory.
Set with a decimal.
Setting value
K
Cd.20 Speed/position changeover enable flag
0 1163 1213 1263
0: Even if the speed/position changeover signal
turns ON, the control does not change from
speed to position control.
1: When the speed/position changeover signal
turns ON, the control changes from speed
to position control.
Set with a decimal.
Actual
value Cd.21 Speed/position changeover control
movement amount change register
◊ Integer value Unit conversion table
× 10 n )
Cd.21 )
n Unit
Setting value 1164 1214 1264
R 1 mm 0
(decimal) inch
1165 1215 1265
5
5 degree
0 pulse
Example)
When setting "20000.0mm" in the
" Cd.21 Speed/position changeover
control movement amount change
register", set "200000" in the buffer
memory.
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Setting item Setting details
Cd.22 Manual pulse generator
• Set whether or not to carry out manual pulse generator operation.
enable flag
• Set the magnification of the No. of pulses input from the manual pulse generator.
Cd.23 Manual pulse generator 1
• When setting value is 0 or less: Processed as "1"
pulse input magnification
• When setting value is 101 or more: Processed as "100"
Cd.24 Zero point return request flag • When the zero point return request flag is ON, set the request to turn this OFF
OFF request forcibly with the sequence program.
Cd.25 External start valid • Set whether external starting is valid.
Cd.26 Step valid flag • Set whether to carry out step operation.
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Storage buffer
Setting value Default value memory address
Axis 1 Axis 2 Axis 3
Set with a decimal.
Setting value
K 0 1167 1217 1267
Manual pulse generator enable flag
0: Disable manual pulse generator operation
1: Enable manual pulse generator operation
Set with a decimal.
Setting value
K 1
1168 1218 1268
1169 1219 1269
Manual pulse generator
1 pulse input magnification
1 to 100
Set with a decimal.
Setting value
K 1
Zero point return request flag OFF request 0 1170 1220 1270
1: Turn OFF the "zero point return request
flag" that is ON.
(Set by sequence program)
After the zero point return request turns OFF, "0" is stored by the OS.
(Indicates that the zero point return request flag OFF request is completed.)
Set with a decimal.
Setting value
K 0 1171 1221 1271
External start valid
0: Invalidate external start
1: Validate external start
Set with a decimal.
Setting value
K
0 1172 1222 1272
Step valid flag
0: Do not carry out step operation
1: Carry out step operation
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Setting item Setting details
Cd.27 Step mode • When using step operation, set which unit to step with.
Cd.28 Step start information • When using step operation, set whether to continue or restart operation.
Cd.29 Skip command • Set "1" to skip the current positioning.
• To change the " Md.45 Torque limit stored value", set the new estimated torque
Cd.30 New torque value limit stored value.
• Set the value within the " Pr.18 Torque limit setting value" range.
Cd.31 Positioning starting point No. • Set the "start point No. (1 to 50)" for executing block start (positioning).
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Storage buffer
Setting value Default value memory address
Axis 1 Axis 2 Axis 3
Set with a decimal.
Setting value
K 0 1173 1223 1273
Step mode
0: Carry out step operation with deceleration unit
1: Carry out step operation with data No. unit
Set with a decimal.
Setting value
K
Step start information 0 1174 1224 1274
1: Step continue
2: Restart
After the step start request is accepted,
"0" is stored by the OS.
Set with a decimal.
Setting value
K 1
0 1175 1225 1275
Skip command
1: Decelerate to a stop, and then carry
out the next positioning. (Skip request)
(Set by sequence program)
After the skip request is accepted, "0" is stored by the OS.
Set with a decimal.
Setting value New torque value
K 1 to Pr.18 Torque limit 0 1176 1226 1276
setting value
Set with a decimal.
Setting value Positioning starting
K point No.
1 to 50 0 1178 1228 1278
When continuous operation is interrupted, "0" is stored automatically.
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Setting item Setting details
• To interrupt the operation during continuous operation, set "1".
Cd.32 Interrupt request during
• If the interrupt request is received after setting "1", "0" will be automatically stored
continuous operation
by the OS.
• When changing the acceleration time during speed change, set the new
acceleration time.
Pr.25 Cd.33
Cd.33 New acceleration time value setting setting range (unit)
1-word type 0 to 65535 (mm)
2-word type 0 to 8388608 (ms)
• When changing the deceleration time during speed change, set the new
deceleration time.
Pr.25 Cd.33
Cd.34 New deceleration time value setting setting range (unit)
1-word type 0 to 65535 (mm)
2-word type 0 to 8388608 (ms)
Cd.35 Acceleration/deceleration
time change during speed • Set whether to enable/disable the acceleration/deceleration time change during
change, enable/disable speed change.
selection
• Set "1" when it is desired to switch the servo OFF (free run status) during
positioning standby.
Cd.100 Servo OFF command • During positioning operation, the servo OFF command is invalid.
(However, if the servo amplifier results in error during positioning operation, the
servo OFF command is made valid immediately.)
• Set the torque to be output by the servomotor.
• This value is the torque limit setting value when the setting value is greater than
Cd.101 Torque output setting value
" Pr.18 Torque limit setting value".
• When this value is "0", " Pr.18 Torque limit setting value" is output.
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Storage buffer
Setting value Default value memory address
Axis 1 Axis 2 Axis 3
Set with a decimal.
Setting value
K 1
Continuous operation interrupt request 0 1181 1231 1281
1: Interrupt continuous control or continuous
path control. (Set by sequence program)
After the control interrupt request is accepted, "0" is stored by the OS.
(Indicates that the continuous operation interrupt request is completed.)
Set with a decimal.
Setting value 1184 1234 1284
Cd.33 New acceleration time value 0
1185 1235 1285
Cd.34 New deceleration time value
Example)
To set "60000ms" for the " Cd.33
New acceleration time value", set
"60000" in the buffer memory. 1186 1236 1286
0
1187 1237 1287
Set with a decimal.
Setting value
K
Acceleration/deceleration time change during 0 1188 1238 1288
speed change, enable/disable selection
1: Enable acceleration/deceleration time
change
Other than 1: Disable acceleration/
deceleration time change
Set with a decimal.
Setting value
K 0 1179 1229 1279
Servo OFF command
0:Servo ON
1:Servo OFF
Set with a decimal.
Setting value
K 0 1180 1230 1280
Torque output setting value
0 to 500 (%)
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MEMO
5 - 186
Chapter 6
SEQUENCE PROGRAM USED
FOR POSITIONING CONTROL
The programs required to carry out positioning control with the AD75 are explained
in this chapter. 6
The sequence program required for control is created allowing for the "start conditions",
"start time chart", "device settings" and general control configuration. (The parameters,
positioning data, start block data and condition data, etc., must be set in the AD75
according to the control to be executed, and program for setting the control data or a
program for starting the various control must be created.)
The first half of this chapter explains the program configuration of general control, and
the latter half explains the program details. Create the required program while referring
to the various control details explained in "SECTION 2", and to "Chapter 5 DATA USED
FOR POSITIONING CONTROL".
6.1 Precautions for creating program ................................................................................6- 2
6.2 List of devices used ......................................................................................................6- 4
6.3 Creating a program ......................................................................................................6- 8
6.3.1 General configuration of program ..................................................................6- 8
6.3.2 Positioning control operation program ...........................................................6- 9
6.4 Positioning program examples....................................................................................6- 12
6.5 Program details ...........................................................................................................6- 21
6.5.1 Initialization program......................................................................................6- 21
6.5.2 Start details setting program..........................................................................6- 22
6.5.3 Start program .................................................................................................6- 23
6.5.4 Continuous operation interrupt program .......................................................6- 31
6.5.5 Restart program .............................................................................................6- 33
6.5.6 Stop program .................................................................................................6- 36
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6.1 Precautions for creating program
The common precautions to be taken when writing data from the PLC CPU to the
AD75 buffer memory are described below.
Note) Connect the upper and lower limit switches to the directions of increasing and
decreasing current feed values respectively. When these switches are connected in
wrong directions, the hardware stroke limit function does not operate properly and the
motor does not stop.
(1) Reading/writing the data
Setting the data explained in this chapter (various parameters, positioning data,
positioning start information) should be set using the AD75 software package.
When set with the sequence program, many sequence programs and devices
must be used. This will not only complicate the program, but will also increase
the scan time.
When rewriting the positioning data during continuous path control or continuous
positioning control, rewrite the data four positioning data items before the actual
execution. If the positioning data is not rewritten before the positioning data four
items earlier is executed, the process will be carried out as if the data was not
rewritten.
(2) Programming with the A0J2CPU
When using the AD75 with the A0J2CPU, there are commands that cannot be
used, such as TOP/FROMP.
Change these as shown below.
[An,AnN,AnA,AnUCPU,A0J2HCPU] [A0J2]
X0 X0
TOP H0 K50 D1 K1 PLS M0
M0
TO H0 K50 D1 K1
X1 X1
SET M1 SET M1
M1 M1
FROMP H0 K50 D5 K1 PLS M2
M2
FROM H0 K50 D5 K1
X3 X3
TO H0 K50 K10 K1 MOV K10 D0
TO H0 K50 D0 K1
(3) Unusable commands
When the QnACPU is used, the dedicated commands for A1SD75P -
S3/AD75P -S3 (AD75 control commands) are unavailable.
(4) Restrictions to No. of FROM/TO commands executed in one scan
The FROM/TO command (during 16-bit data transmission), the DFRO/DTO
command (during 32-bit data transmission), and the command using the special
function module device (U \G ) that can be executed with one PLC CPU scan
using the AD75 are as follows.
(a) With the 1-axis and 2-axis module, the FROM/TO command, the
DFRO/DTO command, and the command using the special function module
device can be executed up to 10 times per axis.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
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(b) With the 3-axis module, the number of times the FROM/TO command, the
DFRO/DTO command, and the command using the special function module
device are executed changes depending on the function to be executed.
• When carrying out circular interpolation control and S-pattern
acceleration/deceleration : 4 times/axis
• When CHG input is input simultaneously for two axes during
speed/position changeover control : 4 times/axis
• When not carrying out the above control : 10 times/axis
Circular S-pattern Speed/position changeover
Control other
interpolation acceleration/ control (CHG input
than that on left
control deceleration simultaneously for two axes)
A1SD75M1
10 times/axis 10 times/axis 10 times/axis 10 times/axis
AD75M1
A1SD75M2
10 times/axis 10 times/axis 10 times/axis 10 times/axis
AD75M2
A1SD75M3
4 times/axis 4 times/axis 4 times/axis 10 times/axis
AD75M3
(5) Restrictions to speed change execution interval
Provide an interval of 100ms or more when changing the speed with the AD75.
(6) Process during overrun
Overrun is prevented with the AD75's upper and lower stroke limit. However, this
applies only when the AD75 is operating correctly. In terms of the entire system's
safety, it is recommended to provide a boundary limit switch and provide an
external circuit that will power OFF the motor when the limit switch operates.
(7) AD75 mounting position
Unless particularly designated following this chapter, the sequence program for
the following conditions is shown.
• PLC CPU module : A3UCPU
• AD75 input/output signal : X/Y00H to X/Y1FH
(When AD75 is mounted in slot 0 of the main base
unit.)
Main base unit
P
L A
C
D
C
P 75
U
POINT
During the various processes of the special function module, the access from the
PLC CPU is processed as a priority. Thus, if the special function module's buffer
memory is frequently accessed from the PLC CPU, the PLC CPU scan time will
increase and a delay will occur in the special function module's processes.
Access the buffer memory from the PLC CPU with the FROM/TO command, etc.,
only when necessary.
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6.2 List of devices used
The application of the input/output Nos. [X] [Y], internal relays [M] and data registers
[D] used in this chapter are shown below.
Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3
X0 AD75 READY signal Preparation incomplete/WDT error
X1 X2 X3 Positioning start complete signal Start completed
X4 X5 X6 BUSY signal BUSY (operating)
Input
X7 X8 X9 Positioning complete signal Positioning completed
XA XB XC Error detection signal Error detected
XD XE XF M code ON signal Outputting M code
AD75
Y10 Y11 Y12 Positioning start signal Requesting start
Y13 Y14 Y1C Axis stop signal Requesting stop
Out- Y15 All axes servo ON signal Requesting all axes servo ON
put Y16 Y18 Y1A Forward run JOG start signal Starting forward run JOG
Y17 Y19 Y1B Reverse run JOG start signal Starting reverse run JOG
Y1D PLC READY signal PLC CPU preparation completed
Commanding zero point return request
X20 Zero point return request OFF command
OFF
X21 External start valid setting command Commanding external start valid setting
Commanding external start invalid
X22 External start invalid command
command
X23 Machine zero point return command Commanding machine zero point return
X24 High-speed zero point return command Commanding high-speed zero point return
X25 Positioning start command Commanding positioning start
Speed/position changeover operation Commanding speed/position changeover
X26
command operation
Speed/position changeover enable Commanding speed/position changeover
X27
command enable
Speed/position changeover prohibit Commanding speed/position changeover
X28
command prohibit
X29 Movement amount change command Commanding movement amount change
Command — Advanced positioning control start Commanding advanced positioning
X2A
command control start
X2B Positioning start command Commanding positioning start
X2C M code OFF command Commanding M code OFF
Commanding JOG operation speed
X2D JOG operation speed setting command
setting
X2E Forward run JOG command Commanding forward run JOG operation
X2F Reverse run JOG command Commanding reverse run JOG
Manual pulse generator operation enable Commanding manual pulse generator
X30
command operation enable
Manual pulse generator operation disable Commanding manual pulse generator
X31
command operation disable
X32 Speed change command Commanding speed change
X33 Override command Commanding override
Acceleration/deceleration time change Commanding acceleration/deceleration
X34
command time change
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Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3
Acceleration/deceleration time change Commanding acceleration/deceleration
X35
disable command time change disable
X36 Torque change command Commanding torque change
X37 Step operation command Commanding step operation
X38 – Skip command Commanding skip
X39 Teaching command Commanding teaching
Commanding continuous operation
X3A Continuous operation interrupt command
Command interrupt
X3B Restart command Commanding restart
X3C Parameter initialization command Commanding parameter initialization
X3D Flash ROM write command Commanding flash ROM write
X3E Error reset command Commanding error reset
–
X3F Stop command Commanding stop
X40 All axes servo OFF command All axes servo OFF
X41 – Axis 1 servo OFF command Axis 1 servo OFF
Commanding zero point return request
M0 Zero point return request OFF command
OFF
Zero point return request OFF command Zero point return request OFF
M1 –
pulse commanded
Zero point return request OFF command Zero point return request OFF command
M2
storage held
M3 Clock data write command pulse Clock data write commanded
M4 Clock data write command storage Clock data write command held
M5 High-speed zero point return command Requesting high-speed zero point return
High-speed zero point return command High-speed zero point return command
M6
storage held
M7 Positioning start command pulse Positioning start commanded
M8 Positioning start command storage Positioning start command held
M9 In JOG flag In JOG flag
Manual pulse generator operation enable Requesting manual pulse generator
M10
command operation enable
Internal M11 Manual pulse generator operating flag Manual pulse generator operating flag
relay Manual pulse generator operation disable Requesting manual pulse generator
M12
command operation disable
M13 Speed change command pulse Speed change commanded
M14 – Speed change command storage Speed change command held
M15 Override command Requesting override
Acceleration/deceleration time change Requesting acceleration/deceleration time
M16
command change
M17 Torque change command Requesting torque change
M18 Step operation command pulse Step operation commanded
M19 Skip operation command pulse Skip operation commanded
M20 Skip operation command storage Skip operation command held
M21 Teaching command pulse Teaching commanded
M22 Teaching command storage Teaching command held
M23 Continuous operation interrupt command Requesting continuous operation interrupt
M24 Restart command Requesting restart
M25 Restart command storage Restart command held
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
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Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3
M26 Parameter initialization command pulse Parameter initialization commanded
M27 Parameter initialization command storage Parameter initialization command held
M28 Flash ROM write command pulse Flash ROM write commanded
M29 Flash ROM write command storage Flash ROM write command held
M30 Error code read complete Error code read completed
Internal
M31 – Error reset Error reset completed
relay
M32 Stop command pulse Stop commanded
M9028 Clock data read command Requesting clock data read
M9036 Always ON contact Always ON contact
M9038 1 scan ON after RUN 1 scan turned ON after RUN
M9039 1 scan OFF after RUN 1 scan turned OFF after RUN
D0 Status information ( Md.40 Status)
D1 – Zero point return request flag ( Md.40 Status (bit3))
( Cd.24 Zero point return request flag
D2 Zero point return request OFF results
OFF request)
D3 Date/hour data
PLC CPU clock data
D4 Minute/second data
D5 Clock data write request ( Cd.3 Clock data writing)
D6 Clock data write results ( Cd.3 Clock data writing)
D7 Positioning data No. Positioning data No.
D8 Movement amount (low-order 16 bits) ( Cd.21 Speed/position changeover
control movement amount
D9 Movement amount (high-order 16 bits) change register)
D10 JOG operation speed (low-order 16 bits)
( Cd.19 JOG speed)
D11 JOG operation speed (high-order 16 bits)
Manual pulse generator 1 pulse input
D12
magnification (low-order) ( Cd.23 Manual pulse generator 1
Manual pulse generator 1 pulse input pulse input magnification)
D13
magnification (high-order)
D14 Speed change value (low-order 16 bits)
Data ( Cd.16 New speed value)
D15 Speed change value (high-order 16 bits)
register
D16 Speed change request ( Cd.17 Speed change request)
–
D17 Speed change result ( Cd.17 Speed change request)
( Cd.18 Positioning operation speed
D18 Override value
override)
Acceleration time setting (low-order 16
D19
bits)
( Cd.33 New acceleration time value)
Acceleration time setting (high-order 16
D20
bits)
Deceleration time setting (low-order 16
D21
bits)
( Cd.34 New deceleration time value)
Deceleration time setting (high-order 16
D22
bits)
D23 Torque output setting value ( Cd.101 Torque output setting value)
D24 Step valid flag ( Cd.26 Step valid flag)
D25 Step mode ( Cd.27 Step mode)
D26 Skip operation results ( Cd.29 Skip command)
D27 Target axis ( Cd.4 Target axis)
D28 Positioning data No. ( Cd.5 Positioning data No.)
D29 Write pattern ( Cd.6 Write pattern)
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
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Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3
D30 Read/write request ( Cd.7 Read/write request)
D31 Teaching results ( Cd.7 Read/write request)
D32 Axis state ( Md.35 Axis operation status)
D33 Restart command ( Cd.13 Restart command)
D34 Parameter initialization results ( Cd.10 Parameter initialization request)
D35 Flash ROM write results ( Cd.9 Flash ROM write request)
D36 Error code ( Md.33 Axis error No.)
D40 Positioning identifier ( Da.1 to Da.4 )
For teaching
D41 M code ( Da.9 M code)
D42 Dwell time ( Da.8 Dwell time)
D43 Blank Blank
D44 Speed command (low-order 16 bits)
( Da.7 Command speed)
D45 Speed command (high-order 16 bits)
D50 Unit setting ( Pr.1 Unit setting)
D51 No. of pulses per rotation ( Pr.2 No. of pulses per rotation)
D52 Movement amount per rotation ( Pr.3 Movement amount per rotation)
D53 Unit magnification ( Pr.4 Unit magnification )
( Da.1 Operation pattern)
( Da.2 Control method)
D56 Positioning identifier
( Da.3 Acceleration time No.)
Data
register ( Da.4 Deceleration time No.)
Positioning data No.1
D57 M code ( Da.9 M code)
D58 – Dwell time ( Da.8 Dwell time)
D59 (Dummy) –
D60 Command speed (low-order 16 bits)
( Da.7 Command speed)
D61 Command speed (high-order 16 bits)
D62 Positioning (low-order 16 bits) ( Da.5 Positioning address/movement
address/movement amount)
D63 amount (high-order 16 bits)
D64 (low-order 16 bits)
Arc address ( Da.6 Arc address)
D65 (high-order 16 bits)
D66 1st point (Shape, start No.)
D67 2nd point (Shape, start No.)
Positioning start information
D68 3rd point (Shape, start No.)
(Start block data)
D69 4th point (Shape, start No.) ( Da.10 Shape)
D70 5th point (Shape, start No.) ( Da.11 Start data No.)
D71 1st point (Special start command) ( Da.12 Special start command)
D72 2nd point (Special start command) ( Da.13 Parameter)
D73 3rd point (Special start command)
D74 4th point (Special start command)
D75 5th point (Special start command)
D9026 Date/hour data
Clock data
D9027 Minute/second data
T0 PLC READY signal OFF confirmation
Timer – PLC READY signal OFF
T1 PLC READY signal OFF confirmation
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
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6.3 Creating a program
The "positioning control operation program" actually used is explained in this chapter.
The functions and programs explained in "SECTION 2" are assembled into the
"positioning control operation program" explained here. (To monitor the control, add
the required monitor program that matches the system. Refer to section "5.6 List of
monitor data" for details on the monitor items.)
6.3.1 General configuration of program
The general configuration of the "positioning control operation program" is shown
below.
Start of program creation
Set using the sequence program
Parameter and
data are...
Set using the AD75 Parameter and data setting program
software package
* Program for carrying out initialization
Initialization program
* Program required to carry out "zero point return control",
Start details setting program
"main positioning control" and "advanced positioning control"
Start program
* Program required to carry out "manual control"
JOG operation program
Manual pulse generator
operation program
* Program required for
Auxiliary program "auxiliary functions" and "common functions"
* Program for stopping control
Stop program
Completion of program
creation
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6.3.2 Positioning control operation program
The various programs that configure the "positioning control operation program" are
shown below. When creating the program, refer to the explanation of each program
and section "6.4 Positioning program examples", and create an operation program that
matches the positioning system. (Numbers are assigned to the following programs.
Configuring the program in the order of these numbers is recommended.)
Start of program creation
Set using sequence program
(TO command) Parameter and data
Parameter and
setting program
data are...
No.1
Set using the AD75 Parameter setting program
software package
* When not carrying out "zero point return
control", the zero point return parameters
do not need to be set.
No.2
Positioning data setting program
No.3
Positioning start information
setting program
Initialization program
Zero point Not carried out
return is...
No.4
Zero point return Refer to section 6.5.1
Carried out request OFF program
No.5
External start function valid
setting program Refer to section 6.5.1
Set
Clock data is ...
No.6
Not set Clock data setting program Refer to section 13.5
No.7
PLC READY signal
[Y1D] ON program * Required
No.8
Servo ON/OFF program * Required
Continued on next page
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
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Continued from previous page
Start details setting program * Program required to carry out
• "Zero point return control"
• "Main positioning control"
No.9 • "Advanced positioning control"
Positioning start No.
setting program Refer to section 6.5.2
Start program
No.10
Positioning start signal input program Refer to section 6.5.3
No.11
Program to reset the start
Reset program
signal and turn the M code
ON signal OFF
JOG operation program
* Program required to carry out
"manual control"
No.12
JOG operation program Refer to section 11.2.4
Manual pulse generator
operation program
No.13
Manual pulse generator
Refer to section 11.3.4
operation program
Continued on next page
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
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Continued from previous page
Auxiliary program
* Program added according to control details.
No.14 (Create as required.)
Speed change program Refer to section 12.5.1
No.15
Override program Refer to section 12.5.2
No.16 Acceleration/deceleration time
change program Refer to section 12.5.3
No.17
Torque change program Refer to section 12.5.4
No.18
Step operation program Refer to section 12.7.1
No.19
Skip program Refer to section 12.7.2
No.20
Teaching program Refer to section 12.7.4
No.21
Continuous operation interrupt program Refer to section 6.5.4
No.22
Restart program Refer to section 6.5.5
No.23
Parameter initialization program Refer to section 13.2
No.24
Flash ROM write program Refer to section 13.3
No.25 Program required to
Error reset program
reset errors
Stop program
* Program used to stop control
No.26
Stop program Refer to section 6.5.6
End of program creation
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6.4 Positioning program examples
An example of the "Axis 1" positioning program is given in this section.
[No. 1] to [No. 3] parameter and data setting program
* When setting the parameters or data with the sequence program, set them in the AD75 using the
TO command from the PLC CPU. (Carry out the settings while the PLC READY signal [Y1D] is
OFF.)
* When setting the parameters or data with the AD75 software package, the [No. 1] to [No. 3]
program is not necessary.
*
* No.1 Parameter setting program
* (For basic parameter 1 axis 1)
*
<Setting of unit setting (0:mm)>
<Setting of No. of pulses per rotation>
<Setting of movement amount per rotation>
<Setting of unit magnification (1-fold)>
<Setting of basic parameters 1 to AD75>
* No.2 Positioning data setting program
* (For positioning data No.1 axis 1)
*
* <Positioning identifier>
* Operation pattern : Positioning complete
* Control method : 1-axis liner control (ABS)
* Acceleration time No.:1, Deceleration time No.:2
*
<Setting of positioning identifier>
<Setting of M code (9843)>
<Setting of dwell time (300ms)>
< (Dummy data) >
<Setting of command speed (180.00mm/min)>
<Positioning address (412.6 m) setting>
<Setting arc address (0.0 m)>
<Setting of positioning data No.1 to AD75>
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*
No.3 Positioning start information setting program
* Start block data of block No.7000 (axis 1)
* For setting of points 1 to 5
* (Conditions)
Shapes: Continued at points 1 to 4, ended at point 5
* Special start command : Normal start at all of points 1 to 5
* <Positioning data are already preset>
*
[Setting of shape and start data No.]
*
* <Setting of continue and start data No. 1>
<Setting of continue and start data No. 2>
<Setting of continue and start data No. 5>
<Setting of continue and start data No. 10>
<Setting of end and start data No. 15>
<Setting of start block data to AD75>
*
* [Setting of special start command to normal start]
*
<Setting of normal start>
<Setting of normal start>
<Setting of normal start>
<Setting of normal start>
<Setting of normal start>
<Setting of start block data to AD75>
*
* No.4 Zero point return request OFF program
*
<Zero point return request OFF command pulse>
<Zero point return request OFF command hold>
<AD75 status information read>
<Zero point return request flag ON/OFF extraction>
<Zero point return request OFF command ON>
<Zero point return request OFF command storage OFF>
<Zero point return OFF request write>
<Zero point return request OFF complete read>
<Zero point return request OFF command OFF>
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*
* No.5 External start function valid setting program
*
<External start valid write>
<External start invalid write>
*
* No.6 Clock data setting program
*
<CPU clock data read command ON>
<Clock data write command ON>
<Date, hour, minute second data transmission>
<Clock data writing set>
<Clock data write>
<Clock data wirite command hold>
<Clock data wiriting complete read>
<Clock data wirite command storage OFF>
*
* No.7 PLC READY signal [Y1D] ON program
* (The M27 contact is not required when the parameters are not be initialized.)
* (The M29 contact is not required when not writing to the flash ROM.)
*
<PLC READY signal ON/OFF>
*
* No.8 Servo ON/OFF program
*
* (1) All axes servo ON/OFF program
*
<Servo ON signal ON>
<Servo ON signal OFF>
*
* (2) Axis 1 servo ON/OFF program
* (Unnecessary when servo ON/OFF is not performed on an axis basis)
*
<Axis 1 servo OFF command write>
<Axis 1 servo ON command write>
*
* No.9 Positioning start No. setting program
*
* (1) Machine zero point return
*
<Machine zero point return (9001) write>
*
* (2) High-speed zero point return
*
<AD75 status information read>
<Zero point return request flag ON/OFF extraction>
<High-speed zero point return start enable>
<High-speed zero point return (9002) write>
<High-speed zero point return command hold>
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*
* (3) Positioning with positioning data No.1 (Control other than speed/position changeover control)
*
<Positioning data No.1 setting>
<Positioning data No. write>
*
* (4) Positioning with positioning data No.1 (Speed/position changeover control)
*
<Positioning data No.1 setting>
<Positioning data No.1 write>
<Speed/position changeover signal enable setting>
<Speed/position changeover signal prohibit setting>
<New movement amount write>
*
* (5) Advanced positioning control
*
<Block positioning (7000) write>
<Positioning start point No. write>
*
* (6) High-speed zero point return command and high-speed zero point return command storage OFF
* (Not required when high-speed zero point return is not used)
<High-speed zero point return command OFF>
<High-speed zero point return command
storage OFF>
*
* No.10 Positioning start signal input program
* (When high-speed zero point return is not made, contacts of M5 and M6 are not needed.)
* (When M code is not used, contact of X0D is not needed.)
*
* (When JOG operation is not performed, contact of M9 is not needed.)
* (When manual pulse generator operation is not performed, contact of M11 is not needed.)
*
<Positioning start command pulse>
<Positioning start command hold>
<Positioning start execution>
<Positioning start command storage OFF>
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
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*
* No.11 Reset program
*
<Positioning start signal OFF>
<M code OFF request write>
*
* No.12 JOG operation program
*
<JOG operation speed setting>
<JOG operation speed write>
<In JOG flag ON>
<JOG operation completed>
<Forward run JOG operation execution>
<Reverse run JOG operation execution>
*
* No.13 Manual pulse generator operation program
*
<Manual pulse generator operation command pulse>
<Manual pulse generator 1 pulse input
magnification setting>
<Manual pulse generator 1 pulse input
magnification write>
<Manual pulse generator operation enable write>
<Manual pulse generator operating flag ON>
<Manual pulse generator operation
disable command pulse>
<Manual pulse generator operation disable write>
<Manual pulse generator operating flag OFF>
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*
* No.14 Speed change program
*
<Speed change command pulse>
<Speed change command hold>
<New speed value setting>
<Speed change request setting>
<Speed change write>
<Speed change result read>
<Speed change command storage OFF>
*
* No.15 Override program
*
<Override command pulse>
<Override value setting>
<Override value write>
*
* No.16 Acceleration / deceleration time change program
*
<Acceleration / deceleration time
change program command pulse>
<Setting of acceleration time to 2000ms>
<Setting of deceleration time to without change(0)>
<Acceleration / deceleration time write>
<Acceleration / deceleration time change
enable write>
<Acceleration / deceleration time change
disable write>
*
* No.17 Torque change program
*
<Torque change command pulse>
<Setting of torque output setting value>
<Torque output setting value write>
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*
* No.18 Step operation program
*
<Step operation command pulse>
<Step operation run selection>
<Data No. unit step mode selection>
<Step operation command write>
*
* No.19 Skip program
*
<Skip operation command pulse>
<Skip operation command ON storage>
<Skip operation command write>
<Skip complete read>
<Skip operation command storage OFF>
*
* No.20 Teaching program
*
*
* Positioning to the target position with manual operation
* Store the data other than the positioning data interface
* address in D40 to D45
*
*
<Teaching command pulse>
<Teaching command hold>
<Positioning data write>
<Axis 1 setting>
<Positioning data No.1 setting>
<Teaching data setting>
<Write request setting>
<Teaching data write>
<Teaching result read>
<Teaching command storage OFF>
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*
* No.21 Continuous operation interrupt program
*
<Continuous operation interrupt command pulse>
<Continuous operation interrupt write>
*
* No.22 Restart program
*
<Restart command pulse>
<Axis status read>
<Restart command ON during stop>
<Restart request write>
<Restart complete read>
<Restart command storage OFF>
*
* No.23 Parameter initialization program
*
<Parameter initialization command pulse>
<Parameter initialization command hold>
<PLC READY output to AD75 standby>
<Parameter initialization write>
<Parameter initialization complete read>
<Parameter initialization command storage OFF>
*
* No.24 Flash ROM write program
*
<Flash ROM write command pulse>
<Flash ROM write command hold>
<PLC READY output to AD75 standby>
<Flash ROM write request write>
<Flash ROM write complete read>
<Flash ROM write command storage OFF>
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*
* No.25 Error reset program
*
<Error code read>
<Error code read complete confirmation>
<Error reset command pulse>
<Error reset execution>
<Error code read complete OFF>
*
* No.26 Stop program
*
<Stop command pulse>
<Stop execution>
<Axis stop signal OFF due to axis stop>
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6.5 Program details
6.5.1 Initialization program
(1) Zero point return request OFF program
This program forcibly turns OFF the "zero point return request flag" ( Md.40
Status: b3) which is ON.
When using a system that does not require zero point return, assemble the
program to cancel the "zero point return request" made by the AD75 when the
power is turned ON, etc.
Data requiring setting
Set the following data to use the zero point return flag OFF request.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Zero point return
Set to "1: Turn zero point return request flag
Cd.24 request flag OFF 1 1170 1220 1270
OFF".
request
* Refer to section "5.7 List of control data" for details on the setting details.
Time chart for zero point return OFF request
ON
PLC READY signal [Y1D] OFF
ON
AD75 READY signal [X0] OFF
ON
Zero point return request flag OFF
[ Md.40 Status:b3]
Cd.24 Zero point return request flag OFF request 0 1 0
Fig. 6.1 Time chart for zero point return OFF request
(2) External start function valid setting program
This program is used to validate the "external signal" beforehand when using the
external start function (external start, speed change, skip). (Set which function to
use beforehand in " Pr.43 External start function selection".)
Set the following data to validate the "external signal".
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Cd.25 External start valid 1 Set to "1: Validate external start". 1171 1221 1271
* Refer to section "5.7 List of control data" for details on the setting details.
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6.5.2 Start details setting program
This program sets which control, out of "zero point control", "main positioning control"
or "advanced positioning control" to execute. For "advanced positioning control", "high-
speed zero point return" and "speed/position changeover control", add the respectively
required sequence program.
(Refer to "Chapter 10" for details on starting the "advanced positioning control.)
Procedures for setting the starting details
(1) Set the "positioning start No." corresponding to the control to be started in
" Cd.11 Positioning start No.".
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
1 to 600 : Positioning data No.
9001 : Machine zero point return
9002 : High-speed zero point return
Positioning start
Cd.11 9003 : Current value change 1150 1200 1250
No.
7000 to 7010 : Block No.
(For "advanced positioning
control")
* Refer to section "5.7 List of control data" for details on the setting details.
(2) For "advanced positioning control", set the "positioning start point No." of the
block to be started in " Cd.31 Positioning start point No.".
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Positioning start
Cd.31 1 to 50 : Point No. of start block data 1178 1228 1278
point No.
* Refer to section "5.7 List of control data" for details on the setting details.
(3) For "high-speed zero point return", confirm that the "zero point absolute
position overflow flag/underflow flag" is OFF.
(4) Set the following control data for "speed/position changeover control".
(Set " Cd.21 Speed/position changeover control movement amount change
register" as required.)
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Speed/position
When "1" is set, the speed/position changeover
Cd.20 changeover 1 1163 1213 1263
signal will be validated.
enable flag
Speed/position
changeover Set the new value when the position control's
1164 1214 1264
Cd.21 control movement movement amount is to be changed during
1165 1215 1265
amount change speed control.
register
* Refer to section "5.7 List of control data" for details on the setting details.
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6.5.3 Start program
This program is used to start the control with start commands.
The control can be started with the following two methods.
(1) Starting by inputting positioning start signal [Y10, Y11, Y12]
(2) Starting by inputting external start signal
Buffer memory Servo amplifier
3)
Control with
positioning data
1) No. 1
1
1150
PLC CPU
2)
ON
* When starting positioning with the scan
Input/output signal after the completion of positioning,
insert X1 as an interlock so that
positioning is started after Y10 is turned
Y10 OFF and X1 is turned OFF.
1) Set the "positioning start No." in " Cd.11 Positioning start No." according to the control to
be started.
(In the above example, set positioning data No. "1".)
2) Input the positioning start signal [Y10, Y11, Y12] or the external start signal.
3) The positioning data No. "1" will start.
Fig. 6.2 Procedures for starting control
Starting conditions
When starting, the following conditions must be satisfied. The program must be
configured by adding the required conditions into the sequence program so that
the operation does not start until the conditions are satisfied.
Device
Signal name Signal state
Axis 1 Axis 2 Axis 3
All axes servo ON signal ON Servo operation possible Y15
PLC READY signal ON PLC CPU preparation completed Y1D
AD75 READY signal OFF AD75 preparation completed X0
Interface Axis stop signal OFF Axis stop signal is OFF Y13 Y14 Y1C
signal Start complete signal OFF Start complete signal is OFF X1 X2 X3
BUSY signal OFF BUSY signal is OFF X4 X5 X6
Error detection signal OFF There is no error XA XB XC
M code ON signal OFF M code ON signal is OFF XD XE XF
Stop signal OFF Stop signal is OFF –
External
Upper limit (FLS) ON Within limit range –
signal
Lower limit (RLS) ON Within limit range –
Monitor Md.116 Servo status:
Servo ON ON Servo ON is ON
data b1
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(1) Starting by inputting positioning start signal
Operation when starting
(1) When the positioning start signal turns ON, the start complete signal and
BUSY signal turn ON, and the positioning operation starts.
It can be seen that the axis is operating when the BUSY signal is ON.
(2) When the positioning start signal turns OFF, the start complete signal also
turns OFF.
If the positioning start signal is ON even after positioning is completed, the
start complete signal will remain ON.
(3) If the positioning start signal turns ON again while the BUSY signal is ON, a
warning "start during operation" (warning code: 100) is caused.
(4) The process taken when positioning is completed will differ according to case
(a) and (b) below.
(a) When next positioning is not to be carried out
• If a dwell time is set, the system will wait for the set time to pass, and then
positioning will be completed.
• When positioning is completed, the BUSY signal will turn OFF and the
positioning complete signal will turn ON. However, when using speed
control or when the positioning complete signal ON time is "0", the signal
will not turn ON.
• When the positioning complete signal ON time is passed, the positioning
complete signal will turn OFF.
(b) When next positioning is to be carried out
• If a dwell time is set, the system will wait for the set time to pass.
• When the set dwell time is passed, the next positioning will start.
V
Dwell time
Positioning
t
ON
Positioning start signal OFF
[Y10,Y11,Y12]
ON
Start complete signal OFF
[X1,X2,X3]
ON
BUSY signal
[X4,X5,X6] OFF
ON
Positioning complete
OFF
signal [X7,X8,X9]
Fig. 6.3 ON/OFF timing of each signal at start of positioning
POINT
When position control of movement amount 0 is executed, the BUSY signal [X4,
X5, X6] also turns ON. However, since the ON time is short, the ON status may not
be detected in the sequence program.
(The ON statuses of the start complete signal [X1, X2, X3], positioning complete
signal [X7, X8, X9] and M code ON signal [XD, XE, XF] can be detected in the
sequence program.)
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Starting time chart
The time chart for starting each control is shown below.
(1) Time chart for starting "machine zero point return"
Near-point dog
Zero point
ON
Positioning start signal [Y10] OFF
ON
PLC READY signal [Y1D] OFF
ON
AD75 READY signal [X0] OFF
ON
Start complete signal [X1] OFF
ON
BUSY signal [X4] OFF
Error detection signal [XA] OFF
Cd.11 Positioning start No. 9001
ON
Zero point return request flag OFF
[ Md.40 Status:b3]
ON
Zero point return complete flag OFF
[ Md.40 Status:b4]
Fig. 6.4 Time chart for starting "machine zero point return"
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(2) Time chart for starting "high-speed zero point return"
ON
Positioning start signal [Y10] OFF
ON
PLC READY signal [Y1D] OFF
ON
AD75 READY signal [X0] OFF
ON
Start complete signal [X1] OFF
ON
BUSY signal [X4] OFF
Error detection signal [XA] OFF
Cd.11 Positioning start No. 9002
Zero point absolute position overflow flag OFF
[ Md.40 Status:b11]
Zero point absolute position under flow flag OFF
[ Md.40 Status:b12]
Fig. 6.5 Time chart for starting "high-speed zero point return"
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(3) Time chart for starting "main positioning control"
Operation pattern
V Dwell time
Positioning data No. 1(11)
2(00)
Positioning start signal [Y10]
PLC READY signal [Y1D]
AD75 READY signal [X0]
Start complete signal [X1]
BUSY signal [X4]
Positioning complete signal [X7]
Error detection signal [XA]
Cd.11 Positioning start No. 1
Fig. 6.6 Time chart for starting "main positioning control"
(4) Time chart for starting "speed/position changeover control"
V Operation pattern(00) Speed control Position control
Dwell time
Positioning data No.(1)
Positioning start signal [Y10]
PLC READY signal [Y1D]
AD75 READY signal [X0]
Start complete signal [X1]
BUSY signal [X4]
Positioning complete signal [X7]
Error detection signal [XA]
Speed/position changeover signal
Cd.11 Positioning start No. 1
Cd. 20 Speed/position 1 0
changeover enable flag
Fig. 6.7 Time chart for starting "speed/position changeover control"
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Machine zero point return operation timing and process time
Positioning start [Y10,Y11,Y12]
signal
BUSY signal [X4,X5,X6]
t1
Start complete signal [X1,X2,X3]
t4
Md.35 Axis operation status Waiting In zero point return Waiting
t2
Position command
Positioning operation
Zero point return request flag
[ Md.40 Status:b3]
Zero point return complete flag t3
[ Md.40 Status:b4]
Fig. 6.8 Machine zero point return operation timing and process time
Normal timing time Unit: ms
t1 t2 t3 t4
5 to 15 0 to 3.5
• The t1 timing time could be delayed by the following factors.
1) Presence of FROM/TO command execution during start process
2) Operation state of other axes
3) Presence of intervention from peripheral device during start process
4) Details of positioning data to be started
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
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Position control operation timing and process time
Positioning
start signal [Y10,Y11,Y12]
BUSY signal [X4,X5,X6]
t1
M code ON signal
(WITH mode) [XD,XE,XF]
t2
Cd. 14 M code OFF request
Start complete signal [X1,X2,X3]
t3
Md.35 Axis operation status Waiting Controlling position Waiting
t4
Position command
Positioning operation
t5
Positioning complete signal *
[X7,X8,X9]
t6
M code ON signal
(AFTER mode) [XD,XE,XF]
t2
Cd. 14 M code OFF request
Zero point return complete flag *
[ Md.40 Status:b4]
Fig. 6.9 Position control operation timing and process time
• When the positioning start signal turns ON, if all signals marked with an
asterisk (*) are already ON, the signals marked with an asterisk (*) will turn
OFF when the positioning start signal turns ON.
Normal timing time Unit: ms
t1 t2 t3 t4 t5 t6
Follows
5 to 15 0 to 3.5
parameters
• The t1 timing time could be delayed by the following factors.
1) Presence of FROM/TO command execution during start process
2) Operation state of other axes
3) Presence of intervention from peripheral device during start process
4) Details of positioning data to be started
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(2) Starting by inputting external start signal
When starting positioning control by inputting the external start signal, the start
command can be directly input into the AD75. This allows the variation time
equivalent to one scan time of the PLC CPU to be eliminated. This is an effective
procedure when operation is to be started as quickly as possible with the start
command or when the starting variation time is to be suppressed. To start
positioning control by inputting the external start signal, set the "data required to
be set" and then turn ON the external start signal.
Restrictions
When starting by inputting the external start signal, the start complete signal [X1,
X2, X3] will not turn ON.
Data required to be set
To execute positioning start with the external start signal, set parameter ( Pr.43 )
beforehand, and validate the "external start signal" with the "external start function
valid setting program (program No. 5).
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
External start
Pr.43 0 Set to "0: External positioning start". 62 212 362
function selection
Cd.25 External start valid 1 Set to "1: Validate external start". 1171 1221 1271
* Refer to Chapter "5 DATA USED FOR POSITIONING CONTROL" for details on the setting details.
Starting time chart
Operation pattern Dwell time
V
Positioning data No. 1(00)
Positioning start signal [Y10]
PLC READY signal [Y1D]
AD75 READY signal [X0]
Start complete signal [X1]
BUSY signal [X4]
Positioning complete signal [X7]
Error detection signal [XA]
External start signal
Pr. 43 External start function selection 0
Cd. 11 Positioning start No. 1
1 0
Cd. 25 External start valid
Fig. 6.10 Time chart for starting with external start signal
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6.5.4 Continuous operation interrupt program
During positioning control, the control can be interrupted during continuous positioning
control and continuous path control (continuous operation interrupt function). When
"continuous operation interruption" is execution, the control will stop when the
operation of the positioning data being executed ends. To execute continuous
operation interruption, set "1: Continuous operation interrupt request" for " Cd.32
Interrupt request during continuous operation.
(1) Operation during continuous operation interruption
Stop process when stop command turns ON
V
Stop command ON or Stop process at continuous operation
continuous operation interrupt request interrupt request
Start
t
Positioning data No. 10 Positioning data No. 11 Positioning data No. 12
Fig. 6.11 Operation during continuous operation interruption
(2) Restrictions
(1) When the "continuous operation interrupt request" is executed, the positioning
will end.
Thus, after stopping, the operation cannot be "restarted".
When " Cd.13 Restart command" is issued, a warning "Restart not possible"
(warning code:104) will occur.
(2) Even if the stop command is turned ON after executing the "continuous
operation interrupt request", the "continuous operation interrupt request"
cannot be canceled.
Thus, if "restart" is executed after stopping by turning the stop command ON,
the operation will stop when the positioning data No. where "continuous
operation interrupt request" was executed is completed.
Axis 1
Continuous operation
interrupt request
Positioning for positioning data No. 12
is not executed
Positioning ends with continuous
operation interrupt request
Positioning with positioning data No. 11
Axis 2
Positioning with positioning data No. 10
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(3) If the operation cannot be decelerated to a stop because the remaining
distance is insufficient when "continuous operation interrupt request" is
executed with continuous path control, the interruption of the continuous
operation will be postponed until the positioning data shown below.
• Positioning data No. have sufficient remaining distance
• Positioning data No. for positioning complete (pattern: 00)
• Positioning data No. for continuous positioning control (pattern: 01)
(4) When operation is not performed (BUSY signals [X4, X5, X6] are OFF), the
continuous operation interrupt request is not accepted. It is cleared to zero at a
start or at a restart.
Even when the continuous operation interrupt is requested,
the remaining distance is insufficient, and thus, the
operation cannot stop at the positioning No. being executed.
V Continuous operation Stop process when operation cannot stop
interrupt request at positioning data No.10
Start
t
Positioninig data No. 10 Positioning data No. 11 Positioning data No. 12
(3) Control data requiring settings
Set the following data to interrupt continuous operation.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Interrupt request
Set "1: Interrupt request during continuous
Cd.32 during continuous 1 1181 1231 1281
operation".
operation
* Refer to section "5.7 List of control data" for details on the setting details.
6 - 32
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
6.5.5 Restart program
When a stop factor occurs during position control and the operation stops, the
positioning can be restarted from the stopped position to the position control end point
by using the "restart command" ( Cd.13 Restart command).
("Restarting" is not possible when "continuous operation is interrupted.")
(1) Restart operation
Axis 1
Positioning with positioning data No. 11
Positioning data No. 11
continues with restart
command
Positioning with positioning data No. 12
Stop with stop command
Positioning with positioning data No. 10
Axis 2
Fig. 6.12 Restart operation
(2) Restrictions
(1) Restarting can be executed only when the " Md.35 Axis operation status" is
"stopped".
If the axis operation is not "stopped", restarting is not possible.
(2) Do not execute restart while the stop command is ON.
If restart is executed while stopped, an error "Stop signal ON at start" (error
code:106) will occur, and the " Md.35 Axis operation status" will change to
"error occurring".
Thus, even if the error is reset, the operation cannot be restarted.
(3) Restarting can be executed even while the positioning start signal is ON.
However, make sure that the positioning start signal does not change from
OFF to ON while stopped.
If the positioning start signal changes from OFF to ON, positioning will start
from the positioning data No. of designated point's positioning data No. set in
" Cd.11 Positioning start No.".
(4) If positioning is ended with the continuous operation interrupt request, the
operation cannot be restarted.
If restart is requested, a warning "Restart not possible" (warning code:104) will
occur.
(5) When stopped with interpolation operation, write "1: restarts" into " Cd.13
Restart command" for the reference axis, and then restart.
(6) If the " Md.35 Axis operation status" is not "stopped" when restarting, a
multiple start warning will occur, and the process at that time will be continued.
REMARK
Restarting after stopping is possible even for the following control.
• Incremental type position control • Continuous positioning control
• Continuous path control • Block start
6 - 33
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
(3) Control data requiring setting
Set the following data to execute restart.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Cd.13 Restart command 1 Set "1: restarts". 1152 1202 1252
* Refer to section "5.7 List of control data" for details on the setting details.
(4) Starting conditions
The following conditions must be satisfied when restarting. (Assemble the
required conditions into the sequence program as an interlock.)
(1) Operation state
" Md.35 Axis operation status" is "1: Stopped"
(2) Signal state
Device
Signal name Signal state
Axis 1 Axis 2 Axis 3
All axes servo ON signal ON Servo operation possible Y15
PLC READY signal ON PLC CPU preparation completed Y1D
AD75 READY signal OFF AD75 preparation completed X0
Interface Axis stop signal OFF Axis stop signal is OFF Y13 Y14 Y1C
signal Start complete signal OFF Start complete signal is OFF X1 X2 X3
BUSY signal OFF BUSY signal is OFF X4 X5 X6
Error detection signal OFF There is no error XA XB XC
M code ON signal OFF M code ON signal is OFF XD XE XF
Stop signal OFF Stop signal is OFF –
External
Upper limit (FLS) ON Within limit range –
signal
Lower limit (RLS) ON Within limit range –
Monitor Md.116 Servo status:
Servo ON ON Servo ON is ON
data b1
6 - 34
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
(5) Time chart for restarting
V Dwell time
Positioning start signal [Y10]
Axis stop signal [Y13]
PLC READY signal [Y1D]
AD75 READY signal [X0]
Start complete signal [X1]
BUSY signal [X4]
Positioning complete signal [X7]
Error detection signal [XA]
Md.35 Axis operation status 0 8 1 8 0
Cd.11 Positioning start No. 0 1 0
Fig. 6.13 Time chart for restarting
6 - 35
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
6.5.6 Stop program
The axis stop signal [Y13, Y14, Y1C] or a stop signal from an external source is used
to stop the control. Create a program to turn the axis stop signal [Y13, Y14, Y1C] ON
as the stop program.
The process for stopping control is explained below.
Each control is stopped in the following cases.
(a) When each control is completed normally.
(b) When Servo alarm ( Md.116 Servo status: b13) turns ON.
(c) When the PLC READY signal is turned OFF.
(d) When an error occurs.
(e) When control is intentionally stopped. (Stop signal from PLC CPU turned ON, stop
from peripheral device, etc.)
The stop process for the above cases is shown below. (Excluding (a) when the
operation stops normally.)
(1) Stop process
Stop process
Axis Zero point return
operation Manual control
control
status
Stop High- Main Advanced
Stop cause ( M d .3 5 )
axis Machine speed positioning positioning Manual
after JOG
zero point zero control control pulse
stopping opera-
return point generator
tion
control return operation
control
Servo alarm is ON
and Servo ON is
Each During Immediate
Forced stop OFF ( Md.116 Immediate stop
axis error stop
Servo status: b1,
b13)
Hardware stroke
Fatal stop limit upper/lower Each During Deceleration stop/sudden stop Deceleration
(Stop group 1) limit error axis error (Select with Pr.38 ) stop
occurrence
PLC READY
Emergency signal OFF All During Deceleration stop/sudden stop Deceleration
stop
axes error (Select with Pr.39 ) stop
(Stop group 2) "Stop" input from
external device
Axis error
Relatively safe detection (Error
other than stop Each During
stop
axis error
(Stop group 3) group 1 or 2)
Error in test mode
Deceleration stop/sudden stop Deceleration
"Stop signal" ON stop
from external (Select with Pr.40 )
Intentional stop source Each When
(Stop group 3) "Axis stop signal" axis stopped
ON from PLC
CPU
6 - 36
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
(2) Types of stop processes
The operation can be stopped with deceleration stop, sudden stop or immediate
stop.
(1) Deceleration stop
The operation stops with "deceleration time 0 to 3" ( Pr.9 , Pr.29 , Pr.30 ,
Pr.31 ).
Which time from "deceleration time 0 to 3" to use for control is set in positioning
data ( Da.4 ).
(2) Sudden stop
The operation stops with " Pr.37 Sudden stop deceleration time".
(3) Immediate stop
The operation does not decelerate.
The AD75 immediately stops the position/speed command output, but the
operation will coast for the droop pulses accumulated in the servo amplifier's
deviation counter.
Positioning speed Positioning speed Positioning speed
Actual sudden stop
Actual deceleration time deceleration time
Coast for the droop pulses accumulated
Pr.37 Sudden stop
in the servo amplifier's deviation counter.
Set deceleration time deceleration time
Fig. 6.14 Types of stop processes
REMARK
*1 "Deceleration stop" and "sudden stop" are selected with the details parameter
"stop group 1 to 3 sudden stop selection". (The default setting is "deceleration
stop".)
6 - 37
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
(3) Order of priority for stop process
The order of priority for the AD75 stop process is as follows.
Deceleration stop < Sudden stop < Immediate stop
(1) During deceleration (including automatic deceleration), the operation will stop
at that deceleration speed even if the decelerations to command turns ON
(stop signal turns ON) or a deceleration stop cause occurs.
(2) If the stop signal designated for sudden stop turns ON or a stop cause occurs
during deceleration, the sudden stop process will start from that point.
However, if the sudden stop deceleration time is longer than the deceleration
time, the deceleration stop process will be continued even if a sudden stop
cause occurs during the deceleration stop process.
Example
The process when a sudden stop cause occurs during deceleration stop is shown below.
Positioning speed Deceleration Positioning speed Deceleration
stop process stop process
Sudden Sudden
stop cause stop cause
Stop Stop
Sudden stop deceleration process Deceleration stop process continues Process for sudden stop
6 - 38
Chapter 7
MEMORY CONFIGURATION AND DATA PROCESS
The AD75 memory configuration and data transmission are explained in this chapter.
The AD75 is configured of three memories. By understanding the configuration and
roles of these memories, the AD75 internal data transmission process, such as "when
the power is turned ON" or "when the PLC READY signal changes from OFF to ON"
can be easily understood. This also allows the transmission process to be carried out
correctly when storage or changing the data. 7
7.1 Configuration and roles of AD75 memory ...................................................................7- 2
7.1.1 Configuration and roles of AD75 memory......................................................7- 2
7.1.2 Buffer memory area configuration..................................................................7- 5
7.2 Data transmission process...........................................................................................7- 6
7-1
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
7.1 Configuration and roles of AD75 memory
7.1.1 Configuration and roles of AD75 memory
The AD75 is configured of the following three memories.
Area configuration
Positioning start information
Positioning start information
Block transmission area
area (No.7001 to 7010)
PLC CPU memo area
Positioning data area
Positioning data area
Backup
Memory
Monitor data area
Control data area
Role
configuration
Parameter area
(No.101 to 600)
area (No.7000)
(No.1 to 100)
Area that can be directly accessed Not
• Buffer memory with sequence program from PLC – – pos-
CPU. sible
Area for backing up data required Pos-
• Flash ROM – – – –
for positioning. sible
Not
• OS memory Area used by system. – – – – pos-
sible
: Setting and storage area provided, Not possible: Data is lost when power is turned OFF
– : Setting and storage area not provided, Possible: Data is held even when power is turned OFF
7-2
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
Details of areas
• Parameter area
Area where the parameters, such as the positioning parameters, zero point return
parameters and servo parameters, required for positioning control are set and
stored.
(Set the items indicated with Pr.1 to Pr.59 , Pr.100 to Pr.138 , Pr.149 and
Pr.150 for each axis.)
• Positioning data area (No.1 to 100)
Area where positioning data No.1 to 100 is set and stored.
(Set the items indicated with Da.1 to Da.9 for each positioning data.)
• Positioning data area (No.101 to 600)
Area where positioning data No.101 to 600 is set and stored.
(Set the items indicated with Da.1 to Da.9 for each positioning data.)
• Positioning start information area (No.7000)
Area where information required only when carrying out block No. 7000 advanced
positioning is set and stored. (Set the items indicated with Da.10 to Da.18 .)
• Positioning start information area (No.7001 to 7010)
Area where information required only when carrying out block No. 7001 to 7010
advanced positioning is set and stored. (Set the items indicated with Da.10 to
Da.18 .)
• Monitor data area
Area where positioning system or AD75 operation state is stored.
(Set the items indicated with Md.1 to Md.56 and Md.100 to Md.121 .)
• Control data area
Area where data for operating and controlling positioning system is set and
stored. (Set the items indicated with Cd.1 to Cd.35 , Cd.100 and Cd.101.)
• PLC CPU memo area
Area where condition judgment values required for special positioning, etc., are
set and stored.
• Block transmission area
Memory area used for setting the "positioning data No. 101 to 600" with sequence
program.
* When using a peripheral device, the "positioning data No. 101 to 600" is set
with the same method as "positioning data No. 1 to 100".
7-3
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
User accesses this memory.
The data used for actual control
Data is backed up here. is stored here.
Buffer memory
Flash ROM OS memory
Parameter area
Parameter area Positioning data area Parameter area
(No. 1 to 100)
Positioning data area Positioning start Positioning data area
(No. 1 to 100) information area (No. 7000) (No. 1 to 100)
Monitor data area
Positioning start Positioning start
information area (No. 7000) Control data area information area (No. 7000)
Positioning start information Positioning start information
PLC CPU memory area
area (No. 7001 to 7010) area (No. 7001 to 7010)
Positioning data area Block transmission area Positioning data area
(No. 101 to 600) (No. 101 to 600)
AD75
7-4
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
7.1.2 Buffer memory area configuration
The AD75 buffer memory is configured of the following types of areas.
Buffer memory address Writing
Buffer memory area configuration
Axis 1 Axis 2 Axis 3 possibility
Basic parameter area 0 to 13 150 to 163 300 to 313
Detailed parameter area 15 to 66 165 to 216 315 to 366
Zero point return basic
70 to 78 220 to 228 370 to 378
parameter area
Parameter area Zero point return detailed Possible
80 to 91 230 to 241 380 to 391
parameter area
Servo basic parameter
100 to 109 250 to 259 400 to 409
area
Servo adjustment
112 to 125 262 to 275 412 to 425
parameter area
Servo extension
127 to 149 277 to 299 427 to 449
parameter area
System monitor area 450 to 753
Monitor data area Not possible
Axis monitor area 800 to 883 900 to 983 1000 to 1083
System control data area 1100 to 1139
Control data area Possible
Axis control data area 1150 to 1188 1200 to 1238 1250 to 1288
Positioning data area
Positioning data area 1300 to 2299 2300 to 3299 3300 to 4299
(No.1 to 100)
4300 to 4349 4550 to 4599 4800 to 4849
Start block data area
4350 to 4399 4600 to 4649 4850 to 4899
Positioning start Possible
information area
(No.7000) Condition data area 4400 to 4499 4650 to 4749 4900 to 4999
Indirectly specification
4500 to 4549 4750 to 4799 5000 to 5049
data area
PLC CPU memo area PLC CPU memo area 5050 to 5099 Possible
5100 to 5103
Block transmission area Block transmission area Possible
5110 to 6109
* Use of address Nos. skipped above is prohibited. If used, the system may not operate correctly.
(For details of the buffer memory address, refer to Appendix 7.)
7-5
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
7.2 Data transmission process
The data is transmitted between the AD75 memories with steps (1) to (11) shown
below.
• The data transmission patterns numbered (1) to (11) on the right page correspond
to the numbers (1) to (11) on the left page.
PLC CPU
(4)FROM command (3)TO command
AD75
Buffer memory Parameter area (a)
Pr.1 to Pr.4
Parameter area (a)
Pr.10 to Pr.25
Parameter area (b) Pr.45 to Pr.59
Positioning data area Pr.100 to Pr.138
(No.1 to 100) Pr.149 , Pr.150
Positioning start information area Parameter area (b)
(No.7000)
Pr.7 to Pr.9
Monitor data area Pr.26 to Pr.44
Control data area
PLC CPU memory area
(1) Power ON reset (2) PLC READY signal
Block transmission area [Y1D] OFF ON
(3) TO command
Flash ROM ROM OS memory
Parameter area (a) Parameter area (a)
Parameter area (b) Parameter area (b)
(1) Power ON reset
Positioning data area Positioning data area
(No.1 to 100) (No.1 to 100)
Positioning start information Positioning start information
area (No.7000) area (No.7000)
(5) Flash ROM read 1)
Positioning start information Positioning start information
area (No.7001 to 7010) area (No.7001 to 7010)
Positioning data area Positioning data area
(No.101 to 600) (No.101 to 600)
(5) Flash ROM request (read)
Peripheral device
7-6
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
(1) Transmitting data when power is turned ON or PLC CPU is reset
( )
When the power is turned ON or the PLC CPU is reset, the "parameters",
"positioning data" and "positioning start information" stored (backed up) in the
flash ROM is transmitted to the buffer memory and OS memory.
(The "positioning data (No. 101 to 600)" and "positioning start information (No.
7001 to 7010)" data is not transmitted to the buffer memory.)
(2) Transmitting data when PLC READY signal [Y1D] changes from
OFF to ON ( )
When the PLC READY signal [Y1D] changes from OFF to ON, the data stored in
the buffer memory's "parameter area (a) *1" is transmitted to the OS memory.
*1 Parameter area (a) ....... Parameters transmitted to OS memory when PLC
READY signal [Y1D] changes from OFF to ON
( Pr.1 to Pr.4 , Pr.10 to Pr.25 , Pr.45 to
Pr.59 , Pr.100 to Pr.138 , Pr.149 , Pr.150 )
(3) Transmitting data with TO command from PLC CPU ( )
The parameters or data is written from the PLC CPU to the buffer memory using
the TO command. At this time, when the "parameter area (b) *2", "positioning
data (No. 1 to 100)" and "positioning start information (No. 7000)" is written into
the buffer memory with the TO command, it is simultaneously transmitted to the
OS memory.
*2 Parameter area (b) ....... Parameters transmitted to the OS memory
simultaneously with the writing to the buffer memory
with the TO command. ( Pr.7 to Pr.9 , Pr.26
to Pr.44 )
POINT
The setting values of the parameters that correspond to parameter area (b) are
valid when written into the buffer memory with the TO command. However, the
setting values of the parameters that correspond to parameter area (a) are not
validated until the PLC READY signal [Y1D] changes from OFF to ON.
(4) Accessing with FROM command from PLC CPU ( )
The data is read from the buffer memory to the PLC CPU using the FROM
command.
(5) Flash ROM request (reading) ( )
The following transmission process is carried out with the "flash ROM request"
from the peripheral device.
1) The "parameters", "positioning data (No. 1 to 600)", and "positioning start
information (No. 7000 to 7010)" in the flash ROM is transmitted to the OS
memory.
7-7
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
PLC CPU
(7) Flash ROM write (6) Block transmission request
(Set "1" in Cd.9 , using TO command) (Set data in bufer memory
[5100] to [6109] using TO command]
AD75
Buffer memory Parameter area (a)
Pr.1 to Pr.4
Parameter area (a) Pr.10 to Pr.25
Parameter area (b) Pr.45 to Pr.59
Positioning data area Pr.100 to Pr.138
(No.1~100) Pr.149 , Pr.150
Positioning start information area Parameter area (b)
(No.7000) Pr.7 to Pr.9
Monitor data area Pr.26 to Pr.44
Control data area
PLC CPU memory area
Block transmission area
(7) Flash ROM write 1)
Flash ROM OS memory
Parameter area (a) Parameter area (a)
Parameter area (b) Parameter area (b)
Positioning data area (6) Block transmission request Positioning data area
(No.1 to100) (No.1 to100)
Positioning start information Positioning start information
area (No.7000) area (No.7000)
Positioning start information Positioning start information
area (No.7000 to 7010) area (No.7000 to 7010)
Positioning data area Positioning data area
(No.101 to 600) (7) Flash ROM write 2) (No.101 to 600)
(8) Flash ROM request (write)
Peripheral device
7-8
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
(6) Transmitting blocks from PLC CPU ( )
When setting data in positioning data No. 101 to 600 using the sequence
program, first the data is set in the "block transmission area" (buffer memory
address [5100] to [6109]). Then, the data is set in positioning data No. 101 to 600
by transmitting the data to the OS memory. Refer to section "7.2 Data
transmission process (B)" for the procedures.
Note 1) Block transmission from the PLC CPU can be executed only when the
PLC READY signal [Y1D] is OFF.
If it is executed when the PLC READY signal [Y1D] is ON, warning "in
PLC READY" (warning code: 111) will occur.
Note 2) The buffer memory does not have an area to store the positioning data
No. 101 to 600, so when setting data in the positioning data No. 101 to
600 using the sequence program, the procedures and settings will be
complicated. Use of the AD75 software package when setting
positioning data No. 101 to 600 is recommended.
(7) Flash ROM write ( )
The following transmission process is carried out by setting "1" in " Cd.9 Flash
ROM write request" (buffer memory [1138]).
1) The "parameters", "positioning data (No. 1 to 100)" and "positioning start
information (No. 7000)" in the buffer memory area are transmitted to the flash
ROM.
2) The "positioning data (No. 101 to 600)" and "positioning start information (No.
7001 to 7010)" in the OS memory are transmitted to the flash ROM.
POINT
The following two types of parameters are stored in the buffer memory.
• Parameters transmitted to the OS memory when the PLC READY signal [Y1D]
changes from OFF to ON
• Parameters transmitted simultaneously to the OS memory when written into the
buffer memory with the TO command
With type 1) of the flash ROM write, the "parameters and data set in the buffer
memory" (including parameters not transmitted to the OS memory) are written into
the flash ROM.
(8) Flash ROM request (writing) ( )
The following transmission processes are carried out with the [flash ROM
request] from the peripheral device.
1) The "parameters", "positioning data (No. 1 to 100)" and "positioning start
information (No. 7000)" in the buffer memory area are transmitted to the flash
ROM.
2) The "positioning data (No. 101 to 600)" and "positioning start information (No.
7001 to 7010)" in the OS memory are transmitted to the flash ROM.
Note) This transmission process is the same as (7) above.
IMPORTANT
Do not turn the power OFF or reset the PLC CPU while writing to the flash ROM. If
the power is turned OFF or the PLC CPU is reset to forcibly end the process, the
data backed up in the flash ROM will be lost.
7-9
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
PLC CPU
AD75
Buffer memory Parameter area (a)
Pr.1 to Pr.4
Parameter area (a) Pr.10 to Pr.25
Parameter area (b) Pr.45 to Pr.59
Positioning data area Pr.100 to Pr.139
(No.1 to 100) Pr.149 , Pr.150
Positioning start information area Parameter area (b)
(No.7000)
Pr.7 to Pr.9
Monitor data area Pr.26 to Pr.44
Control data area
PLC CPU memory area
Block transmission area
Flash ROM OS memory
Parameter area (a) Parameter area (a)
Parameter area (b) Parameter area (b)
Positioning data area Positioning data area
(No.1 to 100) (No.1 to 100)
Positioning start information Positioning start information
area (No.7000) area (No.7000)
Positioning start information Positioning start information
area (No.7001 to 7010) area (No.7001 to 7010)
Positioning data area Positioning data area
(No.101 to 600) (No.101 to 600)
(9) Data read (10) Data write
Peripheral device
7 - 10
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
(9) Reading data from buffer memory or OS memory to peripheral
device ( )
The following transmission processes are carried out with the [AD75 read] from
the peripheral device.
1) The "parameters", "positioning data (No. 1 to 100)" and "positioning start
information (No. 7000)" in the buffer memory area are transmitted to the
peripheral device.
2) The "positioning data (No. 101 to 600)" and "positioning start information (No.
7001 to 7010)" in the OS memory are transmitted to the peripheral device.
(10) Writing data from peripheral device to buffer memory or OS
memory ( )
The following transmission processes are carried out with the [AD75 write] from
the peripheral device.
1) The "parameters", "positioning data (No. 1 to 100)" and "positioning start
information (No. 7000)" in the peripheral device area transmitted to the buffer
memory.
2) The "positioning data (No. 101 to 600)" and "positioning start information (No.
7001 to 7010)" in the peripheral device are transmitted to the OS memory.
At this time, when [Flash ROM Write] is set with the peripheral device, the
transmission processes indicated with the following are carried out.
• (7) Flash ROM write 1
• (7) Flash ROM write 2
7 - 11
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
AD75
Servo parameters
Pr.100 to Pr.138 , Pr.149
OS memory (11) Transfer
of servo
parameters
Servo
parameters Servo amplifier
Parameter
area (a)
Parameter
area
(11) Transfer of servo parameters ( )
Servo parameter transfer timing
The servo parameters transferred to the servo amplifier are the data of the OS
memory. Transfer is made at the timings 1), 2) indicated below.
1) When communication with the servo amplifier is started*
All servo parameters are transferred to the servo amplifier.
2) When the PLC READY signal [Y1D] turns from OFF to ON
The following servo parameters are transferred to the servo amplifier.
• Auto tuning (servo basic parameter)
• Load inertia ratio (servo adjustment parameter)
• Position loop gain 1 (servo adjustment parameter)
• Speed loop gain 1 (servo adjustment parameter)
• Position loop gain 2 (servo adjustment parameter)
• Speed loop gain 2 (servo adjustment parameter)
• Speed integral compensation (servo adjustment parameter)
• Feed forward gain (servo adjustment parameter)
7 - 12
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
*: About start of communication with the servo amplifier
Communication with the servo amplifier starts when the following two conditions hold.
(Conditions)
• The AD75 and servo amplifier has been powered on and started.
• The servo basic parameter "motor capacity" in the AD75 OS memory is other than "0".
(Communication is continued if the servo basic parameter "motor capacity" of the OS memory is set to "0"
after establishment of communication.)
At power-on or PLC CPU reset, the data stored (backed up) in the flash ROM are transferred to the OS
memory. (Refer to section 7.2 (1).)
Therefore, when the servo basic parameter "motor capacity" stored in the flash ROM is not "0" and the servo
amplifier has started earlier than the AD75, communication with the servo amplifier starts before the PLC
CPU starts RUN, so the servo parameters transferred to the servo amplifier are the data stored in the flash
ROM.
[How to transfer the servo parameters, which were set from the sequence program, to the
servo amplifier]
(Method 1)
Set the value of the servo basic parameter "motor capacity" stored in the flash ROM to "0". (The factory
setting is 0.)
This turns the servo basic parameter "motor capacity" in the flash ROM to "0" at power-on or PLC CPU
reset, disabling communication from starting since the communication starting condition does not hold.
When the servo parameters ("motor capacity" is not "0") are set from the sequence program and the PLC
READY signal [Y1D] is turned from OFF to ON, the servo parameters in the buffer memory are transferred to
the OS memory, and communication starts since the communication start conditions have held.
Therefore, the servo parameters transferred to the servo amplifier are the values set from the sequence
program.
(Method 2)
Turn the PLC READY signal [Y1D] from OFF to ON using the sequence program. When the AD75 READY
signal [X0] then turns from ON to OFF, power on the servo amplifier.
When the AD75 READY signal [X0] turns OFF, the servo parameters set from the sequence program are
reflected on the OS memory.
Therefore, the servo parameters transferred to the servo amplifier are the values set from the sequence
program.
[How to transfer the servo parameters, which were written to the flash ROM, to the servo
amplifier]
Set the servo parameters to the buffer memory and write them to the flash ROM. After that, switch power on
again or reset the PLC CPU.
After the servo parameters to be transferred to the servo amplifier have been written to the flash ROM, the
setting of the servo parameters from the sequence program is not necessary.
7 - 13
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
[Servo parameters in the buffer memory and OS memory]
AD75 Servo parameter
Buffer memory, initialization setting from PLC READY
AD75 OS memory processing PLC CPU sequence program signal [Y1D]
power ON data setting completion RUN *4 OFF to ON
Communication with servo Start of communication with servo amplifier enable *3
amplifier disable *3
*1 *2
Parameters in
Undefined Values in flash ROM Values written with sequence program
buffer memory
*1 *2
Servo parameters
Undefined Values in flash ROM Values written with sequence program
in OS memory
(Operation)
(1) Servo parameter transfer made when the AD75 is powered on with the servo amplifier started up
(a) The servo basic parameter "motor capacity" in the flash ROM is not "0"
Timing of starting communication with servo amplifier : At completion of AD75 initialization processing
( in the above chart)
Transferred servo parameters : Data stored (saved) in the flash ROM
(b) The servo basic parameter "motor capacity" in the flash ROM is "0"
Timing of starting communication with servo amplifier : When the PLC READY signal [Y1D] turns from
OFF to ON ( in the above chart)
Transferred servo parameters : Data written from the sequence program
before the PLC READY signal [Y1D] turns ON
(data written in in the above chart)
(2) Servo parameter transfer made when the servo amplifier starts up after the PLC READY signal [Y1D] has
turned from OFF to ON ( in the above chart)
Timing of starting communication with servo amplifier : At startup of the servo amplifier
Transferred servo parameters : Data written from the sequence program
before the PLC READY signal [Y1D] turns ON
(data written in in the above chart)
*1: The servo parameters stored in the flash ROM are transferred to the buffer memory and OS memory by
the AD75 initialization processing performed at power-on.
*2: The servo parameters written to the buffer memory using the sequence program are not reflected on the
OS memory.
When the PLC READY signal (Y1D) turns from OFF to ON, the values set in the buffer memory are
transferred to the OS memory.
*3: Communication with the servo amplifier is not made until the AD75 initialization processing is completed
after power-on.
Communication is started when the communication starting conditions hold after completion of the AD75
initialization processing.
*4: When the servo parameters to be transferred to the servo amplifier have been written to the flash ROM in
advance, setting from the sequence program is not necessary.
7 - 14
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
The data transmission is carried out as shown in the previous pages, but the main
method of using this data process is shown below.
(A) Correcting the execution data (OS memory)
The following methods can be used to correct the OS memory.
From peripheral device Using sequence program
Write new value into buffer memory using TO command
[Transmission process (3)]
Use new setting Change setting
value in future value temporarily
Setting change?
Pr. 1 to Pr. 4
Pr. 7 to Pr.10 Pr.12 to Pr.25
Do not set Pr.26 to Pr.44 , Pr.150 Pr.45 to Pr.59
Set automatic
automatic write of
write of flash ROM Da. 1 to Da.18 Pr.100 to Pr.138 , Pr.149
flash ROM
Transmit data in buffer
memory to OS memory
when PLC READY
signal [Y1D] changes
from OFF to ON.
Correct data with peripheral device
[Transmission process (2)]
Write data correct with peripheral device into OS memory Pr.44 Pr.7
[Transmission process (10)] Pr.26 Pr.10
Complete
• • • User work
• • • AD75 state
7 - 15
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
(B) Setting positioning data No. 101 to 600 data
The positioning data is set with the following procedures.
From peripheral device Using sequence program (brock transmission)
No.1 to 100 No.101 to 600
Positioning data
Turn OFF the PLC READY
signal [Y1D]
Write positioning data into buffer Write required positioning data into buffer memory's block
memory using TO command transmission area [5110 to 6109] using TO command.
Set the data following the [Transmission process (3)] [Transmission process (6)]
peripheral device menu
Write following items into buffer memory's block
*
transmission area [5100 to 5103] using TO command:
* Axis that sets positioning data
* Head No. of positioning data to be set
* Size of positioning data to be set
(Up to 100 items can be set at once)
* Setting of write/read
[Transmission process (6)]
Write the data set with the peripheral The positioning data set in the block transmission
device into the OS memory area [5110 to 6109] is written into the OS memory.
[Transmission process (10)]
101 items or more
Set data size
100 items or less
Complete
• • • User work
• • • AD75 state
* The details written with the TO command are shown below.
Block 5100 Target axis (1: axis 1, 2: axis 2, 3: axis 3) Which axis
transmission 5101 Head positioning data No. (1 to 600) From nth positioning data in OS memory
memory
5102 No. of read/write data (1 to 100) How many data
5103 Read/write request Whether to read or write
0: Read/write complete (set by OS)
1: Read request
2: Write request
5110 Read/write block When reading, the data is read from the OS
(Positioning data storage area) memory into here, and when writing, the data set
to
and stored here is written into the OS memory.
6109
* The default value is "0".
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7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
(Example) When setting the positioning data No. 101 to 300 of axis 1 to the OS
memory
(The number of data that can be set for block transmission at one time is up to 100
pieces.)
Start
Turn OFF the PLC READY signal
[Y1D].
Set as follows. Set "1" to the buffer memory address
Target axis: Axis 1 5100, "101" to the buffer memory
Head positioning data No.: 101 address 5101, and "100" to the buffer 199 200
No. of read/write data: 100 memory address 5102.
6090 6100
102 103
Positioning data No. 101
Set the positioning data No. 101 to 200 Positioning identifier
5110 5120 5130 6101
6091
Da.1 to Da.4
to the read/write block.
6092 6102
Da.9 5111 5121 5131
M code 6093 6103
Set as follows. 5122 5132
Da.8 Dwell time 5112 6094 6104
[Read/write request: Write request] 6105
5113 5123 5133 6095
Not used
Set "2" to the buffer
5124 5134 6106
memory address 5103. Da.7 5114
5125 5135
6096
6107
Command speed 5115 6097
No Da.5 5116 5126 5136 6098 6108
Is write complete? Positioning address 5117 5127 5137 6099 6109
/movement amount
5118 5128 5138
Write is complete when the buffer Da.6
5129 5139
Arc address 5119
Yes memory address 5103 turns to "0".
Set as follows. Set "1" to the buffer memory address
Target axis: Axis 1 5100, "201" to the buffer memory
Head positioning data No.: 201 address 5101, and "100" to the buffer 299 300
No. of read/write data: 100 memory address 5102.
6090 6100
202 203
Positioning data No. 201
Set the positioning data No. 201 to 300 Positioning identifier
5110 5120 5130 6091 6101
to the read/write block. Da.1 to Da.4
6092 6102
Da.9 5111 5121 5131
M code 6093 6103
Set as follows. 5122 5132
Da.8 Dwell time 5112 6104
[Read/write request: Write request] 6094
6105
5113 5123 5133 6095
Not used
Set "2" to the buffer
memory address 5103. Da.7 5114 5124 5134 6096 6106
5115 5125 5135 6097 6107
Command speed
No Da.5 5116 5126 5136 6098 6108
Is write complete? Positioning address 5127 5137 6109
5117 6099
/movement amount
Write is complete when the buffer Da.6 5118 5128 5138
5119 5129 5139
Yes memory address 5103 turns to "0". Arc address
End
7 - 17
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
MEMO
7 - 18
SECTION 2
CONTROL DETAILS AND SETTING
SECTION 2 is configured for the following purposes shown in (1) to (3).
(1) Understanding of the operation and restrictions of each control.
(2) Carrying out the required settings in each control
(3) Dealing with errors
The required settings in each control include parameter setting, positioning data setting,
control data setting by a sequence program, etc.
Carry out these settings while referring to "Chapter 5 DATA USED FOR POSITIONING
CONTROL".
Also refer to "Chapter 6 SEQUENCE PROGRAM USED IN POSITIONING CONTROL"
when creating the sequence programs required in each control, and consider the entire
control programconfiguration when creating each program.
Chapter 8 ZERO POINT RETURN CONTROL .........................................................8- 1 to 8- 24
Chapter 9 MAIN POSITIONING CONTROL ..............................................................9- 1 to 9- 64
Chapter 10 ADVANCED POSITIONING CONTROL.............................................. 10- 1 to 10- 24
SECTION 2
Chapter 11 MANUAL CONTROL ............................................................................ 11- 1 to 11- 26
Chapter 12 CONTROL AUXILIARY FUNCTIONS ............................................... 12- 1 to 12- 104
Chapter 13 COMMON FUNCTIONS....................................................................... 13- 1 to 13- 12
Chapter 14 TROUBLESHOOTING ......................................................................... 14- 1 to 14- 80
MEMO
Chapter 8
ZERO POINT RETURN CONTROL
The details and usage of "zero point return control" are explained in this chapter.
Zero point return control includes "machine zero point returns" that establish a machine
zero point without using address data, and "high-speed zero point returns" that store
the coordinates established by the machine zero point return, and carry out positioning
to that position.
Zero point returns carried out by sequence programs from the PLC CPU are explained
in this chapter.
Refer to the AD75 Software Package Operating Manual for details on zero point returns
using the AD75 software package.
8.1 Outline of zero point return control...............................................................................8- 2 8
8.1.1 Two types of zero point return control............................................................8- 2
8.2 Machine zero point return ............................................................................................8- 4
8.2.1 Outline of the machine zero point return operation .......................................8- 4
8.2.2 Machine zero point return method .................................................................8- 5
8.2.3 Zero point return method (1): Near-point dog method ..................................8- 7
8.2.4 Zero point return method (2): Near-point dog method 2) ..............................8- 9
8.2.5 Zero point return method (3): Count method 1)........................................... 8- 11
8.2.6 Zero point return method (4): Count method 2)........................................... 8- 14
8.2.7 Zero point return method (5): Count method 3)........................................... 8- 16
8.2.8 Zero point return method (6): Data setting method ..................................... 8- 18
8.3 High-speed zero point return ..................................................................................... 8- 19
8.3.1 Outline of the high-speed zero point return operation ................................. 8- 19
8.4 Positioning to the zero point....................................................................................... 8- 21
8-1
8 ZERO POINT RETURN CONTROL
MELSEC-A
8.1 Outline of zero point return control
8.1.1 Two types of zero point return control
In "zero point return control" a position is established as the starting point (or "zero
point") when carrying out positioning control, and positioning is carried out toward that
starting point.
It is used to return a machine system at any position other than the zero point to the
zero point, such as, when the AD75 issues a "zero point return request"*, after a
positioning stop, etc.
In the AD75, the two types of controls shown below are defined as "zero point return
control", following the flow of the zero point return work.
These two types of zero point return control can be executed by setting the "zero point
return parameters", setting "Positioning start No. 9001" and "Positioning start No.
9002" prepared beforehand in the AD75 to " Cd.11 Positioning start No.", and turning
ON the positioning start signal.
(1) Establish a positioning control zero point
– "Machine zero point return" (positioning start No. 9001)
(2) Carry out positioning toward the zero point
– "High-speed zero point return" (positioning start No. 9002).
* The "machine zero point return" in (1) above must always be carried out before
executing the "high-speed zero point return" in (2).
When an absolute position detection system is used, however, performing a zero
point return once at the installation of a machine eliminates the need for a "machine
zero point return" in (1) after that.
REMARK
Zero point return request *
The "zero point return request flag" ( Md.40 Status: b3) must be turned ON in the
AD75, and a machine point return must be executed in the following cases.
• At the ON OFF of the servo ON signal ( Md.116 Servo status: b1)
• At the OFF ON of the PLC READY signal [Y1D]
The address information stored in the AD75 cannot be guaranteed while the "zero
point return request flag" is ON.
The "zero point return request flag" turns OFF and the "zero point return complete
flag" ( Md.40 Status: b4) turns ON if the machine zero point return is executed and
is completed normally.
In the absolute position detection system, ignore the zero point return request flag.
8-2
8 ZERO POINT RETURN CONTROL
MELSEC-A
Zero point return auxiliary functions
Refer to section "3.3.4 Combination of AD75 main functions and auxiliary
functions" for details on "auxiliary functions" that can be combined with zero point
return control. Also refer to "Chapter 12 CONTROL AUXILIARY FUNCTIONS" for
details on each auxiliary function.
[Remarks]
The following two auxiliary functions are only related to machine zero point
returns.
Machine zero point High-speed zero
Auxiliary function name Reference
return point return
Zero point return retry function Section 12.2.1
Zero point shift function Section 12.2.2
: Combination possible, : Restricted, : Combination not possible
When a zero point return is not required
Control can be carried out ignoring the "zero point return request flag" ( Md.40
Status: b3) in systems that do not require a zero point return.
In this case, the "zero point return parameters ( Pr.45 to Pr.59 )" must all be set
to their initial values or a value at which an error does not occur.
Zero point returns from peripheral devices
"Machine zero point returns" and "high-speed zero point returns" can be executed
from the AD75 software package test mode.
Refer to the AD75 software package operating manual for details on zero point
returns from the AD75 software package.
Zero point return in absolute position detection system
When machine zero point return control is executed in the absolute position
detection system, access is made to the FeRAM (Ferroelectric Random Access
Memory).
9
The FeRAM access count is maximum 9.9999 10 times.
9
When the " Md.120 FeRAM access count" exceeds 9.0000 10 times, a warning
"FeRAM count warning" (warning code: 10) occurs.
9
When the FeRAM access count exceeds 9.9999 10 times, an error "FeRAM
count over" (error code: 10) occurs. In this case, the AD75 has reached the end of
its service life. Therefore, replace the module.
9
When the FeRAM access count exceeds 9.9999 10 times, the absolute position
(zero point position) cannot be restored normally at a system startup (power on,
reset, etc.).
8-3
8 ZERO POINT RETURN CONTROL
MELSEC-A
8.2 Machine zero point return
8.2.1 Outline of the machine zero point return operation
Important
Use the zero point return retry function when the zero point position is not always in
the same direction from the workpiece operation area (when the zero point is not
set near the upper or lower limit of the machine).
* The machine zero point return may not complete unless the zero point return retry
function is used.
Machine zero point return operation
In a machine zero point return, establish a machine zero point.
In the zero point return methods (1) to (5), the address information stored in the
AD75, PLC CPU and servo amplifier is never used.
In the zero point return method (6): data setting method, the address information of
the servo held by the absolute position detection system is used.
The position mechanically established after the machine zero point return is
regarded as the "zero point" to be the starting point for positioning control.
The method for establishing a "zero point" by a machine zero point return differs
according to the method set in " Pr.45 Zero point return method".
The following shows the operation when starting a machine zero point return.
1) The machine zero point return is started.
The operation starts according to the speed and direction set in the zero point return
2)
parameters ( Pr.45 to Pr.59 ).
The "zero point" is established by the method set in " Pr.45 Zero point return method",
3)
and the machine stops. (Refer to sections 8.2.2 to 8.2.8)
If "a" is set in " Pr.47 Zero point address", "a" will be stored as the current position in the
4) " Md.29 Current feed value" and " Md.30 Machine feed value" which are monitoring the
position.
5) " Pr.47 Zero point address" ("a") is stored in the " Md.43 Zero point absolute position".
6) The machine zero point return is completed.
* The " Pr.47 Zero point address" is a fixed value set by the user, but the
" Md.43 Zero point absolute position" is constantly changed by the AD75 to
indicate the "zero point", even if there is a change in the address information.
M
Zero point
Machine zero point return
Near-point dog
Fig. 8.1 Example of a machine zero point return
8-4
8 ZERO POINT RETURN CONTROL
MELSEC-A
8.2.2 Machine zero point return method
The method by which the machine zero point is established (method for judging the
zero point position and machine zero point return completion) is designated in the
machine zero point return according to the configuration and application of the
positioning method.
The following table shows the six methods that can be used for this zero point return
method.
(The zero point return method is one of the items set in the zero point return
parameters. It is set in " Pr.45 Zero point return method" of the basic parameters for
zero point returns.)
Pr.45 Zero point Operation details Remarks
return method
• When the zero point is passed between a machine zero point return start and deceleration
Use this method
to a stop by the near-point dog ON to OFF
in the system
When the near-point dog turns from OFF to ON, the machine starts deceleration. (The
where the zero
machine decelerates to " Pr.49 Creep speed".) After the near-point dog has turned from ON
2 point can always
to OFF, the machine stops at the first zero point* , completing the machine zero point
be passed
Near-point dog return.
between a
method • When the zero point is not passed between a machine zero point return start and machine zero
deceleration to a stop by the near-point dog ON to OFF point return start
When the near-point dog turns from OFF to ON, the machine starts deceleration. (The and the near-
machine decelerates to " Pr.49 Creep speed".) When the near-point dog turns from ON to point dog ON to
OFF, the machine decelerates to a stop, resulting in "Zero point not pass at zero point OFF.
return" (error code: 210).
• When the zero point is passed between a machine zero point return start and deceleration
to a stop by the near-point dog ON to OFF
Same as in the "near-point dog method".
• When the zero point is not passed between a machine zero point return start and Use this method
deceleration to a stop by the near-point dog ON to OFF in the system
Near-point dog When the near-point dog turns from OFF to ON, the machine starts deceleration. (The where the "near-
method 2) *1 machine decelerates to " Pr.49 Creep speed".) When the near-point dog turns from ON to point dog
OFF, the machine decelerates to a stop, and the servomotor is rotated one turn in the method" cannot
opposite direction. (The zero point is passed.) The machine moves in the zero point be used.
direction again, and after the near-point dog has turned from ON to OFF, the machine
2
stops at the first zero point* , completing the machine zero point return. (The machine
moves at " Pr.48 Zero point return speed".)
• When the zero point is passed from a machine zero point return start until the machine
moves the distance set to " Pr.52 Setting for the movement amount after near-point dog
ON" Use this method
When the near-point dog turns from OFF to ON, the machine starts deceleration and in the system
moves at " Pr.49 Creep speed". where the zero
After the machine has moved the distance set to " Pr.52 Setting for the movement amount point can always
after near-point dog ON" from the position where the near-point dog turned from OFF to be passed
Count method 1) ON, the machine stops at the first zero point*2, completing the machine zero point return. between a
• When the zero point is not passed from a machine zero point return start until the machine machine zero
moves the distance set to " Pr.52 Setting for the movement amount after near-point dog point return start
ON" and the near-
When the near-point dog turns from OFF to ON, the machine starts deceleration (The point dog ON to
machine decelerates to " Pr.49 Creep speed".) When the near-point dog turns from ON to OFF.
OFF, the machine decelerates to a stop, resulting in "Zero point not pass at zero point
return" (error code: 210).
When the near-point dog turns from OFF to ON, the machine starts deceleration and moves
at " Pr.49 Creep speed".
Count method 2) The machine stops in the position where the distance set to " Pr.52 Setting for the movement
amount after near-point dog ON" is reached from the position where the near-point dog
turned from OFF to ON, completing the machine zero point return.
8-5
8 ZERO POINT RETURN CONTROL
MELSEC-A
Pr.45 Zero point Operation details Remarks
return method
• When the zero point is passed from a machine zero point return start until the machine
moves the distance set to " Pr.52 Setting for the movement amount after near-point dog
ON"
Same as in the "count method 1)".
• When the zero point is not passed from a machine zero point return start until the machine
moves the distance set to " Pr.52 Setting for the movement amount after near-point dog
ON" Use this method
When the near-point dog turns from OFF to ON, the machine starts deceleration. (The in the system
Count method 3) *1 machine decelerates to " Pr.49 Creep speed".) where the "count
After the machine has moved the distance set to " Pr.52 Setting for the movement amount method 1)"
after near-point dog ON", the servomotor is rotated one turn in the opposite direction. (The cannot be used.
zero point is passed.)
The machine moves in the zero point direction again, and after the machine has moved the
distance set to " Pr.52 Setting for the movement amount after near-point dog ON" from the
position where the near-point dog turned from ON to OFF, the machine stops at the first
zero point*2, completing the machine zero point return. (The machine moves at " Pr.48
Zero point return speed".)
The position reached by JOG operation or manual pulse generator operation in the absolute
position detection system is registered to the AD75 as the zero point.
Data setting method
The current feed value and machine feed value are rewritten to the value set to " Pr.47 Zero
point address", and the machine zero point return is completed.
*1: The "near-point dog method 2)" and "count method 3)" are the functions added to the AD75 of software version "Q" and
later.
*2: Signal input as the zero point to the AD75 (one-pulse output signal per servomotor revolution <Z phase signal output by
the servo amplifier to the AD75 via the SSCNET cable>) in any of the zero point return methods, near-point dog method,
near-point dog method 2), count method 1), and count method 3).
REMARK
Creep speed
The stopping accuracy is poor when the machine suddenly stops from high
speeds. To improve the machine's stopping accuracy, its must change over to a
low speed before stopping. This speed is set in the " Pr.49 Creep speed".
8-6
8 ZERO POINT RETURN CONTROL
MELSEC-A
8.2.3 Zero point return method (1): Near-point dog method
The following shows an operation outline of the "near-point dog method" zero point
return method.
Operation chart
The machine zero point return is started.
(The machine begins the acceleration designated in " Pr.53 Zero point return acceleration time selection", in the
1)
direction designated in " Pr.46 Zero point return direction". It then moves at the " Pr.48 Zero point return speed" when
the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
3) The machine decelerates to the " Pr.49 Creep speed", and subsequently moves at that speed.
At detection of the near-point dog OFF, the machine decelerates to a stop. The machine accelerates to " Pr.49 Creep
4)
speed" again and stops at the first zero point.
The zero point return complete flag ( Md.40 Status: b4) turns from OFF to ON, and the zero point return request flag
5)
( Md.40 Status: b3) turns from ON to OFF.
Pr. 48 Zero point return speed
V
Deceleration at the near-point dog ON
Pr. 49 Creep speed
1) 2) 3) 4) 5) t
Md.44 Movement amount after near-point dog ON *
1
ON
Near-point dog OFF
Zero point
One servomotor rotation
ON
Machine zero point return start OFF
(Positioning start signal)
ON
Zero point return request flag OFF
[ Md.40 Status : b3]
ON
Zero point return complete flag OFF
[ Md.40 Status : b4]
Md.35 Axis operation status Standing by In zero point return Standing by
Md.44 Movement amount Inconsistent 0 Value of *1.
after near-point dog ON
Md.29 Current feed value Value the machine moved is stored Zero point address
Inconsistent
Md.30 Machine feed value
Fig. 8.2 Near-point dog method machine zero point return
8-7
8 ZERO POINT RETURN CONTROL
MELSEC-A
Restrictions
The system where the zero point can always be passed between a machine zero
point return start and the near-point dog ON to OFF, is required.
Precautions during operation
(1) An error "Start at zero point" (error code: 201) will occur if another machine
zero point return is attempted after a machine zero point return completion
when the zero point return retry function is not set ("0" is set in " Pr.50 Zero
point return retry").
(2) Machine zero point returns carried out from the near-point dog ON position will
start at the " Pr.49 Creep speed".
(3) The near-point dog must be ON during deceleration from the zero point return
speed " Pr.49 Creep speed".
(4) If the zero point has never been passed between a machine zero point return
start and the near-point dog ON to OFF, an error "zero point not pass at zero
point return" (error code: 210) occurs, resulting in deceleration to a stop.
In the system where the distance between the machine zero point return
starting position and zero point is too short to pass the zero point, select the
zero point return method (2): "near-point dog method 2)".
V
Pr. 48 Zero point return speed
Pr. 49 Creep speed
t
ON
Near-point OFF
dog
Zero point
ON
Machine zero point return start OFF
(Positioning start signal)
ON
OFF
Zero point return request flag
[ Md.40 Status : b3]
Zero point return complete flag OFF
[ Md.40 Status : b4]
Md.35 Axis operation status Standing by In zero point return In error
Md.44 Movement amount
after near-point dog ON Inconsistent 0
Md.29 Current feed value
Inconsistent Value the machine moved is stored Address at stop
Md.30 Machine feed value
Fig. 8.3 Operation performed when the zero point is not passed in the near-point dog method
(5) If the restart command is turned ON after machine zero point return is stopped
upon a stop signal, an error “zero point return restart not possible” (error code:
209) occurs.
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8 ZERO POINT RETURN CONTROL
MELSEC-A
8.2.4 Zero point return method (2): Near-point dog method 2)
When the zero point is passed between a machine zero point return start and
deceleration to a stop by the near-point dog ON to OFF, the operation outline of the
zero point return method "near-point dog method 2)" is the same as that of the zero
point return method (1) "near-point dog method". (Refer to section 8.2.3.) The following
shows the operation outline of the case where the zero point is not passed.
Operation chart
The machine zero point return is started.
1) (The machine starts acceleration designated in " Pr.53 Zero point return acceleration time selection" in the direction
designated in " Pr.46 Zero point return direction", and moves at " Pr.48 Zero point return speed".)
At detection of the near-point dog ON, the machine decelerates to " Pr.49 Creep speed", and then moves at the creep
2)
speed.
3) At detection of the near-point dog ON, the machine decelerates to a stop.
After stopping, the machine moves by the amount of one servomotor revolution at " Pr.48 Zero point return speed" in the
4)
direction opposite to the designated zero point return direction.
The machine moves at " Pr.48 Zero point return speed" in the designated zero point return direction, and completes the
5) machine zero point return in the position of the first zero point after near-point dog ON to OFF. (At this time, the machine
does not decelerate to " Pr.49 Creep speed" when the near-point dog turns from OFF to ON.)
Speed
Pr.48 Zero point return speed 5)
2) Pr.49 Creep speed
1)
3)
Zero point return direction
4)
ON
Near-point dog OFF
Zero point
Zero point not passed
Fig. 8.4 Operation performed when the zero point is not passed in the near-point dog method 2)
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8 ZERO POINT RETURN CONTROL
MELSEC-A
Restrictions
• The system where the machine can move by the movement amount of more
than one servomotor revolution is required.
• The system where the upper/lower limit stroke limit signal does not turn OFF
when the servomotor rotates one turn in the opposite direction following a stop
made when the designated condition holds after the near-point dog has turned
ON, is required.
Precautions during operation
(1) When the zero point return retry function is not set (" Pr.50 Zero point return
retry" setting is "0"), making a machine zero point return again after completion
of a machine zero point return results in an error "start at zero point" (error
code: 201).
(2) When a machine zero point return is started while the near-point dog is ON,
the machine starts at " Pr.49 Creep speed".
(3) The near-point dog must be kept ON while the machine decelerates from the
zero point return speed to " Pr.49 Creep speed".
(4) When the zero point is not passed between a machine zero point return start
and the near-point dog ON to OFF, do not touch the servomotor and
positioning system until the machine zero point return is completed.
(When the servomotor rotates one turn in the opposite direction, the AD75
waits until the in-position signal and zero speed signal of the servo amplifier
turn ON. If the servomotor or positioning system is touched in the status where
the stop position has not yet been reached, the in-position signal and zero
speed signal may turn ON due to the motor side load, rotating the servomotor
suddenly in the opposite direction and positioning the machine to the zero
point.)
(5) If the restart command is turned ON after the machine zero point return is
stopped by the stop signal, an error "zero point return restart not possible"
(error code: 209) occurs.
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8.2.5 Zero point return method (3): Count method 1)
The following shows the outline of the zero point return method "count method 1)".
Operation chart
The machine zero point return is started.
1) (The machine starts acceleration designated in " Pr.53 Zero point return acceleration time selection" in the direction
designated in " Pr.46 Zero point return direction", and moves at " Pr.48 Zero point return speed".)
2) At detection of the near-point dog ON, the machine starts deceleration.
3) The machine decelerates to " Pr.49 Creep speed", and then moves at the creep speed.
The machine decelerates to a stop as soon as it moves the movement amount set to " Pr.52 Setting for the movement
4) amount after near-point dog ON" after the near-point dog has turned ON. The machine accelerates to " Pr.49 Creep
speed" again, and stops at the first zero point.
The zero point return complete flag ( Md.40 Status: b4) turns from OFF to ON, and the zero point return request flag
5)
( Md.40 Status: b3) turns from ON to OFF.
V Pr.48 Zero point return Pr.52 Setting for the movement amount
speed after near-point dog ON
Pr.49 Creep speed
t
1) 2) 3) 4) 5)
Md.44 Movement amount after near-point dog ON *1
Turn OFF the near-point dog sufficiently away
ON from the zero point position.
Near-point dog OFF
First zero point after movement of the amount
set to " Pr.52 Setting for the movement amount
after near-point dog ON"
Zero point
One servomotor revolution
ON
Machine zero point return start OFF
(Positioning start signal)
ON
Zero point return request flag OFF
[ Md.40 Status: b3]
ON
Zero point return complete flag OFF
[ Md.40 Status: b4]
Md.35 Axis operation status Standing by In zero point return Standing by
Md.44 Movement amount after Inconsistent 0 Value of *1
near-point dog ON
Md.29 Current feed value
Inconsistent Value the machine moved is stored Zero point address
Md.30 Machine feed value
Fig. 8.5 Count method 1) machine zero point return
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Precautions during operation
(1) If " Pr.52 Setting for the movement amount after near-point dog ON" is less
than the distance of deceleration from " Pr.48 Zero point return speed" to
" Pr.49 Creep speed", an error "count method movement amount fault" (error
code: 206) occurs, disabling a start.
(2) The operation performed when a machine zero point return is stared while the
near-point dog is ON is shown below.
[Operation performed when machine zero point return is stared
Pr.52 Setting for the movement amount
after near-point dog ON while the near-point dog is ON]
4)
1) 5)
1) The machine zero point return is started.
2) The machine moves at the zero point return speed in the
direction opposite to the designated zero point return direction.
3) At detection of the near-point dog OFF, deceleration processing
is carried out according to the " Pr.40 Stop group 3 sudden stop
selection" setting.
4) After a stop, the machine makes a machine zero point return in
3)
2) the designated zero point return direction.
5) At detection of the near-point dog ON, the machine moves the
movement amount set to " Pr.52 Setting for the movement
ON amount after near-point dog ON", and completes the machine
OFF
zero point return at detection of the first zero point.
Near-point dog
Zero point
Fig. 8.6 Count method 1) machine zero point return with near-point dog ON
(3) Turn OFF the near-point dog sufficiently away from the zero point position.
If the near-point dog is turned OFF during a machine zero point return, there is
no harm in operation. For the following reason, however, it is recommended to
turn OFF the near-point dog sufficiently away from the zero point position.
Reason: If a machine zero point return is made continuously after the near-
point dog is turned OFF at completion of a machine zero point return,
the machine operates at the zero point return speed until it reaches
the hardware stroke limit (upper/lower limit).
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(4) If the zero point has never been passed from a machine zero point return start
until the machine moves the movement amount set to " Pr.52 Setting for the
movement amount after near-point dog ON" after the near-point dog ON, an
error "zero point not pass at zero point return" (error code: 210) occurs and the
machine decelerates to a stop.
In the system where the distance between the machine zero point return
starting position and zero point is too short to detect the zero point, select the
zero point return method (5): "count method 3)".
V
Pr.48 Zero point
return speed Pr.52 Setting for the movement amount
after near-point dog ON
Pr.49 Creep speed
t
ON
Near-point dog OFF
Zero point
ON
Machine zero point return start OFF
(Positioning start signal)
ON
Zero point return request flag OFF
[ Md.40 Status: b3]
Zero point return complete flag OFF
[ Md.40 Status: b4]
Md.35 Axis operation status Standing by In zero point return In error
Md.44 Movement amount after Inconsistent 0
near-point dog ON
Md.29 Current feed value
Inconsistent Value the machine moved is stored Address at stop
Md.30 Machine feed value
Fig. 8.7 Operation performed when the zero point is not passed in the count method 1)
(5) If the restart command is turned ON after the machine zero point return is
stopped by the stop signal, an error "zero point return restart not possible"
(error code: 209) occurs.
REMARK
• In the "count method 1)" zero point return method, a machine zero point return
can be made while the near-point dog is ON.
• In the "count method 1)" zero point return method, a continuous start can be
made after completion of a machine zero point return.
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8.2.6 Zero point return method (4): Count method 2)
The following shows the operation outline of the zero point return method "count
method 2)".
Operation chart
The machine zero point return is started.
1) (The machine starts acceleration designated in " Pr.53 Zero point return acceleration time selection" in the direction
designated in " Pr.46 Zero point return direction", and moves at " Pr.48 Zero point return speed".)
2) At detection of the near-point dog ON, the machine starts deceleration.
3) The machine decelerates to " Pr.49 Creep speed", and then moves at the creep speed.
The machine stops as soon as it moves the movement amount set to " Pr.52 Setting for the movement amount after
4)
near-point dog ON" after the near-point dog has turned ON, completing the machine zero point return.
V Pr.48 Zero point Pr.52 Setting for the movement amount
return speed after near-point dog ON
Pr.49 Creep speed
t
1) 2) 3) 4)
Md.44 Movement amount after near-point dog ON *1
Turn OFF the near-point
ON dog sufficiently away from
Near-point dog OFF the zero point position.
ON
Machine zero point return start OFF
(Positioning start signal)
ON
Zero point return request flag OFF
[ Md.40 Status: b3]
ON
Zero point return complete flag OFF
[ Md.40 Status: b4]
Md.35 Axis operation status Standing by In zero point return Standing by
Md.44 Movement amount after Inconsistent 0 Value of *1
near-point dog ON
Md.29 Current feed value
Inconsistent Value the machine moved is stored Zero point address
Md.30 Machine feed value
Fig. 8.8 Count method 2) machine zero point return
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Restrictions
Since there is a variation of about 1ms in import of near-point dog ON, the
stopping position (zero point) will vary as compared with the other zero point return
methods.
Precautions during operation
(1) If " Pr.52 Setting for the movement amount after near-point dog ON" is less
than the distance of deceleration from " Pr.48 Zero point return speed" to
" Pr.49 Creep speed", an error "count method movement amount fault" (error
code: 206) occurs, disabling a start.
(2) The operation performed when a machine zero point return is stared while the
near-point dog is ON is shown below.
[Operation performed when machine zero point return is stared
Pr.52 Setting for the movement amount after
near-point dog ON while the near-point dog is ON]
4)
1) 5)
1) The machine zero point return is started.
2) The machine moves at the zero point return speed in the
direction opposite to the designated zero point return direction.
3) At detection of the near-point dog OFF, deceleration processing
is carried out according to the " Pr.40 Stop group 3 sudden stop
selection" setting.
3)
2) 4) After a stop, the machine makes a machine zero point return in
the designated zero point return direction.
5) At detection of the near-point dog ON, the machine moves the
ON movement amount set to " Pr.52 Setting for the movement
OFF amount after near-point dog ON", and completes the machine
Near-point dog
zero point return.
Fig. 8.9 Count method 2) machine zero point return with near-point dog ON
(3) Turn OFF the near-point dog sufficiently away from the zero point position.
If the near-point dog is turned OFF during a machine zero point return, there is
no harm in operation. For the following reason, however, it is recommended to
turn OFF the near-point dog sufficiently away from the zero point position.
Reason: If a machine zero point return is made continuously after the near-
point dog is turned OFF at completion of a machine zero point return,
the machine operates at the zero point return speed until it reaches
the hardware stroke limit (upper/lower limit).
(4) If the restart command is turned ON after the machine zero point return is
stopped by the stop signal, an error "zero point return restart not possible"
(error code: 209) occurs.
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8.2.7 Zero point return method (5): Count method 3)
When the zero point is passed from a machine zero point return start until the machine
moves the movement amount set to " Pr.52 Setting for the movement amount after
near-point dog ON", the operation outline of the zero point return method "count
method 3)" is the same as that of the zero point return method (1) "count method 1)".
(Refer to section 8.2.5.)
The following shows the operation outline of the case where the zero point is not
passed from a machine zero point return start until the machine moves the movement
amount set to " Pr.52 Setting for the movement amount after near-point dog ON".
Operation chart
The machine zero point return is started.
1) (The machine starts acceleration designated in " Pr.53 Zero point return acceleration time selection" in the direction
designated in " Pr.46 Zero point return direction", and moves at " Pr.48 Zero point return speed".)
At detection of the near-point dog ON, the machine decelerates to " Pr.49 Creep speed", and then moves at the creep
2)
speed.
The machine decelerates to a stop in the position where the movement amount set to " Pr.52 Setting for the movement
3)
amount after near-point dog ON" is reached.
After stopping, the machine moves by the amount of one servomotor revolution at " Pr.48 Zero point return speed" in the
4)
direction opposite to the designated zero point return direction.
The machine moves at " Pr.48 Zero point return speed" in the designated zero point return direction, and completes the
machine zero point return in the position of the first zero point following the movement of the movement amount set to
5) " Pr.52 Setting for the movement amount after near-point dog ON" after near-point dog ON.
(At this time, the machine does not decelerate to " Pr.49 Creep speed" when the near-point dog turns from OFF to ON.)
Pr.52 Setting for the movement amount
Speed after near-point dog ON
Pr.48 Zero point 5)
return speed
2) Pr.49 Creep speed
1)
3)
Zero point return
direction
4)
Turn OFF the near-point dog
ON sufficiently away from the
zero point position.
Near-point dog OFF
Zero point
Zero point not passed
Fig. 8.10 Operation performed when the zero point is not passed in the count method 3)
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Restrictions
• The system where the machine can move by the movement amount of more
than one servomotor revolution is required.
• The system should satisfy the condition that the upper/lower limit stroke limit
signal does not turn OFF when the servomotor rotates one turn in the opposite
direction following a stop made when the machine has moved the movement
amount set to " Pr.52 Setting for the movement amount after near-point dog
ON" after the near-point dog has turned ON.
Precautions during operation
(1) If " Pr.52 Setting for the movement amount after near-point dog ON" is less
than the distance of deceleration from " Pr.48 Zero point return speed" to
" Pr.49 Creep speed", an error "count method movement amount fault" (error
code: 206) occurs, disabling a start.
The machine decelerates to a stop if an error occurs due to a speed change
made midway during operation.
(2) The operation performed when a machine zero point return is stared while the
near-point dog is ON is the same as in the "count method 1)".
(3) Turn OFF the near-point dog sufficiently away from the zero point position.
If the near-point dog is turned OFF during a machine zero point return, there is
no harm in operation. For the following reason, however, it is recommended to
turn OFF the near-point dog sufficiently away from the zero point position.
Reason: If a machine zero point return is made continuously after the near-
point dog is turned OFF at completion of a machine zero point return,
the machine operates at the zero point return speed until it reaches
the hardware stroke limit (upper/lower limit).
(4) When the zero point is not passed from a machine zero point return start until
the machine moves the movement amount set to " Pr.52 Setting for the
movement amount after near-point dog ON", do not touch the servomotor and
positioning system until the machine zero point return is completed.
(When the servomotor rotates one turn in the opposite direction, the AD75
waits until the in-position signal and zero speed signal of the servo amplifier
turn ON. If the servomotor or positioning system is touched in the status where
the stop position has not yet been reached, the in-position signal and zero
speed signal may turn ON due to the motor side load, rotating the servomotor
suddenly in the opposite direction and positioning the machine to the zero
point.)
(5) If the restart command is turned ON after the machine zero point return is
stopped by the stop signal, an error "zero point return restart not possible"
(error code: 209) occurs.
REMARK
• In the "count method 3)" zero point return method, a machine zero point return
can be made while the near-point dog is ON.
• In the "count method 3)" zero point return method, a continuous start can be
made after completion of a machine zero point return.
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8.2.8 Zero point return method (6): Data setting method
The data setting method machine zero point return is a method in which the position
reached by manual operation (JOG operation/manual pulse generator operation) is
defined as the zero point in an absolute position detection system. (The axis is not
moved in the data setting method machine zero point return.) When the data setting
method machine zero point return is executed, the current position (position reached
by manual operation) in the absolute position detection system is registered as the
zero point, and " Pr.47 Zero point address" is stored into " Md.29 Current feed value"
and " Md.30 Machine feed value".
Operation chart
In the absolute position detection system, move the machine to the position desired to be registered as the
1)
zero point by manual operation (JOG operation/manual pulse generator operation).
2) Start the machine zero point return (turns ON the positioning start signal).
The absolute position of the servomotor at execution of the machine zero point return is stored as the zero
3)
point.
" Pr.47 Zero point address" is stored into " Md.29 Current feed value" and " Md.30 Machine feed
4)
value".
Machine moving range
1) Position reached by manual operation
3) Stored as the zero point at execution of
the machine zero point return.
2) Machine zero point return start
(Positioning start signal)
Fig. 8.11 Data setting method machine zero point return
Precautions
(1) The data setting method machine zero point return performed in a system that
is not an absolute position detection system has the same functions as a
current value change.
(2) Among the zero point return parameters, only the zero point address is used in
the data setting method.
Set any values within the setting ranges to the zero point return parameters
other than the zero point address.
(3) Prior to the data setting method machine zero point return after power-on,
always rotate the servomotor one or more turns by JOG operation, etc.
If the servomotor is not rotated one or more turns before the data setting
method machine zero point return, an error "zero point not pass at zero point
return" (error code: 210) occurs.
If the error has occurred, make an error reset, rotate the servomotor one or
more turns, and then perform the data setting method machine zero point
return again.
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8.3 High-speed zero point return
8.3.1 Outline of the high-speed zero point return operation
High-speed zero point return operation
In a high-speed zero point return, positioning is carried out by a machine zero
point return to the " Md.43 Zero point absolute position" stored in the AD75.
The following shows the operation during a high-speed zero point return start.
1) The high-speed zero point return is started.
2) Positioning control begins to the " Md.43 Zero point absolute position",
following the speed set in the zero point return parameters ( Pr.45 to
Pr.59 ).
3) The high-speed zero point return is completed.
Pr. 48 Zero point return speed
Machin zero point
(zero point position)
High-speed zero point return start
(Positioning start signal)
Md.35 Axis operation status Standing by In position control Standing by
M
Zero point
Positioning to the zero
Fig. 8.12 High-speed zero point return
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Operation timing and processing time of high-speed zero point returns
The following shows details about the operation timing and time during high-speed
zero point returns
Positioning start [Y10,Y11,Y12]
signal
BUSY signal [X4,X5,X6]
t1
Start complete signal [X1,X2,X3]
t3
Md.35 Axis operation status Standing by In position control Standing by
t2
Position command
Positioning operation
Fig. 8.13 Operation timing and processing time of high-speed zero point returns
Normal timing time Unit: ms
t1 t2 t3
5 to 15 0 to 3.5
• The t1 timing time could be delayed by the following factors.
1) Presence of FROM/TO command execution during start process
2) Operation state of other axes
3) Presence of intervention from peripheral device during start process
4) Details of positioning data to be started
Operating restrictions
(1) When the zero point return complete flag ( Md.40 Status: b3) is ON, executing
a high-speed zero point return start will result in an error "zero point return
request ON" (error code: 207)".
(2) When the absolute position restoration mode is the "infinite length mode", an
error "outside start number range" (error code: 543) occurs at a high-speed
zero point return start.
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8.4 Positioning to the zero point
Positioning to the zero point is explained in this section.
To carry out positioning to the zero point, "1-axis linear control (ABS) positioning data"
is created in which the " Md.43 Zero point absolute position" is set in the positioning
address ( Da.5 ). In this case, the other positioning data items are set beforehand in
the flash ROM. (This control is called a "high-speed machine zero point return".)
The " Pr.47 Zero point address" is a fixed value set by the user, but the " Md.43 Zero
point absolute position" is constantly changed by the AD75 to indicate the "zero point",
even if there is a change in the address information.
Restrictions
Md.43 Zero point absolute position is not modified in following cases.
• Feeding actual value 0 clear when starting fixed dimensions feeding.
(Refer to section 9.2.4 and 9.2.5)
• Feeding actual value 0 clear when controlling speed. (Refer to section 9.2.8)
• Updating feeding actual value when controlling speed. (Refer to section 9.2.8)
The "zero point absolute position overflow/underflow flags" ( Md.40 Status:
b11/b12) must be turned OFF.
Positioning data setting example
The following table shows setting examples in which "zero point positioning" is set
in the positioning data No. 100 of axis 1.
Setting
Setting item Setting details
example
Positioning
Da.1 Operation pattern Set "Positioning complete" so the next positioning data is not executed.
complete
Da.2 Control method ABS linear 1 Set the absolute system 1-axis linear control.
Axis 1 Positioning data No. 1
Designate the value set in " Pr.8 Acceleration time 0" as the
Da.3 Acceleration time No. 0
acceleration time at start.
Designate the value set in " Pr.9 Deceleration time 0" as the
Da.4 Deceleration time No. 0
deceleration time at deceleration.
Positioning address/ Set " Md.43 Zero point absolute position" in the positioning address.
Da.5
movement amount (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.6 Arc address – Setting not required. (Setting value will be ignored.)
Da.7 Command speed 20.00mm/min Set the speed when moving to the positioning address.
Set the time from the positioning stop (position command output stop)
Da.8 Dwell time 500ms
to the output of the positioning complete signal.
Set when carrying out other auxiliary operation commands in
Da.9 M code 0
combination with the No. 1 positioning data
* Refer to section "5.3 List of positioning data" for information on the setting details.
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Start time chart
ON
Positioning start signal [Y10] OFF
ON
PLC READY signal [Y1D] OFF
ON
AD75 READY signal [X0] OFF
ON
Start complete signal [X1] OFF
ON
BUSY signal [X4] OFF
Error detection signal [XA] OFF
Cd.11 Positioning start No. 100
Zero point absolute position overflow flag OFF
[ Md.40 Status:b11]
Zero point absolute position underflow flag OFF
[ Md.40 Status:b12]
Fig. 8.14 Start time chart for positioning to the zero point
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Creating the program
PLC CPU data register AD75 buffer memory
D100 n1 Address 817 Md.40 Status
D101 n2
D102 m (Address) 822
D103 823 Md.43 Zero point absolute position
100 (Positioning data No.) 1150 Cd.11 Positioning start No.
2290 Positioning identifier( Da.1 to Da.4 )
2291 Da.9 M code
2292 Da.8 Dwell time
2293 ( Blank)
2294 Positioning data
(data No. 100) Da.7 Command speed
2295
2296
Da.5 Positioning address
2297
2298
Da.6 Circular data
2299
(Refer to section "5.3 List of positioning data"
for details on the positioning data setting.)
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Example
*
* Reception program for high-speed machine zero point return commands
*
<High-speed machine zero point return
command pulse>
<High-speed machine zero point return
command hold>
<AD75 status information read>
<Overflow / underflow extraction>
<High-speed machine zero point return
start enable>
<High-speed machine zero point return
command storage OFF>
<AD75 zero point absolute position read>
<Zero point absolute position write to AD75>
<High-speed machine zero point return
execution>
X1 : Start complete signal
X41 : High-speed machine zero point return command
Y10 : Positioning start signal
M100 : High-speed machine zero point return command pulse
M101 : High-speed machine zero point return command storage
M102 : High-speed machine zero point return start
D100 : AD75 status information
D101 : Overflow / underflow
D102, D103 : Zero point absolute position
8 - 24
Chapter 9
MAIN POSITIONING CONTROL
The details and usage of the main positioning controls (control functions using the
"positioning data") are explained in this chapter.
The main positioning controls include such controls as "positioning control" in which
positioning is carried out to a designated position using the address information,
"speed control" in which a rotating object is controlled at a constant speed, and
"speed/position changeover control" in which the operation is shifted from "speed control"
to "position control".
Carry out the required settings to match each control.
9.1 Outline of main positioning controls.............................................................................9- 2
9.1.1 Data required for main positioning control .....................................................9- 3
9.1.2 Operation patterns of main positioning controls ............................................9- 4
9.1.3 Designating the positioning address ............................................................ 9- 13
9.1.4 Confirming the current value ........................................................................ 9- 14 9
9.1.5 Control unit "degree" handling...................................................................... 9- 16
9.1.6 Interpolation control ...................................................................................... 9- 19
9.2 Setting the positioning data ....................................................................................... 9- 22
9.2.1 Relation between each control and positioning data................................... 9- 22
9.2.2 1-axis linear control....................................................................................... 9- 23
9.2.3 2-axis linear interpolation control.................................................................. 9- 25
9.2.4 1-axis fixed-dimension feed control.............................................................. 9- 29
9.2.5 2-axis fixed-dimension feed control (interpolation) ..................................... 9- 31
9.2.6 2-axis circular interpolation control with auxiliary point designation............ 9- 34
9.2.7 2-axis circular interpolation control with center point designation............... 9- 40
9.2.8 Speed control ................................................................................................ 9- 47
9.2.9 Speed/position changeover control.............................................................. 9- 50
9.2.10 Current value change ................................................................................... 9- 57
9.2.11 JUMP command ........................................................................................... 9- 62
9-1
9 MAIN POSITIONING CONTROL
MELSEC-A
9.1 Outline of main positioning controls
"Main positioning controls" are carried out using the "positioning data" stored in the
AD75.
The basic controls such as position control and speed control are executed by setting
the required items in this "positioning data", and then starting that positioning data.
The control method for the "main positioning controls" is set in setting item " Da.2
Control method" of the positioning data.
Control defined as a "main positioning control" carries out the following types of control
according to the " Da.2 Control method" setting.
Main positioning control Details
Da.2 Control method
Positioning is carried out in a linear path to a position
1-axis linear ABS Linear 1
designated by the address and movement amount set in
control INC Linear 1
the positioning data.
Linear control The axis in which the interpolation control method is set is
2-axis linear regarded as the reference axis. Positioning is carried out in
ABS Linear 2
interpolation a linear path to a designated position, while controlling the
INC Linear 2
control * other axis (interpolation axis) to match the positioning data
set in the reference axis.
The workpiece is positioned the movement amount
1-axis fixed-
Position control *
designated by the movement amount set in the positioning
dimension Fixed-dimension feed 1
data.
feed control
(The " Md.29 Current feed value" is set to "0" at the start.)
Fixed-
dimension The axis in which the interpolation control method is set is
feed control regarded as the reference axis. Positioning is carried out in
2-axis fixed-
a linear path for the designated movement amount, while
dimension Fixed-dimension feed 2
controlling the other axis (interpolation axis) to match the
feed control *
positioning data set in the reference axis.
(The " Md.29 Current feed value" is set to "0" at the start.)
Auxiliary point ABS Circular interpolation
The axis in which the interpolation control method is set is
designation INC Circular interpolation
2-axis circular regarded as the reference axis. Positioning is carried out in
interpolation ABS Circular right an arc path to a designated position, while controlling the
control * Center point ABS Circular left other axis (interpolation axis) to match the positioning data
designation INC Circular right set in the reference axis.
INC Circular left
Forward run
Speed control Speed commands are continuously output corresponding
Speed control
Reverse run to the command speed set in the positioning data.
Speed control
Forward run The control is continued as position control (positioning for
Speed/position changeover speed/position the designated movement amount) by turning ON the
control Reverse run "speed/position changeover signal" after first carrying out
speed/position speed control.
The " Md.29 Current feed value" is changed to an address
set in the positioning data.
This can be carried out by either of the following 2
Current value methods.
Current value change (The machine feed value cannot be changed.)
change
Other control • Current value change using the positioning data
• Current value change using the current value change
start No. (No. 9003).
JUMP An unconditional or conditional JUMP is carried out to a
JUMP command
command designated positioning data No.
* In "2-axis linear interpolation control", "2-axis fixed-dimension feed control", and "2-axis circular interpolation control",
control is carried out so that linear and arc paths are drawn using a motor set in two axis directions. This kind of control
is called "interpolation control". (Refer to section "9.1.6 Interpolation control" for details.)
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9.1.1 Data required for main positioning control
The following table shows an outline of the "positioning data" configuration and setting
details required to carry out the "main positioning controls".
Setting item Setting details
Set the method by which the continuous positioning data (Ex: positioning data No. 1,
Da.1 Operation pattern
No. 2, No. 3) will be controlled. (Refer to section 9.1.2.)
Da.2 Control method Set the control method defined as a "main positioning control". (Refer to section 9.1.)
Select and set the acceleration time at control start. (Select one of the four values set in
Da.3 Acceleration time No.
Pr.8 , Pr.26 , Pr.27 , and Pr.28 for the acceleration time.)
Positioning data No. 1
Select and set the deceleration time at control stop. (Select one of the four values set in
Da.4 Deceleration time No.
Pr.9 , Pr.29 , Pr.30 , and Pr.31 for the deceleration time.)
Positioning address/
Da.5 Set the target value during position control. (Refer to section 9.1.3.)
movement amount
Da.6 Arc address Set the auxiliary point or center point address during circular interpolation control.
Da.7 Command speed Set the speed during the control execution.
Set the time the machine waits from the completion of the executed positioning control
Da.8 Dwell time and the stopping of the workpiece until the judgment of the AD75 positioning
completion.
Set this item when carrying out auxiliary work (clamp and drill stops, tool replacement,
Da.9 M code
etc.) corresponding to the code No. related to the positioning data execution.
* The settings and setting requirement for the setting details of Da.1 to Da.9 differ according to the
" Da.2 Control method". (Refer to section "9.2 Setting the positioning data".)
Main positioning control auxiliary functions
Refer to section "3.3.4 Combination of AD75 main functions and auxiliary
functions" for details on "auxiliary functions" that can be combined with the main
positioning control.
Also refer to "Chapter 12 CONTROL AUXILIARY FUNCTIONS" for details on each
auxiliary function.
Main positioning control from peripheral devices
"Main positioning control" can be executed from the AD75 software package test
mode.
Refer to the AD75 Software Package Operating Manual for details on carrying out
main positioning control from the AD75 software package.
REMARK
• Up to 600 positioning data items (positioning data No.1 to 600) can be set per axis.
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9.1.2 Operation patterns of main positioning controls
In "main positioning control" (advanced positioning control), " Da.1 Operation
pattern" can be set to designate whether to continue executing positioning data after
the started positioning data. The "operation pattern" includes the following 3 types.
· Positioning complete (1) Independent positioning control
(operation pattern: 00)
· Positioning continue (2) Continuous positioning control
(operation pattern: 01)
(3) Continuous path control
(operation pattern: 11)
The following shows examples of operation patterns when "1-axis linear control (ABS
linear 1)" is set in positioning data No. 1 to No. 6 of axis 1. Details of each operation
pattern are shown on the following pages.
< Operation example when "1-axis linear positioning" is set in the positioning data of axis 1 >
(Setting details)
No.1 Start
Positioning data No.1 Positioning to address [A] at command speed [a] Operation pattern = 11: Continuous path control
No.2 Positioning to address [B] at command speed [b] Operation pattern = 11: Continuous path control
No.3 Positioning to address [C] at command speed [a] Operation pattern = 01: Continuous positioning control
No.4 Positioning to address [D] at command speed [b] Operation pattern = 01: Continuous positioning control
No.5 Operation pattern = 00: Independent positioning control
Positioning to address [E] at command speed [a]
(Positioning complete)
Control stop
No.6 Positioning to address [F] at command speed [a] Operation pattern = 11: Continuous path control
Speed Da. 1 Operation pattern
11 01
b
11 01 00
a The machine stops, and
then continues the next
positioning operation.
Speed is changed Positioning is terminated
without stopping
Time
0 NO.1 No.2 No.3 No.4 No.5
A B C D E F Address
(Positioning data) (Direction in which axis 1 addresses increase)
For 1-axis linear control
(One motor is driven, and positioning is carried out to an addresses designated in one direction.)
POINT
When position control of movement amount 0 is executed, the BUSY signal [X4,
X5, X6] also turns ON. However, since the ON time is short, the ON status may not
be detected in the sequence program.
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(1) Independent positioning control (Positioning complete)
This control is set when executing only one designated data item of positioning. If
a dwell time is designated, the positioning will complete after the designated time
elapses.
This data (operation pattern [00] data) becomes the end of block data when
carrying out block positioning. (The positioning stops after this data is executed.)
Positioning complete (00)
Dwell time
Time
ON
Positioning start signal [Y10, Y11, Y12] OFF
ON
Start complete signal [X1, X2, X3] OFF
ON
BUSY signal [X4, X5, X6] OFF
ON
Positioning complete signal [X7, X8, X9] OFF
Fig. 9.1 Operation during independent positioning control
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(2) Continuous positioning control
(a) The machine always automatically decelerates each time the positioning is
completed. Acceleration is then carried out after the AD75 command speed
reaches 0 to carry out the next positioning data operation. If a dwell time is
designated, the acceleration is carried out after the designated time elapses.
(b) In operation by continuous positioning control (operation pattern "01"), the
next positioning No. is automatically executed. Always set operation pattern
"00" in the last positioning data to terminate the positioning.
If the operation pattern is set to positioning continue ("01" or "11"), the
operation will continue until operation pattern "00" is found.
The operation may be carried out until the max. data item No. 600 if
operation pattern "00" cannot be found because it was not set in the last
positioning data.
Dwell
time
Positioning continue (01)
Positioning continue (01)
Address (+) direction
Time
Dwell time not
Address (-) direction designated
Positioning
complete (00)
ON
Positioning start signal [Y10, Y11, Y12] OFF
ON
Start complete signal [X1, X2, X3] OFF
ON
BUSY signal [X4, X5, X6] OFF
ON
Positioning complete signal [X7, X8, X9] OFF
Fig. 9.2 Operation during continuous positioning control
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(3) Continuous path control
(a) Continuous path control
1) The speed is changed between the speed of the positioning data
currently being positioned and the speed of the positioning data that
will be positioned next.
The speed is not changed if the current speed and the next speed are
equal.
2) The speed will become the speed used in the previous positioning
operation if the command speed is set to "-1".
3) Dwell time will be ignored, even if set.
4) The next positioning No. is executed automatically in operations by
continuous path control (operation pattern "11"). Always terminate the
positioning by setting operation pattern "00" in the last positioning data.
If the operation pattern is set to positioning continue ("01" or "11"), the
operation will continue until operation pattern "00" is found.
The operation may be carried out until the max. data item No. 600 if
operation pattern "00" cannot be found because it was not set in the
last positioning data.
5) The speed changeover patterns include the "front-loading speed
changeover pattern" in which the speed is changed at the end of the
current positioning side, and the "standard speed changeover pattern"
in which the speed is at the start of the next positioning side. (Refer to
" Pr.20 Speed changeover mode".)
Continuous path control Standard speed changeover mode
Front-loading speed changeover mode
Positioning continue (11)
Dwell time
Positioning continue (11)
Positioning
Address (+) direction complete (00)
Time
Address (-) direction
ON
Positioning start signal [Y10, Y11, Y12] OFF
ON
OFF
Start complete signal [X1, X2, X3]
ON
BUSY signal [X4, X5, X6] OFF
ON
Positioning complete signal [X7, X8, X9] OFF
Fig. 9.3 Operation during continuous path control (Standard speed changeover mode)
POINT
Speed fluctuation can be eliminated by setting the mode to the near pass mode.
(Refer to section "12.3.3 Near pass mode function".)
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(b) Deceleration stop conditions during continuous path control
Deceleration stops are not carried out in continuous path control, but the
machine will carry out a deceleration stop to speed "0" in the following
cases 1) to 4).
1) When the operation pattern of the positioning data currently being
executed is "continuous path control: 11", and the movement direction
of the positioning data currently being executed differs from that of the
next positioning data. (Refer to the "Point" below.)
Positioning data No.1
Operation pattern : 11
Speed becomes 0
Positioning data No.2
Operation pattern : 00
2) When the operation pattern of the positioning data currently being
executed is "continuous path control: 11", and the movement amount
of the next positioning data is "0".
3) During operation by step operation. (Refer to section "12.7.1 Step
function".)
4) When there is an error in the positioning data to carry out the next
operation.
POINT
(1) Only the movement direction of the reference axis is checked during interpolation operations
Thus, automatic deceleration is not carried out if the movement direction does not change in the reference axis.
Because of this, the interpolation axis may suddenly reverse direction.
To avoid this sudden direction reversal in the interpolation axis, set the pass point to continuous positioning control
"01" instead of setting it to continuous positioning control "11".
[Positioning by interpolation] [Reference axis operation] [Interpolation axis operation]
V V
Positioning data Positioning data
No.1 No.2
Interpola-
tion axis t
Reference axis t
Positioning data No.1 • • • Continuous path control Positioning data Positioning data Positioning data Positioning data
No.1 No.2 No.1 No.2
(2) Automatic deceleration will not be carried out either the positioning data No. currently being executed or the next
positioning data No. uses circular interpolation control as a control method.
(3) In the continuous path control positioning data, assure a movement distance so that the execution time with that
data is 100 ms or longer, or lower the command speed.
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(c) Speed handling
1) Continuous path control command speeds are set with each
positioning data.
The AD75 then carries out the positioning at the speed designated
with each positioning data.
2) The command speed can be set to "–1" in continuous path control.
The control will be carried out at the speed used in the previous
1
positioning data No. if the command speed is set to "–1". *
("–1" will be displayed in the command speed when the positioning
data is set with a peripheral device.)
(1) The speed does not need to be set in each positioning data when
carrying out uniform speed control if "–1" is set beforehand in the
command speed.
(2) If the speed is changed in the previous positioning data when "–1"
is set in the command speed, the operation can be continued at
the new speed.
(3) An error "no command speed" (error code: 503) occurs and
positioning cannot be started if "–1" is set in the command speed
of the first positioning data at start.
[Relation between the command speed and current speed]
*1 *2
Speed P1 P2 P3 P4 P5 Speed P1 P2 P3 P4 P5
3000 3000
2000 2000
1000 1000
Da. 7 Command speed 1000 3000 -1 -1 -1 Da. 7 Command speed 1000 3000 -1 -1 -1
Md. 36 Current speed 1000 3000 3000 3000 3000 Md. 36 Current speed 1000 3000 3000 3000 3000
The current speed is
changed even if the command
speed is not reached in P2.
POINT
(1) Speed fluctuation can be eliminated by setting the mode to the near pass mode. (Refer to section
"12.3.3 Near pass mode function".)
(2) The AD75 holds the command speed set with the positioning data as the " Da.7 Command speed",
and the latest value of the speed set with the speed change request as the " Md.36 Current speed". It
controls the operation at the " Md.36 current speed" when "-1" is set in the command speed.
(Depending on the relation between the movement amount and the speed, the feedrate may not reach
2
the command speed value, but even then the current speed will be updated.* )
(3) When the address for speed change is identified beforehand, generate and execute the positioning
data for speed change by the continuous path control to carry out the speed change without requesting
the speed change with a sequence program.
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(d) Speed changeover
(Refer to " Pr.20 Speed changeover mode".)
1) Standard speed changeover mode
(1) If the respective command speeds differ in the "positioning data
currently being executed" and the "positioning data to carry out
the next operation", the machine will accelerate or decelerate
after reaching the positioning point set in the "positioning data
currently being executed" and the speed will change over to the
speed set in the "positioning data to carry out the next operation".
(2) The parameters used in acceleration/deceleration to the
command speed set in the "positioning data to carry out the next
operation" are those of the positioning data to carry out
acceleration/deceleration.
Speed changeover will not be carried out if the command speeds
are the same.
Speed
V changeover Dwell time Dwell time
Positioning t
Da. 1 Operation pattern 11 11 11 01 00
ON
Positioning start signal [Y10, Y11, Y12] OFF
ON
Start complete signal [X1, X2, X3] OFF
ON
BUSY signal [X4, X5, X6] OFF
ON
Positioning complete signal [X7, X8, X9] OFF
Fig. 9.4 Operation for the standard speed changeover mode
(3) Speed changeover condition
If the movement amount is small in regard to the target speed, the
current speed may not reach the target speed even if
acceleration/deceleration is carried out. In this case, the machine
is accelerated/decelerated so that it nears the target speed.
If the movement amount will be exceeded when automatic
deceleration is required (Ex. Operation patterns "00", "01"), the
machine will immediately stop at the positioning address, and a
warning "insufficient movement amount" (warning code: 513) will
occur.
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[When the speed cannot change over in P2] [When the movement amount is small during
When the relation of the speeds is P1 = automatic deceleration]
P4, P2 = P3, P1 < P2. The movement amount required to carry out the
automatic deceleration cannot be secured, so the
machine immediately stops in a speed ≠ 0 status.
P1 P2 P3 P4
Positioning address.
2) Front-loading speed changeover mode
(1) If the respective command speeds differ in the "positioning data
currently being executed" and the "positioning data to carry out
the next operation", the speed will change over to the speed set in
the "positioning data to carry out the next operation" at the end of
the "positioning data currently being executed".
(2) The parameters used in acceleration/deceleration to the
command speed set in the "positioning data to carry out the next
operation" are those of the positioning data to carry out
acceleration/deceleration.
Speed changeover will not be carried out if the command speeds
are the same.
V
Dwell time Dwell time
Positioning t
Da. 1 Operation pattern 11 11 11 01 00
ON
Positioning start signal [Y10, Y11, Y12] OFF
ON
Start complete signal [X1, X2, X3] OFF
ON
BUSY signal [X4, X5, X6] OFF
ON
Positioning complete signal [X7, X8, X9] OFF
Fig. 9.5 Operation for the front-loading speed changeover mode
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(3) Speed changeover condition
If the movement amount is small in regard to the target speed, the
current speed may not reach the target speed even if
acceleration/deceleration is carried out. In this case, the machine
is accelerated/decelerated so that it nears the target speed.
If the movement amount will be exceeded when automatic
deceleration is required (Ex. Operation patterns "00", "01"), the
machine will immediately stop at the positioning address, and a
warning "insufficient movement amount" (warning code: 513) will
occur.
[When the speed cannot change over to the [When the movement amount is small during
P2 speed in P1] automatic deceleration]
When the relation of the speeds is P1 = The movement amount required to carry out the
P4, P2 = P3, P1 < P2. automatic deceleration cannot be secured, so the
machine immediately stops in a speed ≠ 0 status.
P1 P2 P3 P4
Positioning address
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9.1.3 Designating the positioning address
The following shows the two methods for commanding the position in control using
positioning data.
Absolute system
Positioning is carried out to a designated position (absolute address) having the
zero point as a reference. This address is regarded as the positioning address.
(The start point can be anywhere.)
Address · Start point
Address 100 End point
100 Address
150 Address
300
Address 150
Address 100
Address 150
100 150 300
Zero point
(reference point) A point B point C point
Within the stroke limit range
Fig. 9.6 Absolute system positioning
Increment system
The position where the machine is currently stopped is regarded as the start point,
and positioning is carried out for a designated movement amount in a designated
movement direction.
Movement amount · Start point
Movement amount -100 End point
+100
Movement amount +100 Movement amount
Movement
+100
amount -150
Movement amount-100 Movement amount+50
100 150 300
A point B point C point
Within the stroke limit range
Fig. 9.7 Increment system positioning
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9.1.4 Confirming the current value
Values showing the current value
The following two types of addresses are used as values to show the position in
the AD75.
These addresses ("current feed value" and "machine feed value") are stored in the
monitor data area, and used in monitoring the current value display, etc.
• This is the value stored in " Md.29 Current feed value".
• This value has an address established with a "machine zero point
Current feed value return" as a reference, but the address can be changed by changing
the current value to a new value.
• This value is updated every 56. 8ms.
• This is the value stored in " Md.30 Machine feed value".
• This value always has an address established with a "machine zero
Machine feed value point return" as a reference. The address cannot be changed, even if
the current value is changed to a new value.
• This value is updated every 56. 8ms.
The "current feed value" and "machine feed value" are used in monitoring the
current value display, etc.
Zero point Current value changed to
20000 with the new current
value command
t
Address after the current
value is changed is stored
Md. 29 Current feed value 0 1 to 10000 20000
Md. 30 Machine feed value 0 1 to 10000
Address does not change even
after the current value is changed
Fig. 9.8 Current feed value and machine feed value
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Restrictions
(1) A 56.8ms error will occur in the current value update timing when the stored
"current feed value" and "machine feed value" are used in the control.
(2) The "current feed value" and "machine feed value" may differ from the values
set in " Da.5 Positioning address/movement amount" of the positioning data
if the movement amount per pulse is not set to "1".
(3) When the absolute position restoration mode is the "infinite length mode", the
"machine feed value" cannot be used.
Monitoring the current value
The "current feed value" and "machine feed value" are stored in the following
buffer memory addresses, and can be read using a "DFRO (P) command" from
the PLC CPU.
Buffer memory addresses
Axis 1 Axis 2 Axis 3
Md.29 Current feed value 800, 801 900, 901 1000, 1001
Md.30 Machine feed value 802, 803 902, 903 1002, 1003
Example
*
* Program in which the axis 1 current feed value is read to D104 and D105
*
* <Read current feed value to D104 and D105>.
Current feed Data register
value read for storing the
command current feed
value
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9.1.5 Control unit "degree" handling
When the control unit is set to "degree", the following items differ from when other
control units are set.
(1) Current feed value and machine feed value addresses
When the control unit is set to "degree", " Md.29 Current feed value" becomes
the ring address of 0 to 359.99999° .
(If the control method is the absolute system, the address of " Md.30 Machine
feed value" does not become the ring address of 0 to 359.99999° .)
359.99999° 359.99999°
Md. 29 Current feed value
0° 0° 0°
720°
Md. 30 Machine feed value
0°
(2) Positioning control method when the control unit is set to "degree"
(a) Absolute system
1) When the software stroke limit is invalid
Positioning is carried out in the nearest direction to the designated
address, using the current value as a reference.
(This is called "shortcut control".)
Example
1) Positioning is carried out in a clockwise direction when the current value is moved from 315° to 45°.
2) Positioning is carried out in a counterclockwise direction when the current value is moved from 45° to 315°.
Moved from 315° to 45° Moved from 45° to 315°
315° 45° 315° 45°
POINT
To make the software stroke limit invalid, set to
[Software stroke limit upper limit value = Software stroke limit lower limit value].
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2) When the software stroke limit is valid
The positioning is carried out in a clockwise/counterclockwise direction
depending on the software stroke limit range setting method.
Because of this, positioning with "shortcut control" may not be
possible.
Example
When the current value is moved from 0° to 315°, positioning is carried out in the clockwise direction
if the software stroke limit lower limit value is 0° and the upper limit value is 345°.
345.00000° 0°
315.00000°
Positioning carried out in the clockwise direction.
POINT
Positioning addresses are within a range of 0° to 359.99999°.
Use the increment system to carry out positioning of one rotation or more.
(b) Increment system
Positioning is carried out for a designated movement amount in a
designated movement direction when in the increment system of
positioning.
The movement direction is determined by the sign (+, –) of the movement
amount.
• For a positive (+) movement direction ......Clockwise
• For a negative (–) movement direction .....Counterclockwise
POINT
Positioning of 360° or more can be carried out with the increment system.
At this time, set as shown below to invalidate the software stroke limit.
[Software stroke limit upper limit value = Software stroke limit lower limit value]
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(3) Absolute position detection system
The positioning address is the address of the position reached by the machine
zero point return, and its range is 0° to 359.99999°.
The range 0° to 359.99999° also applies to the case where the zero point
position is not 0°.
<When the mode for absolute position restoration is the "standard
mode" (" Md.121 Absolute position restoration mode"=0)>
For positioning in the same direction, out of bound control (when the
address increases: 359.99999° to 0°/when the address decreases: 0° to
359.99999°) cannot be performed.
Zero point
Cannot be used in the absolute 359.99999 359.99999
position detection system.
At power-on or reset, the current Cannot be used in the absolute
value cannot be restored normally. position detection system.
At power-on or reset, the current
value cannot be restored normally.
0 0
Range usable in the absolute position
detection system.
(0 to 359.99999 )
To make the software stroke limit valid, set the upper and lower limit values
within the range 0° to 359.99999°.
<When the mode for absolute position restoration is the "infinite
length mode" (" Md.121 Absolute position restoration mode"=1)>
For positioning in the same direction, out of bound control (when the
address increases: 359.99999° to 0°/when the address decreases: 0° to
359.99999°) can be performed.
Zero point
359.99999 359.99999
Out of bound positioning control can
be performed.
0 0 (Infinite length positioning control)
Make the software stroke limit invalid.
For details of the mode for absolute position restoration, refer to section "12.6.2
Absolute position restoration mode switching function".
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9.1.6 Interpolation control
Meaning of interpolation control
In "2-axis linear interpolation control", "2-axis fixed-dimension feed control", and
"2-axis circular interpolation control", control is carried out so that linear and arc
paths are drawn using a motor set in two axis directions. This kind of control is
called "interpolation control".
In interpolation control, the axis in which the control method is set is defined as the
"reference axis", and the other axis is defined as the "interpolation axis".
The AD75 controls the "reference axis" following the positioning data set in the
"reference axis", and controls the "interpolation axis" corresponding to the
reference axis control so that a linear or arc path is drawn.
The following table shows the reference axis and interpolation axis combinations.
(In case of a 3-axis module)
Axis definition
Axis set to interpolation Reference axis Interpolation axis
control in " Da.2 Control method"
Axis 1 Axis 1 Axis 2
Axis 2 Axis 2 Axis 3
Axis 3 Axis 3 Axis 1
*: In case of a 2-axis module, the reference axis is axis 1 and the interpolation axis is axis 2.
Setting the positioning data during interpolation control
When carrying out interpolation control, the same positioning data Nos. are set for
the "reference axis" and the "interpolation axis".
The following table shows the "positioning data" setting items for the reference
axis and interpolation axis.
Axis
Reference axis setting item Interpolation axis setting item
Setting item
Da.1 Operation pattern –
Linear 2, Fixed-dimension feed 2,
Da.2 Control method Circular interpolation, Circular –
Same positioning data Nos
right, Circular left
Da.3 Acceleration time No. –
Da.4 Deceleration time No. –
Positioning address/
Da.5
movement amount
Da.6 Arc address (Only during circular interpolation, (Only during circular interpolation,
right arc, and left arc) right arc, and left arc)
Da.7 Command speed –
Da.8 Dwell time –
Da.9 M code –
: Setting always required
: Set according to requirements (Set to "–" when not used.)
: Setting restrictions exist
– : Setting not required (Unrelated setting item, so any setting value will be ignored. Use the initial
value or a value within the setting range.)
* : Refer to section "5.3 List of positioning data" for information on the setting details.
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Starting the interpolation control
The positioning data Nos. of the reference axis (axis in which interpolation control
was set in " Da.2 Control method") are started when starting the interpolation
control. (Starting of the interpolation axis is not required.)
The following errors will occur and the positioning will not start if both reference
axis and the interpolation axis are started.
• Reference axis : Interpolation while target axis BUSY (error code: 519)
• Interpolation axis : Control method setting error (error code: 524), start during
operation (warning code: 100).
Interpolation control continuous positioning
When carrying out interpolation control in which "continuous positioning control"
and "continuous path control" are designated in the operation pattern, the
positioning method for all positioning data from the started positioning data to the
positioning data in which "positioning complete" is set must be set to interpolation
control.
The AD75 may malfunction if a control method other than interpolation control is
set.
The path pattern can be selected when carrying out "continuous path control"
using interpolation control. (Select either the "positioning address mode" or the
"near pass mode" is selected. Refer to section "12.3.3 Near pass mode function"
for details.)
Speed during interpolation control
Either the "composite speed" or "reference axis speed" can be designated as the
speed during interpolation control.
(Set in " Pr.21 Interpolation speed designation method".)
POINT
The speed limit does not function for the speed calculated by the AD75 during
interpolation control. Because of this, observe the following precautions when
setting the speed.
• When the "composite speed" is set, set a value so the speed for each axis does
not exceed the " Pr.7 Speed limit value".
• When the "reference axis speed" is set, set so the major axis side becomes the
reference axis. If the minor axis side is set as the reference axis, the major axis
side speed may exceed the " Pr.7 Speed limit value".
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Limits to interpolation control
There are limits to the interpolation control that can be executed and speed
( Pr.21 Interpolation speed designation method) that can be set, depending on
the " Pr.1 Unit setting" of the reference axis and interpolation axis. (For
example, circular interpolation control cannot be executed if the reference axis and
interpolation axis units differ.)
The following table shows the interpolation control and speed designation limits.
Pr.1 Unit setting *1
" Da.2 Control method" Pr.21 Interpolation speed Reference axis and interpolation Reference axis and
interpolation control designation method axis units are the same, or a interpolation axis units
combination of "mm" and "inch". differ *3
Linear 2 (ABS, INC) Composite speed
Fixed-dimension feed 2 Reference axis speed
Circular interpolation (ABS, INC) Composite speed *2
Right arc (ABS, INC)
Left arc (ABS, INC) Reference axis speed
: Setting possible, : Setting not possible.
1
* "mm" and "inch" unit mix possible.
*2 "degree" setting not possible. An error "control method setting error" (error code: 524) will occur and the position
cannot start if circular interpolation control is set when the unit is "degree". The machine will immediately stop if
"degree" is set during positioning control.
*3 The unit set in the reference axis will be used for the speed unit during control if the units differ or if "mm" and "inch"
are combined.
Axis operation status during interpolation control
"In interpolation" will be stored in the " Md.35 Axis operation status" during
interpolation control. "Standing by" will be stored when the interpolation operation
is terminated. Both the reference axis and interpolation axis will carry out a
deceleration stop if an error occurs during control, and "error occurring" will be
stored in the operation status.
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9.2 Setting the positioning data
9.2.1 Relation between each control and positioning data
The setting requirements and details for the setting items of the positioning data to be
set differ according to the " Da.2 Control method".
The following table shows the positioning data setting items corresponding to the
different types of control. Details and settings for the operation of each control are
shown in section 9.2.2 and subsequent sections.
(In this section, it is assumed that the positioning data setting is carried out using the
AD75 software package.)
Main positioning control Position control Other control
1-axis fixed-dimension
2-axis fixed-dimension
Current value change
interpolation control
interpolation control
1-axis linear control
changeover control
JUMP command
Speed/position
Speed control
2-axis circular
2-axis linear
feed control
feed control
Positioning data setting items
Independent
positioning control
Operation Continuous positioning
Da.1
pattern control
Continuous path
control
Forward
Fixed-
run Forward run
dimension Circular
Speed speed/posi-
Linear 1 feed1 interpolation Current
limited tion JUMP
Da.2 Control method Linear 2 Fixed- Circular right value
Reverse Reverse run command
* dimension Circular left change
run speed/posi-
feed 2 *
Speed tion
*
limited
Da.3 Acceleration time No. – –
Da.4 Deceleration time No. – –
Change
Positioning address/movement
Da.5 – – destination –
amount
address
Da.6 Arc address – – – – – –
Da.7 Command speed – –
JUMP
destination
Da.8 Dwell time –
positioning
data No.
Da.9 M code –
: Always set : Set as required ("–" when not set) : Setting not possible : Setting limited
– : Setting not required (Setting value is invalid. Use the initial values or setting values within a range where no error occurs.)
* : The "ABS (absolute) method" or "INC (incremental) method" can be used for the control method.
REMARK
• It is recommended that the "positioning data" be set whenever possible with the AD75 software package.
Execution by sequence program uses many sequence programs and devices. The execution becomes
complicated, and the scan times will increase.
• A "Block transmission" is required when setting No. 101 and subsequent positioning data using a
sequence program.
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9.2.2 1-axis linear control
In "1-axis linear control" (" Da.2 Control method" = ABS linear 1, INC linear 1), one
motor is used to carry out position control in a set axis direction.
(1) 1-axis linear control (ABS linear 1)
Operation chart
In absolute system 1-axis linear control, addresses established by a machine zero
point return are used. Positioning is carried out from the current stop position (start
point address) to the address (end point address) set in " Da.5 Positioning
address/movement amount".
Example
When the start point address (current stop position) is 1000, and the end point address (positioning address) is 8000,
positioning is carried out in the positive direction for a movement amount of 7000 (8000-1000)
Start point address End point address
(current stop position) (positioning address
0 1000 8000
Positioning control (movement amount 7000)
Positioning data setting example
The following table shows setting examples when "1-axis linear control (ABS linear
1)" is set in positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Positioning Set "Positioning complete" assuming the next positioning data will not
Da.1 Operation pattern
complete be executed.
Da.2 Control method ABS linear 1 Set absolute system 1-axis linear control.
Axis 1 Positioning data No. 1
Acceleration time Designate the value set in " Pr.26 Acceleration time 1" as the
Da.3 1
No. acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as the
Da.4 0
No. deceleration time at deceleration.
Positioning address/ Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit
Da.5
movement amount 8 0 0 0 . 0 µm
setting".)
Da.6 Arc address – Setting not required (setting value will be ignored).
Da.7 Command speed 6000.00mm/min Set the speed during movement to the positioning address.
Set the time the machine dwells after the positioning stop (position
Da.8 Dwell time 500ms
command output stop) to the output of the positioning complete signal.
Set this when other auxiliary operation commands are issued in
Da.9 M code 10
combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
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(2) 1-axis linear control (INC linear 1)
Operation chart
In increment system 1-axis linear control, addresses established by a machine
zero point return are used. Positioning is carried out from the current stop position
(start point address) to a position at the end of the movement amount set in
" Da.5 Positioning address/movement amount". The movement direction is
determined by the sign of the movement amount.
Example
When the start point address is 5000, and the movement amount is -7000, positioning is carried out to
the -2000 position.
Address after positioning control Start point address
(current stop position)
-3000 -2000 -1000 0 1000 2000 3000 4000 5000 6000
Positioning control in the reverse direction (movement amount -7000)
Positioning data setting example
The following table shows setting examples when "1-axis linear control (INC linear
1)" is set in positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Positioning Set "Positioning complete" assuming the next positioning data will not
Da.1 Operation pattern
complete be executed.
Da.2 Control method INC linear 1 Set increment system 1-axis linear control.
Axis 1 Positioning data No. 1
Acceleration time Designate the value set in " Pr.26 Acceleration time 1" as the
Da.3 1
No. acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as the
Da.4 0
No. deceleration time at deceleration.
Positioning address/ Set the movement amount. (Assuming "mm" is set in " Pr.1 Unit
Da.5 – 7 0 0 0 . 0 µm
movement amount setting".)
Da.6 Arc address – Setting not required (setting value will be ignored).
Da.7 Command speed 6000.00mm/min Set the speed during movement.
Set the time the machine dwells after the positioning stop (position
Da.8 Dwell time 500ms
command output stop) to the output of the positioning complete signal.
Set this when other auxiliary operation commands are issued in
Da.9 M code 10
combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
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9.2.3 2-axis linear interpolation control
In "2-axis linear interpolation control" (" Da.2 Control method" = ABS linear 2, INC
linear 2), two motors are used to carry out position control in a linear path while
carrying out interpolation for the axis directions set in each axis.
(Refer to section "9.1.6 Interpolation control" for details on interpolation control.)
(1) 2-axis linear interpolation control (ABS linear 2)
Operation chart
In absolute system 2-axis linear control, addresses established by a machine zero
point return on a 2-axis coordinate plane are used. Linear interpolation positioning
is carried out from the current stop position (start point address) to the address
(end point address) set in " Da.5 Positioning address/movement amount".
Forward direction (Y axis)
Start point address (X1,Y1)
(current stop position)
End point address (X2,Y2)
Y2
(positioning address)
Y axis movement
amount Movement by linear interpolation of the X axis and Y axis
Y1
Reverse direction Forward direction (X axis)
X1 X2
X axis movement amount
Reverse direction
Example
When the start point address (current stop position) is (1000, 4000) and the end point address
(positioning address) is (10000, 1000), positioning is carried out as follows.
Axis 2
4000 Start point address
(current stop position)
Axis 2 movement amount
(1000-4000= -3000) End point address
1000 (positioning address)
Axis 1
0 5000 10000
Axis 1 movement amount (10000-1000=9000)
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Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning control.
• If the movement amount of each axis exceeds "1073741824 (=230)" at the
setting of "0: Composite speed" in " Pr.21 Interpolation speed designation
method".
An error "outside linear movement amount range" (error code: 504) will occur
at the positioning start.
(The maximum movement amount that can be set in " Da.5 Positioning
30
address/movement amount" is "1073741824 (=2 )"
Positioning data setting example
The following table shows setting examples when "2-axis linear interpolation
control (ABS linear 2)" is set in positioning data No. 1 of axis 1. (The required
values are also set in positioning data No. 1 of axis 2.)
Axis Axis 1 Axis 2
(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
Da.2 Control method ABS linear 2 – Set absolute system 2-axis linear interpolation control.
Acceleration time Designate the value set in " Pr.26 Acceleration time 1" as
Axis 1 Positioning data No. 1
Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Positioning address/ Set the end point address. (Assuming "mm" is set in
Da.5 10000.0 µm 1000.0 µm " Pr.1 Unit setting".)
movement amount
Da.6 Arc address – – Setting not required (setting value will be ignored).
6000.00
Da.7 Command speed – Set the speed during movement to the end point address.
mm/min
Set the time the machine dwells after the positioning stop
Da.8 Dwell time 500ms – (position command output stop) to the output of the
positioning complete signal.
Set this when other auxiliary operation commands are
Da.9 M code 10 –
issued in combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
POINT
The speed limit does not function for the speed calculated by the AD75 during
interpolation control. Because of this, observe the following precautions when
setting the speed.
• When the "composite speed" is set, set a value so the speed for each axis does
not exceed the " Pr.7 Speed limit value".
• When the "reference axis speed" is set, set so the major axis side becomes the
reference axis. If the minor axis side is set as the reference axis, the major axis
side speed may exceed the " Pr.7 Speed limit value".
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(2) 2-axis linear interpolation control (INC linear 2)
Operation chart
In increment system 2-axis linear interpolation control, addresses established by a
machine zero point return on a 2-axis coordinate plane are used. Linear
interpolation positioning is carried out from the current stop position (start point
address) to a position at the end of the movement amount set in " Da.5
Positioning address/movement amount". The movement direction is determined
by the sign of the movement amount.
Forward direction (Y axis)
Start point address (X1,Y1)
(current stop position)
Y2
Y axis movement
amount Movement by linear interpolation
positioning of the X axis and Y axis
Y1
Reverse direction Forward direction (X axis)
X1 X2
X axis movement
amount
Reverse direction
Example
When the axis 1 movement amount is 9000 and the axis 2 movement amount is -3000, positioning is
carried out as follows.
Axis 2
Start point address
4000 (current stop position)
Axis 2 movement amount Stop address after the positioning control
(-3000)
1000
Axis 1
0 5000 10000
Axis 1 movement amount (9000)
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Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning
operation.
• If the movement amount of each axis exceeds "1073741824 (=230)" at the
setting of "0: Composite speed" in " Pr.21 Interpolation speed designation
method".
An error "outside linear movement amount range" (error code: 504) will occur
at the positioning start.
(The maximum movement amount that can be set in " Da.5 Positioning
address/movement amount" is "1073741824 (=230)"
Positioning data setting example
The following table shows setting examples when "2-axis linear interpolation
control (INC linear 2)" is set in positioning data No. 1 of axis 1. (The required
values are also set in positioning data No. 1 of axis 2.)
Axis Axis 1 Axis 2
(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
Da.2 Control method INC linear 2 – Set increment system 2-axis linear interpolation control.
Acceleration time Designate the value set in " Pr.26 Acceleration time 1" as
Axis 1 Positioning data No. 1
Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Positioning address/ Set the movement amount. (Assuming "mm" is set in
Da.5 9000.0 µm -3000.0 µm
movement amount " Pr.1 Unit setting".)
Da.6 Arc address – – Setting not required (setting value will be ignored).
6000.00
Da.7 Command speed – Set the speed during movement.
mm/min
Set the time the machine dwells after the positioning stop
Da.8 Dwell time 500ms – (position command output stop) to the output of the
positioning complete signal.
Set this when other auxiliary operation commands are
Da.9 M code 10 –
issued in combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
POINT
The speed limit does not function for the speed calculated by the AD75 during
interpolation control. Because of this, observe the following precautions when
setting the speed.
• When the "composite speed" is set, set a value so the speed for each axis does
not exceed the " Pr.7 Speed limit value".
• When the "reference axis speed" is set, set so the major axis side becomes the
reference axis. If the minor axis side is set as the reference axis, the major axis
side speed may exceed the " Pr.7 Speed limit value".
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9.2.4 1-axis fixed-dimension feed control
In "1-axis fixed-dimension feed control" (" Da.2 Control method" = fixed-dimension
feed 1), one motor is used to carry out fixed-dimension feed control in a set axis
direction.
In fixed-dimension feed control, any remainder of the movement amount designated in
the positioning data is rounded down if less than that required for control accuracy to
output the same amount of position commands.
Operation chart
In 1-axis fixed-dimension feed control, the address ( Md.29 Current feed value) of
the current stop position (start point address) is set to "0". Positioning is then
carried out to a position at the end of the movement amount set in " Da.5
Positioning address/movement amount".
The movement direction is determined by the movement amount sign.
" Md. 29 Current feed
value" is set to "0" at
the positioning start
0 0 0 0 0
Positioning Designated movement
amount
start
Stop position
Reverse direction Forward direction
Movement direction for Movement direction for
a negative movement amount a positive movement amount
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Restrictions
(1) An error "Continuous path control not possible" (error code: 516) will occur and
the operation cannot start if "continuous path control" is set in " Da.1
Operation pattern". ("Continuous path control" cannot be set in fixed-
dimension feed control.)
(2) "Fixed-dimension feed" cannot be set in " Da.2 Control method" in the
positioning data when "continuous path control" has been set in " Da.1
Operation pattern" of the immediately prior positioning data. (For example, if
the operation pattern of positioning data No. 1 is "continuous path control",
fixed-dimension feed control cannot be set in positioning data No. 2.) An error
"Continuous path control not possible" (error code: 516) will occur and the
machine will carry out a deceleration stop if this type of setting is carried out.
(3) When the absolute position restoration mode is the "infinite length mode", an
error "control method setting error" (error code: 524) occurs, disabling a start.
Positioning data setting example
The following table shows setting examples when "1-axis fixed-dimension feed
control (fixed-dimension feed 1)" is set in positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Positioning Set "Positioning complete" assuming the next positioning data will not
Da.1 Operation pattern
complete be executed.
Fixed-dimension
Da.2 Control method Set 1-axis fixed-dimension feed control.
feed 1
Axis 1 Positioning data No. 1
Acceleration time Designate the value set in " Pr.26 Acceleration time 1" as the
Da.3 1
No. acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as the
Da.4 0
No. deceleration time at deceleration.
Positioning address/ Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit
Da.5 8 0 0 0 0 . 0 µm
movement amount setting".)
Da.6 Arc address – Setting not required (setting value will be ignored).
Da.7 Command speed 6000.00mm/min Set the speed during movement to the positioning address.
Set the time the machine dwells after the positioning stop (position
Da.8 Dwell time 500ms
command output stop) to the output of the positioning complete signal.
Set this when other auxiliary operation commands are issued in
Da.9 M code 10
combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
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9.2.5 2-axis fixed-dimension feed control (interpolation)
In "2-axis fixed-dimension feed control" (" Da.2 Control method" = fixed-dimension
feed 2), two motors are used to carry out fixed-dimension feed control in a linear path
while carrying out interpolation for the axis directions set in each axis.
In fixed-dimension feed control, any remainder of the movement amount designated in
the positioning data is rounded down if less than that required for control accuracy to
output the same amount of position commands. (The remainder of the movement
amount with an accuracy below the control accuracy does not affect the regular
controls.)
(Refer to section "9.1.6 Interpolation control" for details on interpolation control.)
Operation chart
In increment system 2-axis fixed-dimension feed control, the addresses ( Md.29
Current feed value) of the current stop position (start addresses) of both axes are
set to "0". Linear interpolation positioning is then carried out from that position to a
position at the end of the movement amount set in " Da.5 Positioning
address/movement amount". The movement direction is determined by the sign of
the movement amount.
Y axis
" Md. 29 Current feed value" of each axis
is set to "0" at the positioning start
(0,0)
Designated movement
(0,0)
amount
(0,0)
X axis
Designated movement
amount
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Restrictions
(1) An error "Continuous path control not possible" (error code: 516) will occur and
the operation cannot start if "continuous path control" is set in " Da.1
Operation pattern". ("Continuous path control" cannot be set in fixed-
dimension feed control.)
30
(2) If the movement amount of each axis exceeds "1073741824 (=2 )" at the
setting of "0: Composite speed" in " Pr.21 Interpolation speed designation
method", an error "outside linear movement amount range" (error code: 504)
will occur at a positioning start and positioning cannot be started. (The
maximum movement amount that can be set in " Da.5 Positioning
30
address/movement amount" is "1073741824 (=2 )".
(3) "Fixed-dimension feed" cannot be set in " Da.2 Control method" in the
positioning data when "continuous path control" has been set in " Da.1
Operation pattern" of the immediately prior positioning data. (For example, if
the operation pattern of positioning data No. 1 is "continuous path control",
fixed-dimension feed control cannot be set in positioning data No. 2.) An error
"Continuous path control not possible" (error code: 516) will occur and the
machine will carry out a deceleration stop if this type of setting is carried out.
(4) When the absolute position restoration mode is the "infinite length mode", an
error "control method setting error" (error code: 524) occurs, disabling a start.
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Positioning data setting example
The following table shows setting examples when "2-axis fixed-dimension feed
control (fixed-dimension feed 2)" is set in positioning data No. 1 of axis 1. (The
required values are also set in positioning data No. 1 of axis 2.)
Axis Axis 1 Axis 2
(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
Fixed-
Da.2 Control method dimension – Set 2-axis fixed-dimension feed control.
feed 2
Axis 1 Positioning data No. 1
Acceleration time Designate the value set in " Pr.26 Acceleration time 1" as
Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Positioning address/ 80000.0 60000.0 Set the positioning address. (Assuming "mm" is set in
Da.5
movement amount µm µm " Pr.1 Unit setting".)
Da.6 Arc address – – Setting not required (setting value will be ignored).
Set the speed during movement. (Designate the composite
6000.00
Da.7 Command speed – speed of reference axis speed in " Pr.21 Interpolation
mm/min
speed designation method".)
Set the time the machine dwells after the positioning stop
Da.8 Dwell time 500ms – (position command output stop) to the output of the
positioning complete signal.
Set this when other auxiliary operation commands are
Da.9 M code 10 –
issued in combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
POINT
The speed limit does not function for the speed calculated by the AD75 during interpolation control.
Because of this, observe the following precautions when setting the speed.
• When the "composite speed" is set, set a value so the speed for each axis does not exceed the
" Pr.7 Speed limit value".
• When the "reference axis speed" is set, set so the major axis side becomes the reference axis. If
the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.7
Speed limit value".
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9.2.6 2-axis circular interpolation control with auxiliary point designation
In "2-axis circular interpolation control" (" Da.2 Control method" = ABS circular
interpolation, INC circular interpolation), two motors are used to carry out position
control in an arc path passing through designated auxiliary points, while carrying out
interpolation for the axis directions set in each axis.
(Refer to section "9.1.6 Interpolation control" for details on interpolation control.)
(1) 2-axis circular interpolation control with auxiliary point designation
(ABS circular interpolation)
Operation chart
In the absolute system, 2-axis circular interpolation control with auxiliary point
designation, addresses established by a machine zero point return on a 2-axis
coordinate plane are used. Positioning is carried out from the current stop position
(start point address) to the address (end point address) set in " Da.5 Positioning
address/movement amount", in an arc path that passes through the auxiliary point
address set in " Da.6 Arc address".
The resulting control path is an arc having as its center the intersection point of
perpendicular bisectors of a straight line between the start point address (current
stop position) and auxiliary point address (arc address), and a straight line
between the auxiliary point address (arc address) and end point address
(positioning address).
Forward direction
Movement by circular interpolation
Auxiraly point address
(arc address) End point address
(positioning address)
Start point address Arc center point
(current stop position)
Reverse direction Forward direction
Zero point
Reverse direction
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Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
• When "degree" is set in " Pr.1 Unit setting"
• When the units set in " Pr.1 Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
• When "reference axis speed" is set in " Pr.21 Interpolation speed
designation method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
• In case radius is over than "536870912(=2 )" which is the maximum and
acceptable radius for circular interpolation control, or in case the end address
31 31
is outside the scope of "–2147483648(–2 ) to 2147483647(2 –1)".
... An error ""end point setting error"" (error code:526) or "outside radius
range" (error code: 544) will occur at positioning start.
• When the auxiliary point address, center point address is outside the range of
31 31
"–2147483648 (–2 ) to 2147483647 (2 –1)"
... An error "auxiliary point setting error" (error code: 525) will occur at
positioning start.
• When the start point address is the same as the end point address
... An error "end point setting error" (error code: 526) will occur.
• When the start point address is the same as the auxiliary point address
... An error "auxiliary point setting error" (error code: 525) will occur.
• When the end point address is the same as the auxiliary point address
... An error "auxiliary point setting error" (error code: 525) will occur.
• When the start point address, auxiliary point address, and end point address
are in a straight line
... An error "auxiliary point setting error" (error code: 525) will occur.
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Positioning data setting example
The following table shows setting examples when "2-axis circular interpolation
control with auxiliary point designation (ABS circular interpolation)" is set in
positioning data No. 1 of axis 1. (The required values are also set in positioning
data No. 1 of axis 2.)
Axis Axis 1 Axis 2
(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
ABS circular Set absolute system, 2-axis circular interpolation control with
Da.2 Control method –
interpolation auxiliary point designation.
Acceleration time Designate the value set in " Pr.26 Acceleration time 1" as
Da.3 1 –
Axis 1 Positioning data No. 1
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Positioning address/ 80000.0 60000.0 Set the positioning address. (Assuming "mm" is set in
Da.5
movement amount µm µm " Pr.1 Unit setting".)
40000.0 30000.0 Set the auxiliary point address. (Assuming that the " Pr.1
Da.6 Arc address
µm µm Unit setting" is set to "mm".)
Set the speed when moving to the end point address.
6000.00
Da.7 Command speed – (Designate the composite speed in " Pr.21 Interpolation
mm/min
speed designation method".)
Set the time the machine dwells after the positioning stop
Da.8 Dwell time 500ms – (position command output stop) to the output of the
positioning complete signal.
Set this when other auxiliary operation commands are
Da.9 M code 10 –
issued in combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
POINT
Set a value in " Da.7 Command speed" so that the speed of each axis does not
exceed the " Pr.7 Speed limit value". (The speed limit does not function for the
speed calculated by the AD75 during interpolation control.)
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(2) 2-axis circular interpolation control with auxiliary point designation
(INC circular interpolation)
In the increment system, 2-axis circular interpolation control with auxiliary point
designation, addresses established by a machine zero point return on a 2-axis
coordinate plane are used. Positioning is carried out from the current stop position
(start point address) to a position at the end of the movement amount set in
" Da.5 Positioning address/movement amount", in an arc path that passes
through the auxiliary point address set in " Da.6 Arc address".
The resulting control path is an arc having as its center the intersection point of
perpendicular bisectors of the following:
(1) A straight line between the start point address (current stop position) and
auxiliary point address (arc address) calculated from the movement amount to
the auxiliary point.
(2) A straight line between the start auxiliary point address (arc address) and end
point address (positioning address) calculated from the movement amount to
the end point.
Forward direction
Auxiliary point address Movement by circular interpolation
(arc address)
End point address
(positioning address)
Movement amount Start point
address
Movement amount
to the auxiliary point to the end point
Arc center
Reverse direction Forward direction
Movement amount
to the auxiliary point
Movement amount to the end point
Reverse direction
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Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
• When "degree" is set in " Pr.1 Unit setting"
• When the units set in " Pr.1 Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
• When "reference axis speed" is set in " Pr.21 Interpolation speed
designation method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
• When the radius exceeds "536870912 (2 )". (The maximum radius for which
29
circular interpolation control is possible is "536870912 (2 )"
... An error "outside radius range" (error code: 544) will occur at positioning
start.
31
• When the center point address is outside the range of "–2147483648 (–2 ) to
31
2147483647 (2 –1)"
... An error "auxiliary point setting error" (error code: 525) will occur at
positioning start.
• When the start point address is the same as the end point address
... An error "end point setting error" (error code: 526) will occur.
• When the start point address is the same as the auxiliary point address
... An error "auxiliary point setting error" (error code: 525) will occur.
• When the end point address is the same as the auxiliary point address
... An error "auxiliary point setting error" (error code: 525) will occur.
• When the start point address, auxiliary point address, and end point address
are in a straight line
... An error "auxiliary point setting error" (error code: 525) will occur.
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Positioning data setting example
The following table shows setting examples when "2-axis circular interpolation
control with auxiliary point designation (INC circular interpolation)" is set in
positioning data No. 1 of axis 1. (The required values are also set in positioning
data No. 1 of axis 2.)
Axis Axis 1 Axis 2
(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
INC circular Set increment system, 2-axis circular interpolation control
Da.2 Control method –
interpolation with auxiliary point designation.
Acceleration time Designate the value set in " Pr.26 Acceleration time 1" as
Axis 1 Positioning data No. 1
Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Positioning address/ 80000.0 60000.0 Set the movement amount. (Assuming that the " Pr.1 Unit
Da.5
movement amount µm µm setting" is set to "mm".)
40000.0 30000.0 Set the auxiliary point address. (Assuming that the " Pr.1
Da.6 Arc address
µm µm Unit setting" is set to "mm".)
6000.00 Set the speed during movement. (Designate the composite
Da.7 Command speed –
mm/min speed in " Pr.21 Interpolation speed designation method".)
Set the time the machine dwells after the positioning stop
Da.8 Dwell time 500ms – (position command output stop) to the output of the
positioning complete signal.
Set this when other auxiliary operation commands are
Da.9 M code 10 –
issued in combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
POINT
Set a value in " Da.7 Command speed" so that the speed of each axis does not
exceed the " Pr.7 Speed limit value". (The speed limit does not function for the
speed calculated by the AD75 during interpolation control.)
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9.2.7 2-axis circular interpolation control with center point designation
In "2-axis circular interpolation control" (" Da.2 Control method" = ABS right arc, INC
right arc, ABS left arc, INC left arc), two motors are used to carry out position control in
an arc path having a designated center point, while carrying out interpolation for the
axis directions set in each axis.
(Refer to section "9.1.6 Interpolation control" for details on interpolation control.)
The following table shows the rotation directions, arc center angles that can be
controlled, and positioning paths for the different control methods.
Arc center angle that
Control method Rotation direction Positioning path
can be controlled
Positioning path
ABS right arc
Clockwise Start point End point
(current stop 0° < θ ≤ 360° (positioning address)
position)
INC right arc
Center point
0° < θ ≤ 360°
Center point
ABS left arc
0°< θ ≤ 360°
Counterclockwise
Start point End point
(current stop (positioning address)
INC left arc position)
Positioning path
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Circular interpolation error compensation
In circular interpolation control with center point designation, the arc path
calculated from the start point address and arc address may deviate from the
position of the end point address set in " Da.5 Positioning address/movement
amount".
(Refer to " Pr.42 Allowable circular interpolation error width".)
(1) Calculated error " Pr.42 Allowable circular interpolation error width"
Circular interpolation control to the set end point address is carried out while
the error compensation is carried out. (This is called "spiral interpolation".)
(2) Calculated error > " Pr.42 Allowable circular interpolation error width"
At the positioning start, an error "large arc error deviation" (error code: 506)
will occur and the control will not start. The machine will immediately stop if the
error is detected during positioning control.
Path using spiral interpolation Error
Calculated end point
address
End point address
Start point address Center point address
During arc interpolation control with center point designation, the angle is calculated on
the assumption that movement at the command speed occurs on an arc drawn in the
radius calculated from the start point and center point addresses, and the radius is
corrected in proportion to the angular velocity from the start point.
Therefore, if there is difference between the radius (radius at start point) calculated
from the start point and center point addresses and the radius (radius at end point)
calculated from the end point and center point addresses, the resultant velocity has the
following tendency, different from the command speed.
• If the radius at the start point is larger than that at the end point:
The velocity becomes slower as the end point address draws nearer when compared
with the case including no error.
• If the radius at the start point is smaller than that at the end point:
The velocity becomes faster as the end point address draws nearer when compared
with the case including no error.
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(1) 2-axis circular interpolation control with center point designation
(ABS right arc, ABS left arc)
Operation chart
In the absolute system, 2-axis circular interpolation control with center point
designation, addresses established by a machine zero point return on a 2-axis
coordinate plane are used. Positioning is carried out from the current stop position
(start point address) to the address (end point address) set in " Da.5 Positioning
address/movement amount", in an arc path having as its center the address (arc
address) of the center point set in " Da.6 Arc address".
Forward direction Movement by circular interpolation
Start point address
End point address
(current stop position)
(positioning address)
Radius
Reverse direction Forward direction
Arc address
Reverse direction
Positioning of a complete round with a radius from the start point address to the
arc center point can be carried out by setting the end point address (positioning
address) to the same address as the start point address.
Forward direction
Arc center point (Arc address)
Start point address End point address
=
(current stop position) (positioning address)
Reverse direction Forward direction
Reverse direction
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Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
• When "degree" is set in " Pr.1 Unit setting"
• When the units set in " Pr.1 Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
• When "reference axis speed" is set in " Pr.21 Interpolation speed
designation method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
• In case radius is over than "536870912(=2 )" which is the maximum and
acceptable radius for circular interpolation control, or in case the end address
31 31
is outside the scope of "–2147483648(–2 ) to 2147483647(2 –1)".
... An error ""end point setting error"" (error code:526) or "outside radius
range" (error code: 544) will occur at positioning start.
• When the start point address is the same as the center point address
... An error "center point setting error" (error code: 527) will occur.
• When the end point address is the same as the center point address
... An error "center point setting error" (error code: 527) will occur.
Positioning data setting examples
The following table shows setting examples when "2-axis circular interpolation
control with center point designation (ABS right arc, ABS left arc)" is set in
positioning data No. 1 of axis 1. (The required values are also set in positioning
data No. 1 of axis 2.)
Axis Axis 1 Axis 2
(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
ABS right Set absolute system, 2-axis circular interpolation control with
Da.2 Control method arc – center point designation. (Select clockwise or
ABS left arc counterclockwise according to the control.)
Acceleration time Designate the value set in " Pr.26 Acceleration time 1" as
Axis 1 Positioning data No. 1
Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Positioning address/ 80000.0 60000.0 Set the positioning address. (Assuming "mm" is set in
Da.5
movement amount µm µm " Pr.1 Unit setting".)
40000.0 30000.0 Set the arc address. (Assuming that the " Pr.1 Unit
Da.6 Arc address
µm µm setting" is set to "mm".)
Set the speed when moving to the end point address.
6000.00
Da.7 Command speed – (Designate the composite speed in " Pr.21 Interpolation
mm/min
speed designation method".)
Set the time the machine dwells after the positioning stop
Da.8 Dwell time 500ms – (position command output stop) to the output of the
positioning complete signal.
Set this when other auxiliary operation commands are
Da.9 M code 10 –
issued in combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
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POINT
Set a value in " Da.7 Command speed" so that the speed of each axis does not
exceed the " Pr.7 Speed limit value". (The speed limit does not function for the
speed calculated by the AD75 during interpolation control.)
(2) 2-axis circular interpolation control with center point designation
(INC right arc, INC left arc)
Operation chart
In the increment system, 2-axis circular interpolation control with center point
designation, addresses established by a machine zero point return on a 2-axis
coordinate plane are used. Positioning is carried out from the current stop position
(start point address) to a position at the end of the movement amount set in
" Da.5 Positioning address/movement amount", in an arc path having as its
center the address (arc address) of the center point set in " Da.6 Arc address".
Forward direction Movement by circular interpolation
Start point address
(current stop position)
Movement amount
to the end point
Radius
Reverse direction Forward direction
Arc center point
(Arc address)
Reverse direction
Movement amount to the end point
Positioning of a complete round with a radius of the distance from the start point
address to the arc center point can be carried out by setting the movement amount
to "0".
Forward direction
Arc center point (Arc address)
Movement amount = 0
Reverese direction Forward direction
Reverese direction
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In circular interpolation control with center point designation, an angular velocity is
calculated on the assumption that operation is carried out at a command speed on
the arc using the radius calculated from the start point address and center point
address, and the radius is compensated in proportion to the angular velocity
deviated from that at the start point.
Thus, when there is a difference (error) between a radius calculated from the start
point address and center point address (start point radius) and a radius calculated
from the end point address and center point address (end point radius), the
composite speed differs from the command speed as follows.
Start point radius > End point radius: As compared with the speed without error,
the speed becomes slower as end point
address is reached.
Start point radius < End point radius: As compared with the speed without error,
the speed becomes faster as end point
address is reached.
Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
• When "degree" is set in " Pr.1 Unit setting"
• When the units set in " Pr.1 Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
• When "reference axis speed" is set in " Pr.21 Interpolation speed
designation method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
• When the radius exceeds "536870912 (2 )". (The maximum radius for which
29
circular interpolation control is possible is "536870912 (2 )"
... An error "outside radius range" (error code: 544) will occur at positioning
start.
• When the start point address is the same as the center point address
... An error "center point setting error" (error code: 527) will occur.
• When the end point address is the same as the center point address
... An error "center point setting error" (error code: 527) will occur.
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Positioning data setting examples
The following table shows setting examples when "2-axis circular interpolation
control with center point designation (INC right arc, INC left arc)" is set in
positioning data No. 1 of axis 1. (The required values are also set in positioning
data No. 1 of axis 2.)
Axis Axis 1 Axis 2
(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
Set increment system, 2-axis circular interpolation control
INC right arc
Da.2 Control method – with center point designation. (Select clockwise or
INC left arc
counterclockwise according to the control.)
Acceleration time Designate the value set in " Pr.26 Acceleration time 1" as
Axis 1 Positioning data No. 1
Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Positioning address/ 80000.0 60000.0 Set the movement amount. (Assuming that the " Pr.1 Unit
Da.5
movement amount µm µm setting" is set to "mm".)
40000.0 30000.0 Set the center point address. (Assuming that the " Pr.1
Da.6 Arc address
µm µm Unit setting" is set to "mm".)
Set the speed when moving to the end point address.
6000.00
Da.7 Command speed – (Designate the composite speed in " Pr.21 Interpolation
mm/min
speed designation method".)
Set the time the machine dwells after the positioning stop
Da.8 Dwell time 500ms – (position command output stop) to the output of the
positioning complete signal.
Set this when other auxiliary operation commands are
Da.9 M code 10 –
issued in combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
POINT
Set a value in " Da.7 Command speed" so that the speed of each axis does not
exceed the " Pr.7 Speed limit value". (The speed limit does not function for the
speed calculated by the AD75 during interpolation control.)
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9.2.8 Speed control
In "speed control"(" Da.2 Control method" = Forward run: speed control, Reverse
run: speed control), control is carried out in the axis direction in which the positioning
data has been set by continuously outputting the speed set in " Da.7 Command
speed" until the input of a stop command.
The two types of speed control are "Forward run: speed control" in which the control
starts in the forward run direction, and "Reverse run: speed control" in which control
starts in the reverse run direction.
Operation chart
The following chart shows the operation timing for speed control. The "in speed
control flag" ( Md.40 Status: b0) is turned ON during speed control.
Da. 7 Command speed
ON
OFF
Positioning start signal
[Y10,Y11,Y12]
ON
OFF
BUSY signal
[X4,X5,X6]
Does not turn ON even
when control is stopped
by stop command
OFF
Positioning complete signal
[X7,X8,X9]
ON
OFF
Stop command
ON
In speed control flag
Md.40 Status:b0 OFF
Fig. 9.9 Speed control operation timing
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Current feed value during speed control
The following table shows the " Md.29 Current feed value" during speed control
corresponding to the " Pr.22 Current feed value during speed control" settings.
" Pr.22 Current feed value during speed
Md.29 Current feed value
control" setting
The current feed value during speed control
0: Do not update current feed value
start is maintained.
1: Update current feed value The current feed value is updated.
2: Zero clear current feed value The current feed value is fixed at 0.
Speed In speed control Speed In speed control Speed In speed control
t t t
Current feed value during speed control start is maintained Current feed value is updated 0
(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared
Restrictions
(1) Set "Positioning complete" for " Da.1 Operation pattern." If "continuous
positioning control" or "continuous path control" is selected, an error
"continuous path control not possible" (error code: 516) occurs, resulting in a
failure to start. (In the speed control mode, "continuous positioning control" or
"continuous path control" cannot be selected.)
(2) To use M codes, set the "WITH" mode for " Pr.19 M code ON signal output
timing." If the "AFTER" mode is selected, the M codes are not output and the
"M code ON" signal does not turn ON.
(3) The software stroke limit check is not made with the "degree" unit.
(4) When the absolute position restoration mode is the "infinite length mode",
executing speed control with other than "1" set to " Pr.22 Current feed value
during speed control" results in an error "control method setting error" (error
code: 524).
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Positioning data setting examples
The following table shows setting examples when "speed control (forward run:
speed control)" is set in positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Positioning Setting other than "Positioning complete" is not possible in speed
Da.1 Operation pattern
complete control.
Forward run:
Da.2 Control method Set speed control.
speed control
Designate the value set in " Pr.26 Acceleration time 1" as the
Positioning data No. 1
Da.3 Acceleration time No. 1
acceleration time at start.
Designate the value set in " Pr.9 Deceleration time 0" as the
Da.4 Deceleration time No. 0
deceleration time at deceleration.
Positioning address/
Da.5 – Setting not required. (Setting value is ignored.)
movement amount
Da.6 Arc address – Setting not required. (Setting value is ignored.)
Da.7 Command speed 6000.00mm/min Set the speed to be commanded.
Da.8 Dwell time – Setting not required. (Setting value is ignored.)
Set this when other auxiliary operation commands are issued in
Da.9 M code 10 combination with the No. 1 positioning data. (" Pr.19 M code ON
signal output timing" setting only possible in the WITH mode.)
* Refer to section "5.3 List of positioning data" for information on the setting details.
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9.2.9 Speed/position changeover control
In "speed/position changeover control" (" Da.2 Control method" = Forward run:
speed/position, Reverse run: speed/position), position control is carried out for the
movement amount set in " Da.5 Positioning address/movement amount", in the axis
direction in which the positioning data has been set. The position control is carried out
by continuously outputting the speed set in " Da.7 Command speed" until the input of
a stop command, and inputting a "speed/position changeover signal".
The two types of speed/position changeover control are "Forward run: speed/position"
in which the control starts in the forward run direction, and "Reverse run:
speed/position" in which control starts in the reverse run direction.
Changing over from speed control to position control
(1) The control is changed over from speed control to position control by the
external signal "speed/position changeover signal".
(2) Besides setting the positioning data, the " Cd.20 Speed/position changeover
enable flag" must also be turned ON to change over from speed control to
position control. (If the " Cd.20 Speed/position changeover enable flag" turns
ON after the speed/position changeover signal turns ON, the control will
continue as speed control without changing over to position control. Only
position control will be carried out when the " Cd.20 Speed/position
changeover enable flag" and speed/position changeover signal are ON at the
operation start.)
Operation chart
The following chart (Fig.9.10) shows the operation timing for speed/position
changeover control. The "in speed control flag" ( Md.40 Status: b0) is turned ON
during speed control of speed/position changeover control.
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Da. 7 Command speed
Movement amount set in " Da. 5
Positioning address/movement
amount"
Speed control Position control Dwell time
ON
OFF
Positioning start signal
[Y10,Y11,Y12]
ON
OFF
BUSY signal
[X4,X5,X6]
ON
OFF
Positioning complete signal
[X7,X8,X9]
ON
OFF
Speed/position changeover signal
ON
OFF
Cd. 20 Speed/position
changeover enable flag
ON
In speed control flag OFF
Md. 40 Status: b0
Fig. 9.10 Speed/position changeover control operation timing
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Operation timing and processing time during speed/position changeover
control
Positioning start
signal [Y10,Y11,Y12]
BUSY signal [X4,X5,X6]
t1
M code ON signal
[XD,XE,XF](WITH mode)
t2
Cd.14 M code OFF request
Start complete signal
[X1,X2,X3]
t3
Md.35 Axis operation status Standing by In speed control In position control Standing by
t4
Position/speed command
Speed Position
control control
Positioning operation
* Speed control carried out until speed/position changeover
External speed/position
changeover command signal turns ON
Position control movement amount is from the input position of
the external speed/position changeover signal
t6
*
Cd. 21 Speed/position changeover
control movement amount
change register
t5
*
Positioning complete signal
[X7,X8,X9] t7
M code ON signal (AFTER mode)
[XD,XE,XF]
t2
Cd.14 M code OFF request
Zero point return complete flag*
Md.40 Status: b4
Fig. 9.11 Operation timing and processing time during speed/position changeover control
Normal timing time Unit: ms
t1 t2 t3 t4 t5 t6 t7
5 to 15 0 to 60 0 to 3.5 1 Follows parameters
• The t1 timing time could be delayed by the following factors.
1) Presence of FROM/TO command execution during start process
2) Operation state of other axes
3) Presence of intervention from peripheral device during start process
4) Details of positioning data to be started
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Current feed value during speed/position changeover control
The following table shows the " Md.29 Current feed value" during speed/position
changeover control corresponding to the " Pr.22 Current feed value during speed
control" settings.
" Pr.22 Current feed value during
Md.29 Current feed value
speed control" setting
The current feed value at control start is maintained during
0: Do not update current feed value speed control, and updated from the changeover to
position control.
The current feed value is updated during speed control
1: Update current feed value
and position control.
The current feed value is cleared (set to "0") at control
2: Zero clear current feed value
start, and updated from the changeover to position control.
Speed Speed control Position control Speed Speed control Position control Speed Speed control Position control
t t t
Maintained Updated Updated 0 Updated from 0
(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared
Changeover time from speed control to position control
There is 1ms from the time the speed/position changeover signal is turned ON to
the time the speed/position changeover latch flag ( Md.40 Status: b1) turns ON.
ON
Speed/position changeover signal OFF
ON
Speed/position changeover latch flag OFF
1ms
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Changing the position control movement amount
In "speed/position changeover control", the position control movement amount can
be changed during the speed control section.
(1) The position control movement amount can be changed during the speed
control section of speed/position changeover control.
A movement amount change request will be ignored unless issued during the
speed control section of the speed/position changeover control.
(2) The "new movement amount" is stored in " Cd.21 Speed/position changeover
control movement amount change register" by the sequence program during
speed control.
This value then becomes the position control movement amount when the
speed/position changeover signal turns ON.
(3) The movement amount is stored in the " Md.38 Speed/position changeover
control positioning amount" of the axis monitor area from the point where the
control changes to position control by the input of a speed/position changeover
signal from an external source.
Speed control Position control
Speed/position changeover control start Position control start
Movement amount
change possible
ON
Speed/position changeover signal OFF
Setting after the speed/position
changeover signal ON is ignored
Cd.21 Speed/position changeover control, 0 P2 P3
movement amount change register
P2 becomes the position control movement amount
Speed/position changeover latch flag ON
Md.40 Status : b1
OFF
Fig. 9.12 Position control movement amount change timing
POINT
• The machine recognizes the presence of a movement amount change request when the data is
written to " Cd.21 Speed/position changeover control movement amount change register" with the
sequence program.
• The new movement amount is validated after execution of the speed/position changeover control,
before the input of the speed/position changeover signal.
• The movement amount change can be enabled/disabled with the interlock function in position
control using the "speed/position changeover latch flag" of the axis monitor area.
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Restrictions
(1) If "continuous path control" is specified for " Da.1 Operation pattern, " an error
"continuous path control not possible" (error code: 516) occurs, resulting in a
failure to start. (In the speed or position changeover control mode, "continuous
path control" cannot be set.)
(2) If "continuous path control" is specified for " Da.1 Operation pattern" of the
positioning data immediately before, "speed/position changeover control"
cannot be specified for " Da.2 Control method" in the positioning data. (For
example, if the operation pattern of positioning data No. 1 is "continuous path
control," "speed/position changeover control" cannot be specified for
positioning data No. 2.) If this setting is given, an error "continuous path
control not possible" (error code: 516) occurs, resulting in deceleration and
stop.
(3) If the position control movement amount specified for " Da.5 Positioning
address/movement amount" is smaller than the deceleration distance from
" Da.7 Command speed," deceleration occurs when the speed/position
changeover signal is supplied.
(4) Turn on the speed/position changeover signal in a stable-speed area
(constant-speed state). If it is turned on during acceleration, a warning
"speed/position changeover signal ON during acceleration" (warning code:
508) occurs due to large variation in the accumulating pulses.
(5) The software stroke limit range check under speed control is performed only if
"1: update current feed value" is specified for " Pr.22 Current feed value during
speed control." At this time, if the movement amount exceeds the software
stroke limit range during speed control, an error "start outside stroke limit +/-"
(error code: 507/508) occurs at the timing of the change to position control,
resulting in deceleration and stop.
If the "degree" unit is selected, the software stroke limit range check is not
performed.
(6) Do not turn ON the speed/position changeover signal during speed change if
the servomotor is used. (Turn the speed/position changeover signal ON in the
stable-speed area (constant-speed state).) The actual movement amount after
switching is the "set movement amount + amount of accumulated pulses." If
the signal is turned on during acceleration or deceleration, there is variation in
the stopping position due to a large variation in the amount of accumulated
pulses. If " Da.7 Command speed" varies even if " Md.38 Speed/position
changeover control positioning amount" is the same, the amount of
accumulated pulses varies and therefore the stopping position varies.
(7) When the absolute position restoration mode is the "infinite length mode", an
error "control method setting error" (error code: 524) occurs, disabling a start.
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9 MAIN POSITIONING CONTROL
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Positioning data setting examples
The following table shows setting examples when "speed/position changeover
control (forward run: speed/position)" is set in positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Set "Positioning complete" assuming the next positioning data will not
Positioning
Da.1 Operation pattern be executed. ("Continuous path control" cannot be set in
complete
"speed/position changeover control".)
Forward run:
Da.2 Control method Set speed/position changeover control.
speed/position
Designate the value set in " Pr.26 Acceleration time 1" as the
Da.3 Acceleration time No. 1
Positioning data No. 1
acceleration time at start.
Designate the value set in " Pr.9 Deceleration time 0" as the
Da.4 Deceleration time No. 0
deceleration time at deceleration.
Positioning address/ Set the movement amount after the changeover to position control.
Da.5
movement amount 10000.0μm (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.6 Arc address – Setting not required. (Setting value is ignored.)
Da.7 Command speed 6000.00mm/min Set the speed to be controlled.
Set a time from the positioning stop (position/speed command stop)
by position control until the positioning complete signal is output.
Da.8 Dwell time 500ms
(When the system is stopped by speed control, ignore the setting
value.)
Set this when other auxiliary operation commands are issued in
Da.9 M code 10
combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
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9.2.10 Current value change
When the current value is changed to a new value, control is carried out in which the
" Md.29 Current feed value" of the stopped axis is changed to a random address set
by the user. (The " Md.30 Machine feed value" is not changed when the current value
is changed.)
The two methods for changing the current value are shown below.
(1) Current value change using the positioning data
(2) Current value change using the start No. (No. 9003) for a current value
change
The current value change using method [1] is used during continuous positioning of
multiple blocks, etc.
(1) Current value change using the positioning data
Operation chart
The following chart shows the operation timing for a current value change. The
" Md.29 Current feed value" is changed to the value set in " Da.5 Positioning
address/movement amount" when the positioning start signal turns ON.
ON
Positioning start signal OFF
[Y10,Y11,Y12]
Md.29 Current feed value 50000 0
Current value changes to the positioning
address designated by the positioning
data of the current value change
The above chart shows an example
when the positioning address is "0".
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Restrictions
(1) An error "Current value change not possible" (error code: 515) will occur and
the operation cannot start if "continuous path control" is set in " Da.1
Operation pattern". ("Continuous path control" cannot be set in current value
change.)
(2) "Current value change" cannot be set in " Da.2 Control method" of the
positioning data when "continuous path control" has been set in " Da.1
Operation pattern" of the immediately prior positioning data. (For example, if
the operation pattern of positioning data No. 1 is "continuous path control",
"Current value change" cannot be set in positioning data No. 2.) An error
"Current value change not possible" (error code: 515) will occur and the
machine will carry out a deceleration stop if this type of setting is carried out.
(3) An error "Outside current value change range" (error code: 514) will occur and
the operation cannot start if "degree" is set in " Pr.1 Unit setting" and the
value set in " Da.5 Positioning address/movement amount" is outside the
setting range (0 to 359.99999 [degree]).
(4) If the value set in " Da.5 Positioning address/movement amount" is outside
the scope of software stroke limit ( Pr.13 , Pr.14 ), the actual value will be
modified. However, the error "Starting outside of stroke limit +/-" (error
code:507/508) and it will not start up.
(5) When the absolute position restoration mode is the "infinite length mode", an
error "control method setting error" (error code: 524) occurs, disabling a start.
Positioning data setting examples
The following table shows setting examples when "Current value change" is set in
positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Set "Positioning complete" assuming the next positioning data will not
Positioning
Da.1 Operation pattern be executed. ("Continuous path control" cannot be set in current value
complete
change.)
Current value
Da.2 Control method Set the current value change.
change
Positioning data No. 1
Designate the value set in " Pr.26 Acceleration time 1" as the
Da.3 Acceleration time No. 1
acceleration time at start.
Designate the value set in " Pr.9 Deceleration time 0" as the
Da.4 Deceleration time No. 0
deceleration time at deceleration.
Positioning address/ Set the movement amount after the changeover to position control.
Da.5
movement amount 10000.0μm (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.6 Arc address – Setting not required. (Setting value is ignored.)
Da.7 Command speed 6000.00mm/min Set the speed to be controlled.
Da.8 Dwell time – Setting not required. (Setting value is ignored.)
Set this when other auxiliary operation commands are issued in
Da.9 M code 10
combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
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(2) Current value change using the start No. (No. 9003) for a current
value change
Operation chart
The current value is changed by setting the new current value in the new current
value buffer memory " Cd.15 New current value", setting "9003" in the " Cd.11
Positioning start No.", and turning ON the positioning start signal.
ON
Positioning start signal OFF
[Y10,Y11,Y12]
Md.29 Current feed value 50000 0
Current value changes to the
positioning address designated by
the new current value buffer memory.
The above chart shows an example
when the positioning address is "0".
Restrictions
(1) An error "Outside current value change range" (error code: 514) will occur if
the designated value is outside the setting range when "degree" is set in
" Pr.1 Unit setting".
(2) An error will not occur even if the designated value is outside the software
stroke limit range.
However, an error "Start outside stroke limit +/-" (error code: 507/508) will
occur at the positioning start.
(3) The current value cannot be changed during stop commands and while the M
code ON signal is ON.
(4) When the absolute position restoration mode is the "infinite length mode", an
error "outside start number range" (error code: 543) occurs at a positioning
start.
Current value change procedure
The following shows the procedure for changing the current value to a new value.
1) Write the current value to " Cd. 15 New current value"
2) Write "9003" in " Cd. 11 Positioning start No."
3) Turn ON the positioning start signal.
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Setting method for the current value change function
The following shows an example of a sequence program and data setting to
change the current value to a new value with the positioning start signal. (The
" Md.29 Current feed value is changed to "5000.0 μm" in the example shown.)
(1) Set the following data.
(Set with the sequence program shown in (3), while referring to the start time
chart shown in (2).)
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
1154 1204 1254
Cd.15 New current value 50000 Set the new " Md.29 Current feed value".
1155 1205 1255
Positioning start Set the start No. "9003" for the current value
Cd.11 9003 1150 1200 1250
No. change.
* Refer to section "5.7 List of control data" for details on the setting details.
(2) The following shows a start time chart.
Start of data No. 9003
Positioning start signal [Y10]
PLC READY signal [Y1D]
AD75 READY signal [X0]
Start complete signal [X1]
BUSY signal [X4]
Positioning complete signal [X7]
Error detection signal [XA]
Md.29 Current feed value Address during positioning execution 50000
Cd.11 Positioning start No. Data No. during positioning execution 9003
Cd.15 New current value 50000
Fig. 9.13 Current value change using the start No. (No. 9003) for a current value change
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9 MAIN POSITIONING CONTROL
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(3) Add the following sequence program to the control program, and write it to the
PLC CPU.
Example
*
* Current value change program
*
*
* Store new current feed value in D106 and D107
*
*
<Current value change command pulse>
<New current value write to AD75>
<Current value change (9003) write>
<Current value change execution>
<Positioning start signal OFF>
X1 : Start complete signal
X4 : BUSY signal
XA : Error detection signal
X42 : Current value change command
Y10 : Positioning start signal
M103 : Current value change command pulse
D106, D107 : New current value
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9.2.11 JUMP command
The JUMP command is used to control the operation so it jumps to a positioning data
No. set in the positioning data during "continuous positioning control" or "continuous
path control".
JUMP commands include the following two types of JUMP.
(1) Unconditional JUMP
When no execution conditions are set for the JUMP command
(2) Conditional JUMP
When execution conditions are set for the JUMP command
(The conditions are set in the "condition data" used with "advanced positioning
control".)
Using the JUMP command enables repeating of the same positioning control, or
selection of positioning data by the execution conditions during "continuous positioning
control" or "continuous path control".
Operation
(1) Unconditional JUMP
The JUMP command is unconditionally executed. The operation jumps to the
positioning data No. set in " Da.8 Dwell time".
(2) Conditional JUMP
• If the JUMP command execution conditions set in " Da.9 M code" have
been established, the JUMP command is executed and the operation jumps
to the positioning data No. set in " Da.8 Dwell time".
• If the JUMP command execution conditions set in " Da.9 M code" have not
been established, the JUMP command is ignored and the next positioning
data No. is executed.
Restrictions
(1) When using a conditional JUMP command, establish the JUMP command
execution conditions by the 4th positioning data No. before the JUMP
command positioning data No.
If the JUMP command execution conditions are not established by the time the
4th positioning control is carried out before the JUMP command positioning
data No., the operation will be processed as an operation without established
JUMP command execution conditions.
(During execution of continuous path control/continuous positioning control,
the AD75 calculates the positioning data of the positioning data No. four items
ahead of the current positioning data.)
(2) Set JUMP commands in positioning data No. of "continuous positioning
control" or "continuous path" operation patterns.
JUMP commands cannot be set in the positioning data No. of a "Positioning
complete" operation pattern.
(3) Positioning control such as loops cannot be executed by conditional JUMP
commands alone until the conditions have been established.
To the JUMP instruction destination, specify the positioning data whose
control method is other than the JUMP instruction."
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Positioning data setting example
The following table shows setting examples when "JUMP command" is set in
positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Continuous path Set "continuous positioning control" or "continuous path control".
Da.1 Operation pattern
control ("Positioning complete" cannot be set with JUMP commands.)
JUMP
Da.2 Control method Set the JUMP command.
command
Da.3 Acceleration time No. – Setting not required. (Setting value is ignored.)
Da.4 Deceleration time No. – Setting not required. (Setting value is ignored.)
Positioning data No. 1
Positioning address/
Da.5 – Setting not required. (Setting value is ignored.)
movement amount
Da.6 Arc address – Setting not required. (Setting value is ignored.)
Da.7 Command speed – Setting not required. (Setting value is ignored.)
Set the positioning data No. 1 to 600 for the JUMP destination. (The
Da.8 Dwell time 500
positioning data No. of the JUMP command cannot be set.)
Set the JUMP command execution conditions with the condition data
No.
0 : Unconditional JUMP
Da.9 M code 10
1 to 10 : Condition data No.
("Simultaneous start" condition data cannot be
set.)
* Refer to section "5.3 List of positioning data" for information on the setting details.
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MEMO
9 - 64
Chapter 10
ADVANCED POSITIONING CONTROL
The details and usage of advanced positioning control (control functions using the
"start block data") are explained in this chapter.
Advanced positioning control is used to carry out applied control using the "positioning
data". Examples of advanced control are using conditional judgment to control
"positioning data" set with the main positioning control, or simultaneously starting
"positioning data" for several different axes.
Read the execution procedures and settings for each control, and set as required.
10.1 Outline of advanced positioning control..................................................................10- 2
10.1.1 Data required for advanced positioning control ........................................10- 3
10.1.2 "Start block data" and "condition data" configuration................................10- 4
10.2 Advanced positioning control execution procedure ...............................................10- 6
10.3 Setting the start block data ......................................................................................10- 7
10.3.1 Relation between various controls and start block data ...........................10- 7
10.3.2 Block start (normal start) ...........................................................................10- 8
10.3.3 Condition start ...........................................................................................10- 10 10
10.3.4 Wait start ...................................................................................................10- 11
10.3.5 Simultaneous start ...................................................................................10- 12
10.3.6 Stop ...........................................................................................................10- 13
10.3.7 Repeated start (FOR loop) ......................................................................10- 14
10.3.8 Repeated start (FOR condition) ...............................................................10- 15
10.3.9 Restrictions when using the NEXT start...................................................10- 16
10.4 Setting the condition data .......................................................................................10- 17
10.4.1 Relation between various controls and the condition data ......................10- 17
10.4.2 Condition data setting examples ..............................................................10- 19
10.5 Start program for advanced positioning control.....................................................10- 20
10.5.1 Starting advanced positioning control ......................................................10- 20
10.5.2 Example of a start program for advanced positioning control .................10- 21
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10.1 Outline of advanced positioning control
In "advanced positioning control" the execution order and execution conditions of the
"positioning data" are set to carry out more applied positioning. (The execution order
and execution conditions are set in the "start block data" and "condition data".)
The following applied positioning controls can be carried out with "advanced
positioning control".
Advanced
Details
positioning control
Block* start With one start, executes the positioning data in a random block with the set
(Normal start) order.
Carries out condition judgment set in the "condition data" for the
designated positioning data, and then executes the "start block data".
Condition start When the condition is established, the "start block data" is executed. When
not established, that "start block data" is ignored, and the next point's "start
block data" is executed.
Carries out condition judgment set in the "condition data" for the
designated positioning data, and then executes the "start block data".
Wait start
When the condition is established, the "start block data" is executed. When
not established, stops the control until the condition is established. (Waits.)
Simultaneously executes the positioning data having the No. for the axis
Simultaneous start designated with the "condition data". (Outputs position/speed commands at
the same timing.)
Stop Stops the positioning operation.
Repeated start Repeats the program from the "start block data" set with the "FOR loop" to
(FOR loop) the "start block data" set in "NEXT" for the designated No. of times.
Repeats the program from the "start block data" set with the "FOR
Repeated start
condition" to the "start block data" set in "NEXT" until the conditions set in
(FOR condition)
the "condition data" are established.
Advanced positioning control auxiliary functions
"Advanced positioning control" uses the "positioning data" set with the "main
positioning control". Refer to "3.3.4 Combination of AD75 main functions and
auxiliary functions" for details on auxiliary functions that can be combined with the
main positioning control.
Advanced positioning control from peripheral devices
"Advanced positioning control" (start of the "start block data") can be executed
from the AD75 software package test mode.
Refer to the AD75 Software Package Operating Manual for details on starting of
the "start block data" from the AD75 software package.
REMARK
Block *:
"1 block" is defined as all the data continuing from the positioning data in which
"continuous positioning control" or "continuous path control" is set in the
operation pattern ( Da.1 ) to the positioning data in which "independent
positioning control (Positioning complete)" is set.
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10.1.1 Data required for advanced positioning control
"Advanced positioning control" is executed by setting the required items in the "start
block data" and "condition data", then starting that "start block data". Judgment about
whether execution is possible, etc., is carried out at execution using the "condition
data" designated in the "start block data".
"Start block data" can be set for each No. from 7000 to 7010 (called "block Nos."), and
up to 50 points can be set for each axis. (This data is controlled with Nos. called
"points" to distinguish it from the positioning data. For example, the 1st start block data
item is called the "1st point start block data" or "point No. 1 start block data".)
"Condition data" can be set for each No. from 7000 to 7010 (called "block Nos."), and
up to 10 data items can be set for each axis.
The "start block data" and "condition data" are set as 1 set for each block No.
The following table shows an outline of the "start block data" and "condition data"
stored in the AD75.
Setting item Setting details
Set whether to end the control after executing only the "start
Da.10 Shape block data" of the shape itself, or continue executing the "start
Start block data
block data" set in the next point.
Da.11 Start data No. Set the "positioning data No." to be executed.
Special start Set the method by which the positioning data set in Da.11
Da.12
command will be started.
Set the conditions by which the start will be executed
Da.13 Parameter according to the commands set in Da.12 . (Designate the
"condition data No." and "No. of repetitions".)
Setting item Setting details
Designate the "device", "buffer memory storage details", and
Da.14 Condition target "positioning data No." elements for which the conditions are
set.
Condition Set the judgment method carried out for the target set in
Condition data
Da.15
operator Da.14 .
Set the buffer memory address in which condition judgment is
Da.16 Address carried out (only when the details set in Da.14 are "buffer
memory storage details").
Set the required conditions according to the details set in
Da.17 Parameter 1
Da.14 and Da.15 .
Set the required conditions according to the details set in
Da.18 Parameter 2
Da.14 and Da.15 .
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10.1.2 "Start block data" and "condition data" configuration
The "start block data" and "condition data" corresponding to "block No. 7000" can be
stored in the buffer memory. (The following drawing shows an example for axis 1.)
50th point
Buffer memory
Setting item
address
2nd point
1st point Setting item Buffer memory
Buffer memoryaddress 4349
Setting item
address
b15 b8 b7 b0 4301
Axis 1 start block data
4300
Da11 Start data No. 4399
Da10 Shape
b15 b8 b7 b0 4351
4350
Da12 Special start Da13 Parameter
command
No.10
Buffer memory
Setting item
address
No.2 Condition identifier
No.1 Setting item Buffer memory
address 4490
Buffer memory
Setting item
address
Condition identifier
b15 b12 b11 b8 b7 b0 4410 4491
Axis 1 condition data
4400 4492 Low-order buffer memory
4493 High-order buffer memory
Da15 Condition 4494
Da14Condition target 4411
operator 4495
Blank 4401 4412 4496
4413 4497
4402
Da16 Address 4403 4414 4498
4415 4499
4404
Da17 Parameter1 4405 4416
4417
Da18 Parameter 2 4406
4407 4418
4419
Blank 4408
4409
(Same for axis 2 and axis 3.)
Block No. 7000 * Set in the AD75 with a sequence program
or the AD75 software package.
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10 ADVANCED POSITIONING CONTROL
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Set in AD75 the "start block data" and "condition data" corresponding to the following
"block Nos. 7001 to 7010" using the AD75 software package. (The following drawing
shows an example for axis 1.)
50th point 50th point
Setting item Setting item
2nd point 2nd point
1st point 1st point
Setting item Setting item
Setting item Setting item
b15 b8 b7 b0 b15 b8 b7 b0
Axisi 1 start block data
Axisi 1 start block data
Da11 Start positioning data No. Da11 Start positioning data No.
Da10 Shape Da10 Shape
b15 b8 b7 b0 b15 b8 b7 b0
D a 12 S pe cia l sta rt Da13 Parameter D a 12 S pe cia l start Da13 Parameter
co m m and co m m and
No.10 No.10
Setting item Setting item
No.2 Condition identifier No.2 Condition identifier
No.1 No.1
Setting item Setting item
Setting item Setting item
Condition identifier Condition identifier
b15 b12 b11 b8 b7 b0 b15 b12 b11 b8 b7 b0
Axisi 1 start condition data
Axisi 1 start condition data
Da15 Condition Da14 Condition target Da15 Condition Da14 Condition target
operater operater
Open Open
Da16 Address Da16 Address
Da17 Parameter1 Da17 Parameter1
Da18 Parameter2 Da18 Parameter2
Open Open
7001 7010
* Setting is only possible when the AD75 software package is used.
(Same for axis 2 and axis 3.)
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10.2 Advanced positioning control execution procedure
Advanced positioning control is carried out using the following procedure.
Preparation * "Advanced positioning control" executes each control
STEP 1
Carry out the "main positioning control" setting. ("main positioning control") set in the positioning data
Refer to Chapter 9 with the designated conditions,so first carry out
preparations so that "main positioning control" can be
executed.
STEP 2 Set the start block data corresponding to each control. * The 50 "start block data" points from 1 to 50 points
Refer to Section 10.3 ( Da. 10 to Da. 13 ) × required data amount. can be set.
STEP 3 * Set the "condition data" for designation with the
Set the "condition data"
( Da. 14 to Da. 18 ) × required data amount . "start block data". Up to 10 condition data items
Refer to Section 10.4 can be set.
STEP 4 Create a sequence program in which "7000"*is set in * The AD75 recognizes that the control is advanced
Refer to Section 10.5 the " Cd. 11 Positioning start No." (Control data setting) positioning control using "start block data" by the
"7000" designation.
Create a sequence program in which the "start block Use the GPP function software package to create a
data point No. to be started" (1 to 50) is set in the sequence program to execute the "advanced
" Cd. 31 Positioning start point No." (Control data setting) positioning control".
(Set the control data in the AD75 buffer memory using
Create a sequence program in which the "positioning a TO command.)
start signal" is turned ON by a positioning start command.
STEP 5 * Write the sequence program created in STEP 4 to the
Write the sequence programs to the PLC CPU. PLC CPU using the GPP function software package.
Refer to Chapter 6
STEP 6 * Same procedure as for the "main positioning control"
Starting the control Turn ON the "positioning start command" of
the axis to be started. start.
Refer to Section 6.5.3
STEP 7 * Use one of the following two methods.
Monitoring the control Monitor the advanced positioning control. Method (1): Monitor using the AD75 software package.
Method (2): Monitor using the GPP function software
package.
Stopping the control STEP 8 * Same procedure as for the "main positioning control" stop.
Stop when control is completed
Refer to Section 6.5.6
Control termination
REMARK
* (1) One set of "start block data (50 points)" and "condition data (10 items)
corresponding to "7000" is set with a sequence program.
(2) Eleven sets of data from "7000" to "7010" can be set when the AD75 software
package is used. If the AD75 software package is used to set the "start block
data" and "condition data" corresponding to "7001" to "7010" and write the
data to the AD75, "7001" to "7010" can be set in " Cd.11 Positioning start
No." in STEP 4.
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10.3 Setting the start block data
10.3.1 Relation between various controls and start block data
The "start block data" must be set to carry out "advanced positioning control". The
setting requirements and details of each "start block data" item to be set differ
according to the " Da.12 Special start command" setting.
The following shows the "start block data" setting items corresponding to various
control methods. The operation details of each control type are explained starting in
section 10.3.2. Also refer to section "10.4 Setting the condition data" for details on
"condition data" with which control execution is judged.
(The "start block data" settings in this chapter are assumed to be carried out using the
AD75 software package.)
Advanced positioning Block Repeated
control Simulta- Repeated
start Condition start NEXT
Wait start neous Stop start
Start block data (Normal start (FOR start *
start (FOR loop)
setting items start) condition)
0 : End
Da.10 Shape
1 : Continue
Da.11 Start data No. 1 to 600
Da.12 Special start command 0 1 2 3 4 5 6 7
No. of Condition
Da.13 Parameter – Condition data No. – –
repetitions data No.
: One of the two setting items must be set.
: Set when required (Set to " – " when not used.)
: Setting not possible
– : Setting not required (Setting value will be ignored. Use the initial value or a value within the setting range.)
* The "NEXT start" command is used in combination with "repeated start (FOR loop)" and "repeated start (FOR
condition)". Control using only the "NEXT start" will not be carried out.
REMARK
It is recommended that the "start block data" be set whenever possible with the
AD75 software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times will
increase.
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10 ADVANCED POSITIONING CONTROL
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10.3.2 Block start (normal start)
In a "block start (normal start)", the positioning data groups of a block are continuously
executed in a set sequence starting from the positioning data set in " Da.11 Start data
No." by one start.
Section [2] shows a control example where the "start block data" and "positioning data"
are set as shown in section [1].
(1) Setting examples
(a) Start block data setting example
Axis 1 start Da.11 Da.12 Special Da.13
Da.10 Shape
block data Start data No. start command Parameter
1st point 1: Continue 1 0: Normal start –
2nd point 1: Continue 2 0: Normal start –
3rd point 1: Continue 5 0: Normal start –
4th point 1: Continue 10 0: Normal start –
5th point 0: End 15 0: Normal start –
•
•
(b) Positioning data setting example
Axis 1 position-
Da.1 Operation pattern
ing data No.
1 00: Positioning complete
2 11: Continuous path control
3 01: Continuous positioning control 1 block *
4 00: Positioning complete
5 11: Continuous path control
1 block
6 00: Positioning complete
•
10 00: Positioning complete
•
15 00: Positioning complete
•
REMARK
Block * :
"1 block" is defined as all the data continuing from the positioning data in which
"continuous positioning control" or "continuous path control" is set in the operation
pattern ( Da.1 ) to the positioning data in which "independent positioning control
(Positioning complete)" is set.
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(2) Control examples
The following shows the control executed when the "start block data" of the 1st
point of axis 1 is set as shown in section (1) and started.
<1> The positioning data is executed in the following order before stopping.
Axis 1 positioning data No. 1 2 3 4 5 6 10 15.
Positioning Positioning Positioning Positioning Positioning
according to the 1st according to the 2nd according to the 3rd according to the according to the 5th
point settings point settings point settings 4th point settings point settings
Operation pattern
Positioning data No.
3(01) *1 *1
1(00) 4(00)
2(11) 10(00)
Address(+)
t
Address(-) *1 *1 5(11)
6(00)
*1 15(00)
*1
ON
Positioning start signal OFF ON
[Y10,Y11,Y12]
Start complete signal OFF ON
[X1,X2,X3]
BUSY signal [X4,X5,X6] OFF ON
Positioning complete signal OFF
[X7,X8,X9]
*1 Dwell time of corresponding positioning data
Fig. 10.1 Block start control example
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10.3.3 Condition start
In a "condition start", the "condition data" conditional judgment designated in " Da.13
Parameter" is carried out for the positioning data set in " Da.11 Start data No.". If the
conditions have been established, the "start block data" set in "1: condition start" is
executed. If the conditions have not been established, that "start block data" will be
ignored, and the "start block data" of the next point will be executed.
Section (2) shows a control example where the "start block data" and "positioning data"
are set as shown in section (1).
(1) Setting examples
(a) Start block data setting example
Axis 1 start Da.11 Da.12 Special Da.13
Da.10 Shape
block data Start data No. start command Parameter
1st point 1: Continue 1 1: Condition start 1
2nd point 1: Continue 10 1: Condition start 2
3rd point 0: End 50 0: Normal start –
•
•
* The "condition data Nos." have been set in " Da.13 Parameter".
(b) Positioning data setting example
Axis 1 position-
Da.1 Operation pattern
ing data No.
1 01: Continuous positioning control
2 01: Continuous positioning control
3 00: Positioning complete
•
10 11: Continuous path control
11 11: Continuous path control
12 00: Positioning complete
•
50 00: Positioning complete
•
(2) Control examples
The following shows the control executed when the "start block data" of the 1st
point of axis 1 is set as shown in section (1) and started.
<1> The conditional judgment set in "condition data No. 1" is carried out before
execution of the axis 1 "positioning data No. 1".
Conditions established Execute positioning data No. 1, 2, and 3
Go to <2>.
Conditions not established Go to <2>.
<2> The conditional judgment set in "condition data No. 2" is carried out before
execution of the axis 1 "positioning data No. 10".
Conditions established Execute positioning data No. 10, 11, and 12
Go to <3>.
Conditions not established Go to <3>.
<3> Execute axis 1 "positioning data No. 50" and stop the control.
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10.3.4 Wait start
In a "wait start", the "condition data" conditional judgment designated in " Da.13
Parameter" is carried out for the positioning data set in " Da.11 Start data No.". If the
conditions have been established, the "start block data" is executed. If the conditions
have not been established, the control stops (waits) until the conditions are
established.
Section (2) shows a control example where the "start block data" and "positioning data"
are set as shown in section (1).
(1) Setting examples
(a) Start block data setting example
Axis 1 start Da.11 Da.12 Special Da.13
Da.10 Shape
block data Start data No. start command Parameter
1st point 1: Continue 1 2: Wait start 3
2nd point 1: Continue 10 0: Normal start –
3rd point 0: End 50 0: Normal start –
•
•
* The "condition data Nos." have been set in " Da.13 Parameter".
(b) Positioning data setting example
Axis 1 position-
Da.1 Operation pattern
ing data No.
1 01: Continuous positioning control
2 01: Continuous positioning control
3 00: Positioning complete
•
10 11: Continuous path control
11 11: Continuous path control
12 00: Positioning complete
•
50 00: Positioning complete
•
(2) Control examples
The following shows the control executed when the "start block data" of the 1st
point of axis 1 is set as shown in section (1) and started.
<1> The conditional judgment set in "condition data No. 3" is carried out before
execution of the axis 1 "positioning data No. 1".
Conditions established Execute positioning data No. 1, 2, and 3
Go to <2>.
Conditions not established Control stops (waits) until conditions are
established Go to <1>.
<2> Execute the axis 1 "positioning data No. 10, 11, 12, and 50" and stop the
control.
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10.3.5 Simultaneous start
In a "simultaneous start", the positioning data set in the " Da.11 Start data No." and
positioning data of other axes set in the "condition data" are simultaneously executed
(Outputs position/speed commands at the same timing).
(The "condition data" is designated with " Da.13 Parameter".)
Section (2) shows a control example where the "start block data" and "positioning data"
are set as shown in section (1).
(1) Setting examples
(a) Start block data setting example
Axis 1 start Da.11 Da.12 Special Da.13
Da.10 Shape
block data Start data No. start command Parameter
1st point 1: Continue 1 3: Simultaneous start 4
2nd point 1: Continue 10 3: Simultaneous start 5
3rd point 0: End 50 3: Simultaneous start 6
•
•
* It is assumed that the "axis 2 positioning data" for simultaneous starting is set in the
"condition data" designated with " Da.13 Parameter".
(b) Positioning data setting example
Axis 1 position-
Da.1 Operation pattern
ing data No.
1 01: Continuous positioning control
2 01: Continuous positioning control
3 00: Positioning complete
•
10 11: Continuous path control
11 11: Continuous path control
12 00: Positioning complete
•
50 00: Positioning complete
•
(2) Control examples
The following shows the control executed when the "start block data" of the 1st
point of axis 1 is set as shown in section (1) and started.
<1> Simultaneously start the axis 1 "positioning data No. 1" and axis 2
positioning data set in "condition data No. 4". After the execution of axis 1
"positioning data No. 1, 2, and 3" is completed, go to <2>.
<2> Simultaneously start the axis 1 "positioning data No. 10" and axis 2
positioning data set in "condition data No. 5".
Standing by after completion of axis 2 positioning data simultaneously
started in <1>. Go to <3>.
Executing other axis positioning data simultaneously started in <1>.
"Error".
<3> Simultaneously start the axis 1 "positioning data No. 50" and the axis 2
positioning data set in "condition data No. 6" after the completion of the
execution of axis 1 "positioning data No. 10, 11, and 12".
Standing by after completion of axis 2 positioning data simultaneously
started in <2>. Go to <4>.
Executing axis 2 positioning data simultaneously started in <2>.
"Error".
<4> After the execution of the axis 1 "positioning data No. 50" is completed, stop
the control.
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10.3.6 Stop
In a "stop", the control is stopped with the "start block data" set in "4: stop".
The control after the point in which the "stop" is set can be restarted by issuing a
" Cd.13 Restart command".
Section (2) shows a control example where the "start block data" and "positioning data"
are set as shown in section (1).
(1) Setting examples
(a) Start block data setting example
Axis 1 start Da.11 Da.12 Special Da.13
Da.10 Shape
block data Start data No. start command Parameter
1st point 1: Continue 1 0: Normal start –
2nd point 1: Continue 10 4: Stop –
3rd point 0: End 50 0: Normal start –
•
•
(b) Positioning data setting example
Axis 1 position-
Da.1 Operation pattern
ing data No.
1 01: Continuous positioning control
2 01: Continuous positioning control
3 00: Positioning complete
•
10 11: Continuous path control
11 11: Continuous path control
12 00: Positioning complete
•
50 00: Positioning complete
•
(2) Control examples
The following shows the control executed when the "start block data" of the 1st
point of axis 1 is set as shown in section (1) and started.
<1> Execute the axis 1 "positioning data No. 1, 2, and 3" and stop the control.
<2> After executing a "restart", execute the axis 1 "positioning data No. 10, 11,
12, and 50", and stop the control.
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10.3.7 Repeated start (FOR loop)
In a "repeated start (FOR loop)", the data between the "start block data" in which "5:
FOR loop" is set in " Da.12 Special start command" and the "start block data" in which
"7: NEXT start" is set in " Da.12 Special start command" is repeatedly executed for the
No. of times set in " Da.13 Parameter". An endless loop will result if the No. of
repetitions is set to "0", and the data between "5: FOR loop" and "7: NEXT start" will be
repeated until the control is stopped by a "stop command".
(The No. of repetitions is set in " Da.13 Parameter" of the "start block data" in which
"5: FOR loop" is set in " Da.12 Special start command".)
Section (2) shows a control example where the "start block data" and "positioning data"
are set as shown in section (1).
(1) Setting examples
(a) Start block data setting example
Axis 1 start Da.11 Da.12 Special Da.13
Da.10 Shape
block data Start data No. start command Parameter
1st point 1: Continue 1 5: FOR loop 2
2nd point 1: Continue 10 0: Normal start –
3rd point 0: End 50 7: NEXT start –
•
•
* The "condition data Nos." have been set in " Da.13 Parameter".
(b) Positioning data setting example
Axis 1 position-
Da.1 Operation pattern
ing data No.
1 01: Continuous positioning control
2 01: Continuous positioning control
3 00: Positioning complete
•
10 11: Continuous path control
11 00: Positioning complete
•
50 01: Continuous positioning control
51 00: Positioning complete
•
(2) Control examples
The following shows the control executed when the "start block data" of the 1st
point of axis 1 is set as shown in section (1) and started.
<1> Execute the axis 1 "positioning data No. 1, 2, 3, 10, 11, 50, and 51".
<2> Return to the axis 1 "1st point start block data". Again execute the axis 1
"positioning data No. 1, 2, 3, 10, 12, and 50", and then stop the control.
(Repeat for the No. of times set in Da.13 .)
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10.3.8 Repeated start (FOR condition)
In a "repeated start (FOR condition)", the data between the "start block data" in which
"6: FOR condition" is set in " Da.12 Special start command" and the "start block data"
in which "7: NEXT start" is set in " Da.12 Special start command" is repeatedly
executed until the establishment of the conditions set in the "condition data".
(The "condition data" designation is set in " Da.13 Parameter" of the "start block data"
in which "6: FOR condition" is set in " Da.12 Special start command".)
Section (2) shows a control example where the "start block data" and "positioning data"
are set as shown in section (1).
(1) Setting examples
(a) Start block data setting example
Axis 1 start Da.11 Da.12 Special Da.13
Da.10 Shape
block data Start data No. start command Parameter
1st point 1: Continue 1 6: FOR condition 5
2nd point 1: Continue 10 0: Normal start –
3rd point 0: End 50 7: NEXT start –
•
•
* The "condition data Nos." have been set in " Da.13 Parameter".
(b) Positioning data setting example
Axis 1 position-
Da.1 Operation pattern
ing data No.
1 01: Continuous positioning control
2 01: Continuous positioning control
3 00: Positioning complete
•
10 11: Continuous path control
11 00: Positioning complete
•
50 01: Continuous positioning control
51 00: Positioning complete
•
(2) Control examples
The following shows the control executed when the "start block data" of the 1st
point of axis 1 is set as shown in section (1) and started.
<1> Carry out the conditional judgment set in "condition data No. 5" for the axis 1
"positioning data No. 1".
Conditions not established Go to <2>.
Conditions established Go to <3>.
<2> Execute axis 1 "positioning data No. 1, 2, 3, 10, 11, 50, and 51", then go to
<1>.
<3> Execute axis 1 "positioning data No. 1, 2, 3, 10, 11, 50, and 51", then stop
the control.
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10.3.9 Restrictions when using the NEXT start
The "NEXT start" is a command indicating the end of the repetitions when executing
section "10.3.7 Repeated start (FOR loop)" and section "10.3.8 Repeated start (FOR
condition)".
The following shows the restrictions when setting "7: NEXT start" in the "start block
data".
(1) The processing when "7: NEXT start" is set before execution of "5: FOR loop" or
"6: FOR condition" is the same as that for a "0: normal start".
(2) Repeated processing will not be carried out if there is no "7: NEXT start"
command after the "5: FOR loop" or "6: FOR condition" command. (Note that an
"error" will not occur.)
(3) Nesting is not possible between "5: FOR loop" and "7: NEXT start", or between
"6: FOR condition" and "7: NEXT start". A warning "FOR to NEXT nesting
structure" (warning code: 506) will occur if nesting is attempted.
[Operating examples without nesting structure] [Operating examples with nesting structure]
Da.12 Special start Da.12 Special start
Start block data Start block data
command command
1st point Normal start 1st point Normal start
2nd point FOR 2nd point FOR
3rd point Normal start 3rd point Normal start
4th point NEXT 4th point FOR
5th point Normal start 5th point Normal start
6th point Normal start 6th point Normal start
7th point FOR 7th point NEXT
8th point Normal start 8th point Normal start
9th point NEXT 9th point NEXT
• •
• •
A warning will occur when starting the 4th
point "FOR".
The JUMP destination of the 7th point "NEXT"
is the 4th point. The 9th point "NEXT" is
processed as normal start.
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10.4 Setting the condition data
10.4.1 Relation between various controls and the condition data
"Condition data" is set in the following cases.
(1) When setting conditions during execution of section "9.2.11 JUMP command"
(main positioning control)
(2) When setting conditions during execution of "advanced positioning control"
The "condition data" to be set includes the 5 setting items from Da.14 to Da.18 , but
the setting requirements and details differ according to the control methods and setting
conditions.
The following shows the "condition data" " Da.14 Condition target" corresponding to
the different types of control.
(The "condition data" settings in this chapter are assumed to be carried out using the
AD75 software package.)
Control type Main positioning
Advanced positioning control
control
Da.14 Simultaneous Repeated start
Block start Wait start JUMP command
setting item start (For condition)
01H: Device X
02H: Device Y
03H: Buffer memory
(1 word)
04H: Buffer memory
(2 words)
05H: Positioning
data No.
: One of the setting items must be set.
: Setting not possible
REMARK
It is recommended that the "condition data" be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence programs
and devices. The execution becomes complicated, and the scan times will increase.
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The setting requirements and details of the following "condition data" Da.15 to
Da.18 setting items differ according to the " Da.14 Condition target" setting.
The following shows the Da.15 to Da.18 setting items corresponding to the " Da.14
Condition target".
Other setting item
Da.15 Da.16
Da.17 Parameter 1 Da.18 Parameter 2
Da.14 Condition operator Address
setting item
01H: Device X 07H : DEV=ON 0H to FH (bit No.)
– –
02H: Device Y 08H : DEV=OFF 10H to 1FH (bit No.)
03H: Buffer memory 01H : =P1
(1 word) 02H : ≠ P1
Buffer P2 (numeric value)
03H : ≤P1
memory P1 (numeric value) (Set only when Da.15 is
04H: Buffer memory 04H : ≥P1 address [05H] or [06H].)
(2 words) 05H : P1≤ ≤P2
06H : ≤P1 , P2 ≤
09H : Axis 1 designation
0AH : Axis 2 designation Low-order Axis 1 positioning Low-order Axis 3 positioning
0BH : Axis 1 and axis 2 16 bits data No. 16 bits data No.
designation
05H: Positioning data
0CH : Axis 3 designation —
No.
0DH : Axis 1 and axis 3
designation High-order Axis 2 positioning High-order
–
0EH : Axis 2 and axis 3 16 bits data No. 16 bits
designation
– : Setting not required (Setting value will be ignored. Use the initial value or a value within the setting range.)
: Value stored in buffer memory designated in Da.16 .
REMARK
The "PLC CPU memory area" can be designated as the buffer memory address to
be designated in " Da.16 ". (Refer to section "7.1.1 Configuration and roles of AD75
memory".)
AD75 buffer memory
Address 5050
5051
5099
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10.4.2 Condition data setting examples
The following shows setting examples for "condition data".
(1) Setting the device ON/OFF as a condition
[Condition] Device "X0" (=AD75 READY) is ON
Da.15
Da.14 Da.16 Da.17 Da.18
Condition
Condition target Address Parameter 1 Parameter 2
operator
01H: Device X 07H: DEV=ON – 0 –
(2) Setting the numeric value stored in the "buffer memory" as a
condition
[Condition]
The value stored in buffer memory addresses "800, 801" (=" Md.29 Current
feed value") is "1000" or larger.
Da.15
Da.14 Da.16 Da.17 Da.18
Condition
Condition target Address Parameter 1 Parameter 2
operator
04H: Buffer memory
03H: ≤ P1 800 1000 –
(2 words)
(3) Designating the axis and positioning data No. to be simultaneously
started in "simultaneous start"
[Condition]
Simultaneously starting "axis 2 positioning data No.3".
Da.15
Da.14 Da.16 Da.17 Da.18
Condition
Condition target Address Parameter 1 Parameter 2
operator
05H: Positioning 0AH: Axis 2 High-order 16
– –
data No. designation bits "0003H"
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10.5 Start program for advanced positioning control
10.5.1 Starting advanced positioning control
To execute advanced positioning control, a sequence program must be created to start
the control in the same manner as for main positioning control.
The following shows the procedure for starting the "1st point start block data"
(regarded as block No. 7000) set in axis 1.
AD75
Buffer memory Servo amplifier
4)
Control by designated
1) positioning data
7000
2) 1150
1
PLC CPU 1178
3)
ON
Input/output signal
* When carrying out a positioning start with the
Y10
next scan after a positioning operation is
completed, input signal X1 as an interlock so
that the start is carried out once the X1signal
turns OFF after the Y10 signal turns OFF.
1) Set "7000" in " Cd. 11 Positioning start No.".
(This establishes that the control as "advanced positioning control" using start block data.)
2) Set the point No. of the "start block data" to be started. (In this case "1".)
3) Turn ON the start signal.
4) The positioning data set in the "1st point start block data" is started.
Fig. 10.2 Advanced positioning control start procedure
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10.5.2 Example of a start program for advanced positioning control
The following shows an example of a start program for advanced positioning control in
which the 1st point "start block data" of axis 1 is started. (The block No. is regarded as
"7000".)
Control data that require setting
The following control data must be set to execute advanced positioning control.
The setting is carried out using a sequence program.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Set "7000" to indicate control using "start block
data".
Positioning start
Cd.11 7000 Note that "7000" to "7010" can be set when 1150 1200 1250
No.
setting the "7001" to "7010" data using the
AD75 software package.
Positioning Set the point No. of the "start block data" to be
Cd.31 1 1178 1228 1278
starting point No. started.
* Refer to section "5.7 List of control data" for details on the setting details.
Start conditions
The following conditions must be fulfilled when starting the control. The required
conditions must also be integrated into the sequence program, and configured so
the control does not start unless the conditions are fulfilled.
Device
Signal name Signal state
Axis 1 Axis 2 Axis 3
All axes servo ON signal ON Servo operation possible Y15
PLC READY signal ON PLC CPU preparation completed Y1D
AD75 READY signal OFF AD75 preparation completed X0
Interface Axis stop signal OFF Axis stop signal is OFF Y13 Y14 Y1C
signal Start complete signal OFF Start complete signal is OFF X1 X2 X3
BUSY signal OFF BUSY signal is OFF X4 X5 X6
Error detection signal OFF There is no error XA XB XC
M code ON signal OFF M code ON signal is OFF XD XE XF
Stop signal OFF Stop signal is OFF –
External
Upper limit (FLS) ON Within limit range –
signal
Lower limit (RLS) ON Within limit range –
Monitor Md.116 Servo
Servo ON ON Servo ON is ON
data status:b1
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Start time chart
The following chart shows a time chart in which the positioning data 1, 2, 10, 11,
and 12 of axis 1 are continuously executed as an example.
(a) Start block data setting example
Axis 1 start Da.11 Da.12 Special Da.13
Da.10 Shape
block data Start data No. start command Parameter
1st point 1: Continue 1 0: Normal start –
2nd point 0: End 10 0: Normal start –
•
•
(b) Positioning data setting example
Axis 1 position-
Da.1 Operation pattern
ing data No.
1 01: Continuous positioning control
2 00: Positioning complete
•
10 11: Continuous path control
11 11: Continuous path control
12 00: Positioning complete
•
(c) Start time chart
V
Operation pattern Dwell time Dwell time
Positioning data No. 10(11)
1(11)
2(00) 11(11)
12(00)
t
Positioning start signal [Y10]
PLC READY signal [Y1D]
AD75 READY signal [X0]
Start complete signal [X1]
BUSY signal [X4]
Positioning complete signal [X7]
Error detection signal [XA]
Cd.11 Positioning start No. 7000
Cd.31 Positioning starting point No. 1
1st point [buffer memory address 4300] -32767 (8001H)
2nd point [buffer memory address 4301] 10 (000AH)
Fig. 10.3 Start time chart for advanced positioning control (block start)
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Creating the program
Example
Set the start block data beforehand.
Positioning
start
command
PLS M104 Pulse the positioning start command.
M104 Y10 X1
TO H0 K1150 K7000 K1 Write the positioning data No. 7000
for block positioning.
TO H0 K1178 K1 K1 Write the positioning start point No.
SET Y10 Turn ON the positioning start signal.
Y10 : Positioning start signal
X1 : Start complete signal
M104 : Positioning start command pulse
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MEMO
10 - 24
Chapter 11
MANUAL CONTROL
The details and usage of manual control are explained in this chapter.
In manual control, pulse output commands are issued during a JOG operation executed
by the turning ON of the JOG START signal, or from a manual pulse generator
connected to the AD75.
Manual control using a sequence program from the PLC CPU is explained in this chapter.
Refer to the AD75 Software Package Operating Manual for an explanation of manual
control (JOG operation, manual pulse generator operation) using the AD75 software
package.
11.1 Outline of manual control ........................................................................................11- 2
11.1.1 Two manual control methods ....................................................................11- 2
11.2 JOG operation..........................................................................................................11- 4
11.2.1 Outline of JOG operation ...........................................................................11- 4
11.2.2 JOG operation execution procedure .........................................................11- 7
11.2.3 Setting the required parameters for JOG operation .................................11- 8
11.2.4 Creating start programs for JOG operation..............................................11- 10
11.2.5 JOG operation example............................................................................11- 13
11.3 Manual pulse generator operation .........................................................................11- 17
11.3.1 Outline of manual pulse generator operation...........................................11- 17
11.3.2 Manual pulse generator operation execution procedure .........................11- 21 11
11.3.3 Setting the required parameters for manual pulse generator operation
...................................................................................................................11- 22
11.3.4 Creating a program to enable/disable the manual pulse generator
operation ...................................................................................................11- 23
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11 MANUAL CONTROL
MELSEC-A
11.1 Outline of manual control
11.1.1 Two manual control methods
"Manual control" refers to control in which positioning data is not used, and a
positioning operation is carried out in response to signal input from an external source.
The two types of this "manual control" are explained below.
(1) JOG operation
"JOG operation" is a control method in which the machine is moved by only a
movement amount (movement continues while the JOG START signal is ON).
This operation is used to move the workpiece in the direction in which the limit
signal is ON, when the operation is stopped by turning the limit signal OFF to
confirm the positioning system connection and obtain the positioning data
address (refer to section "12.7.4 Teaching function").
Movement continues while
the JOG START signal is ON.
ON
OFF
JOG START signal
Fig. 11.1 JOG operation
(2) Manual pulse generator operation
"Manual pulse generator operation" is a control method in which positioning is
carried out in response to the No. of pulses input from a manual pulse generator.
This operation is used for manual fine adjustment, etc., when carrying out
accurate positioning to obtain the positioning address.
Movement in response to the
Position/speed position/speed commands
commands
AD75 M
Pulse input
Manual pulse generator
Fig. 11.2 Manual pulse generator control
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Manual control auxiliary functions
Refer to section "3.3.4 Combination of AD75 main functions and auxiliary
functions" for details on "auxiliary functions" that can be combined with manual
control. Also refer to "Chapter 12 CONTROL AUXILIARY FUNCTIONS" for details
on each auxiliary function.
Carrying out manual control from peripheral devices
"JOG operation" and enabling/disabling of the "manual pulse generator operation"
can be executed from the AD75 software package test mode.
Refer to the AD75 Software Package Operating Manual for details on manual
control from the AD75 software package.
Monitoring manual control
Refer to section "5.6 List of monitor data" when directly monitoring the buffer
memory using the GPP function software package.
Also refer to the AD75 Software Package Operating Manual when monitoring with
the monitor functions of the AD75 software package.
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11.2 JOG operation
11.2.1 Outline of JOG operation
Important
Use the hardware stroke limit function when carrying out JOG operation near the
upper or lower limits. (Refer to section 12.4.4).
* If the hardware stroke limit function is not used, the workpiece may exceed the
operating range, causing an accident.
JOG operation
In JOG operation, the Forward run JOG start signal (Y16, Y18, Y1A) or Reverse
run JOG start signal (Y17, Y19, Y1B) turns ON, causing position/speed commands
to be output to the servo amplifier from the AD75 while the signal is ON. The
workpiece is then moved in the designated direction.
The following shows examples of JOG operation.
When the START signal turns ON, acceleration begins in the direction designated by the
START signal, and continues for the acceleration time designated in " Pr.33 JOG
1)
operation acceleration time selection". At this time, the BUSY signal changes from OFF to
ON.
When the workpiece being accelerated reaches the speed set in " Cd.19 JOG speed",
2) the movement continues at this speed.
Constant speed operation takes place at 2) and 3).
When the START signal is turned OFF, deceleration begins from the speed set in
3) " Cd.19 JOG speed", and continues for the deceleration time designated in " Pr.34 JOG
operation deceleration time selection".
The operation stops when the speed becomes 0. At this time, the BUSY signal changes
4)
from ON to OFF.
Cd. 19 JOG speed
Acceleration for the acceleration Deceleration for the deceleration
time selected in Pr. 33 time selected in Pr. 34
Forward JOG run
1) 2) 3) 4)
Reverse JOG run
ON
PLC READY signal [Y1D] OFF
AD75 READY signal [X0] ON OFF
ON
Forward run JOG start signal
[Y16, Y18, Y1A] OFF
ON
Reverse run JOG start signal OFF
[Y17, Y19, Y1B] ON
BUSY signal [X4, X5, X6] OFF
Fig. 11.3 JOG operation
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Precautions during operation
The following details must be understood before carrying out JOG operation.
(1) For safety, first set " Cd.19 JOG speed" to a smaller value and check the
movement. Then gradually increase the value.
(2) If " Cd.19 JOG speed" exceeds the speed set in " Pr.32 JOG speed limit
value", the workpiece will move at the " Pr.32 JOG speed limit value" and a
warning "JOG speed limit value" (warning code: 301) will occur in the AD75.
(3) The JOG operation can be continued even if a warning "JOG speed limit
value" (warning code: 301) has occurred.
(4) A JOG start signal OFF ON immediately after the stop signal ON OFF
(within 56.8ms) will be ignored. (The operation will not start.)
Errors during operation
When the operation is stopped by the stroke limit (limit signal OFF), JOG operation
can be performed in the direction in which the limit signal turns ON after an error
reset. (An error will occur again if the JOG start signal in the direction in which the
limit signal turns OFF is turned ON.)
V
JOG operation
JOG operation possible JOG operation not possible
ON
Upper/lower
limit signal OFF
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JOG operation timing and processing time
The following drawing shows details of the JOG operation timing and processing
time.
ON
Forward run JOG start signal OFF
[Y16, Y18, Y1A] t2
Reverse run JOG start signal OFF
[Y17, Y19, Y1B]
ON
BUSY signal [X4, X5, X6] OFF
t1
t4
Md. 35 Axis operation status Standing by In JOG operation Standing by
t3
Position/speed command
Positioning operation
Positioning complete signal OFF
[X7, X8, X9]
Fig. 11.4 JOG operation timing and processing times
Normal timing times Unit: ms
t1 t2 t3 t4
1 to 60 0 to 3.5 6.5 to 10 0 to 3.5
• Delays may occur in the t1 timing time due to the following factors.
1) Whether a FROM/TO command is issued during start processing.
2) The operation status of other axes.
3) Whether there is intervention from a peripheral device during start
processing.
4) Details of the positioning data to be started.
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11.2.2 JOG operation execution procedure
The JOG operation is carried out by the following procedure.
Preparation STEP 1 * One of the following two methods can be used.
Set the parameters
)
Pr.1 to Pr.43 , Pr.100 to Pr.109 <Method 1>
Refer to Chapter 5
and section 11.2.3. Directly set (write) the parameters in the AD75 using the AD75
software package.
<Method 2>
Set (write) the parameters from the PLC CPU to the AD75 using
the sequence program (TO command).
* Using the GPP function software package, set the control data
STEP 2 Set the " Cd. 19 JOG speed". and create a sequence program for executing the JOG operation.
(Control data setting) (Set the control data in the AD75 buffer memory using the TO
Refer to section command.)
11.2.4.
Create a sequence program in which the "JOG start
signal" is turned ON by a JOG operation start command.
STEP 3 * Write the sequence program created in STEP 1 and
Write the sequence program to the PLC CPU. STEP 2 to the PLC CPU using the GPP function
Refer to Chapter 6. software package.
* Turn ON the JOG operation start command JOG start signal.
JOG operation STEP 4
start Turn ON the JOG start signal of the axis to be started. Axis 1 Axis 2 Axis 3
Forward run JOG start signal Y16 Y18 Y1A
Reverse run JOG start signal Y17 Y19 Y1B
STEP 5 * One of the following two methods can be used.
Monitoring of the Monitor the JOG operation status.
JOG operation <Method 1>
Monitor using the AD75 software package.
<Method 2>
Monitor using the GPP function software package.
STEP 6 * Stop the JOG operation when the JOG start signal is turned
JOG operation Turn OFF the JOG operation start signal that is ON. OFF using the sequence program in STEP 2.
stop
End of control
REMARK
• Mechanical elements such as limit switches are considered as already installed.
• Parameter settings work in common for all control using the AD75.
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11.2.3 Setting the required parameters for JOG operation
The "Parameters" must be set to carry out JOG operation.
The following table shows the setting items of the required parameters for carrying out
JOG operation. When only JOG operation will be carried out, no parameters other than
those shown below need to be set. (Use the initial values or setting values within a
range where no error occurs for trouble-free operation.)
Factory-set initial value
Setting item Setting requirement
(setting details)
Pr.1 Unit setting 3 (pulse)
Pr.2 No. of pulses per rotation (Ap) (Unit: pulse) 20000
Pr.3 Movement amount per rotation (Al) (Unit: pulse) 20000
Pr.4 Unit magnification (Am) 1 (1-fold)
Pr.7 Speed limit value (Unit: pulse/s) 200000
Pr.8 Acceleration time 0 (Unit: ms) 1000
Parameters
Pr.9 Deceleration time 0 (Unit: ms) 1000
Pr.10 Bias speed at start (Unit: pulse/s) 0
Pr.12 Backlash compensation amount (Unit: pulse) 0
Pr.13 Software stroke limit upper limit value (Unit: pulse) 2147483647
Pr.14 Software stroke limit lower limit value (Unit: pulse) –2147483648
Pr.15 Software stroke limit selection 0 (current feed value)
Pr.16 Software stroke limit valid/invalid setting 0 (invalid)
Pr.18 Torque limit setting value (Unit: %) 300
Pr.25 Size selection for acceleration/deceleration time 0 (1 word type)
: Setting always required.
: Set according to requirements (Leave set to the initial value when not used.)
REMARK
• Parameter settings work in common for all control using the AD75. When carrying
out other control ("main positioning control", "advanced positioning control", "zero
point return positioning control"), the respective setting items must also be
matched and set.
• Parameters are set for each axis.
• Refer to "Chapter 5 DATA USED FOR POSITIONING CONTROL" for setting
details.
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Factory-set initial value
Setting item Setting requirement
(setting details)
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.29 Deceleration time 1 (Unit: ms) 1000
Pr.30 Deceleration time 2 (Unit: ms) 1000
Pr.31 Deceleration time 3 (Unit: ms) 1000
Pr.32 JOG speed limit value 2000
Pr.33 JOG operation acceleration time selection 0 (acceleration time 0)
Pr.34 JOG operation deceleration time selection 0 (deceleration time 0)
0 (automatic trapezoidal
Pr.35 Acceleration/deceleration process selection acceleration/deceleration
processing)
Pr.36 S-pattern proportion 100
Pr.37 Sudden stop deceleration time 1000
Pr.38 Stop group 1 sudden stop selection 0 (deceleration stop)
Parameters
Pr.39 Stop group 2 sudden stop selection 0 (deceleration stop)
Pr.40 Stop group 3 sudden stop selection 0 (deceleration stop)
Pr.43 External start function selection 0 (positioning start)
Pr.100 Servo series 0 (MR-H-B (MR-H-BN))
0 (Absolute position detection
Pr.101 Amplifier setting
invalid)
0000H (External regenerative
brake option not used,
Pr.102 Regenerative brake resistor
external dynamic brake
invalid)
Pr.103 Motor type 0 (HA-SH Standard)
Pr.104 Motor capacity (unit: kW 100) 0
-3
Pr.105 Motor speed (unit: r/min 10 ) 1
Pr.106 Feedback pulse 0 (16384pulse)
0 (Forward run with
Pr.107 Rotation direction positioning address
increment)
1 (Auto tuning for ordinary
Pr.108 Auto tuning
operation)
Pr.109 Servo response setting 1 (Normal (low response))
: Setting always required.
: Set according to requirements (Leave set to the initial value when not used.)
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11.2.4 Creating start programs for JOG operation
A sequence program must be created to execute a JOG operation. Consider the
"required control data setting", "start conditions", "start time chart", and "device
settings" when creating the program.
The following shows an example when a JOG operation is started for axis 1. (" Cd.19
JOG speed" is set to "200.00mm/min" in the example shown.)
Required control data setting
The control data shown below must be set to execute a JOG operation. The
setting is carried out with the sequence program.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Set a value equal to or above the " Pr.10 Bias 1260
1160 1210
Cd.19 JOG speed 20000 speed at start" and equal to or below the
1161 1211 1261
" Pr.32 JOG speed limit value".
* Refer to section "5.7 List of control data" for details on the setting details.
Start conditions
The following conditions must be fulfilled when starting. The required conditions
must also be assembled in the sequence program, and the sequence program
must be configured so the operation will not start if the conditions are not fulfilled.
Device
Signal name Signal state
Axis 1 Axis 2 Axis 3
All axes servo ON signal ON Servo operation possible Y15
PLC READY signal ON PLC CPU preparation completed Y1D
AD75 READY signal OFF AD75 preparation completed X0
Interface Axis stop signal OFF Axis stop signal is OFF Y13 Y14 Y1C
signal Start complete signal OFF Start complete signal is OFF X1 X2 X3
BUSY signal OFF BUSY signal is OFF X4 X5 X6
Error detection signal OFF There is no error XA XB XC
M code ON signal OFF M code ON signal is OFF XD XE XF
Stop signal OFF Stop signal is OFF –
External
Upper limit (FLS) ON Within limit range –
signal
Lower limit (RLS) ON Within limit range –
Monitor Md.116 Servo
Servo ON ON Servo ON is ON
data status:b1
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Start time chart
Forward
JOG run
t
Reverse JOG run
ON
Forward run JOG start signal [Y16] OFF
ON
Reverse run JOG start signal [Y17] OFF
ON
PLC READY signal [Y1D] OFF
AD75 READY signal [X0] ON
OFF
ON
OFF
BUSY signal [X4]
OFF
Error detection signal [XA]
Fig. 11.5 JOG operation start time chart
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Creating the program
Example
*
* No. 12 JOG operation program
*
<JOG operation speed setting>
<JOG operation speed write>
<In JOG flag ON>
<JOG operation completed>
<Forward run JOG operation execution>
<Reverse run JOG operation execution>
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11.2.5 JOG operation example
When the "stop signal" is turned ON during JOG operation
When the "stop signal" is turned ON during JOG operation, the JOG operation will
stop by the "deceleration stop" method.
JOG start signals will be ignored while the stop signal is ON.
The operation can be started by turning the stop signal OFF, and turning the JOG
start signal from OFF to ON again.
A JOG start signal OFF → ON
while the stop signal is ON will be ignored.
ON
PLC READY signal [Y1D] OFF
ON
AD75 READY signal [X0] OFF
ON
Forward run JOG start signal OFF
[Y16, Y18, Y1A]
ON
Axis stop signal OFF
[Y13, Y14, Y1C]
ON
BUSY signal [X4, X5, X6] OFF
Fig. 11.6 Operation when the stop signal is turned ON during JOG operation
POINT
The AD75 will not receive a "JOG start signal" while the "stop signal" is ON.
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When both the "forward run JOG start signal" and "reverse run JOG start
signal" are turned ON simultaneously for one axis
When both the "forward run JOG start signal" and "reverse run JOG start signal"
are turned ON simultaneously for one axis, the "forward run JOG start signal" is
given priority. In this case, the "reverse run JOG start signal" is validated when the
AD75 BUSY signal is turned OFF.
Forward run JOG operation
Reverse run JOG operation
ON
Forward run JOG start signal OFF
[Y16, Y18, Y1A]
ON
OFF
Reverse run JOG start signal
[Y16, Y18, Y1B]
The reverse run JOG
start signal is ignored.
ON
BUSY signal [X4, X5, X6]
OFF
Fig. 11.7 Operation when both the forward run JOG start signal and reverse run JOG start signal are
turned ON simultaneously
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When the "JOG start signal" is turned ON again during deceleration caused
by the ON OFF of the "JOG start signal"
When the "JOG start signal" is turned ON again during deceleration caused by the
ON OFF of the "JOG start signal", the JOG operation will be carried out from the
time the "JOG start signal" is turned ON.
Forward JOG operation
ON
Forward JOG start
OFF
signal [Y16, Y18, Y1A]
ON
BUSY signal
[X4, X5, X6] OFF
Fig. 11.8 Operation when the JOG start signal is turned ON during deceleration
When the "JOG start signal" is turned ON during a peripheral device test
mode
When the "JOG start signal" is turned ON during a peripheral device test mode, it
will be ignored and the JOG operation will not be carried out.
Forward run JOG
JOG operation not JOG operation not possible operation execution
possible because because this is not the
the operation is rising edge of the JOG
in the test mode start signal
ON
In test mode OFF
ON
Forward JOG start signal OFF
[Y16, Y18, Y1A]
Fig. 11.9 Operation when the JOG start signal is turned ON during a test mode
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When the "JOG start signal" is turned ON immediately after the stop signal
OFF (within 56.8ms)
When the "JOG start signal" is turned ON immediately after the stop signal OFF
(within 56.8ms), it will be ignored and the JOG operation will not be carried out.
Forward run JOG operation
ON
Forward run JOG start signal OFF
[Y16, Y18, Y1A]
ON
Axis stop signal OFF
[Y13, Y14, Y1C]
56.8ms
A JOG start signal OFF →
ON while the stop signal is
ON will be ignored.
Fig. 11.10 Operation when the JOG start signal is turned ON immediately after the stop signal OFF
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11.3 Manual pulse generator operation
11.3.1 Outline of manual pulse generator operation
Important
Create the sequence program so that " Cd.22 Manual pulse generator enable flag"
is always set to "0" (disabled) when a manual pulse generator operation is not
carried out.
* Mistakenly touching the manual pulse generator when the manual pulse
generator enable flag is set to "1" (enable) can cause accidents or incorrect
positioning.
Manual pulse generator operation
In manual pulse generator operation, pulses are input to the AD75 from the
manual pulse generator to output the position/speed command from the AD75 to
the servo amplifier by the number of input pulses, moving the work piece in the
designated direction.
The following shows and example of manual pulse generator operation.
When the " Cd.22 Manual pulse generator enable flag" is set to "1", the BUSY signal
1)
turns ON and the manual pulse generator operation is enabled.
The workpiece is moved corresponding to the No. of pulses input from the manual pulse
2)
generator.
The workpiece movement stops when no more pulses are input from the manual pulse
3)
generator.
When the " Cd.22 Manual pulse generator enable flag" is set to "0", the BUSY signal
4)
turns OFF and the manual pulse generator operation is disabled.
Manual pulse
generator
operation stops *1
t
1) 2) 3) 4)
Cd 22 Manual pulse
generator enable flag 0 1 0
ON
BUSY signal [X4, X5, Y6] OFF
Manual pulse
generator input
Positioning start complete OFF
signal*2 [X1, X2, X3]
Manual pulse generator operation enabled
[Precautions]
*1 When the input from the manual pulse generator stops, the output of the position/speed command
to the servo amplifier is completed with a delay of one control cycle time (120 to 180ms).
*2 The start complete signal does not turn ON in manual pulse generator operation.
Fig. 11.11 Manual pulse generator operation
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Restricted items
A manual pulse generator is required to carry out manual pulse generator
operation.
Precautions during operation
The following details must be understood before carrying out manual pulse
generator operation.
(1) The speed during manual pulse generation operation is not limited by the
" Pr.7 Speed limit value".
(2) If the " Cd.22 Manual pulse generator enable flag" is turned ON while the
AD75 is BUSY (BUSY signal ON), a warning "Start during operation" (warning
code: 100) will occur.
(3) If a stop factor occurs during manual pulse generator operation, the operation
will stop, and the BUSY signal will turn OFF.
At this time, the " Cd.22 Manual pulse generator enable flag" will be left ON,
but manual pulse generator operation will not be possible. To carry out manual
pulse generator operation again, measures must be carried out to eliminate
the stop factor. Once eliminated, the operation can be carried out again by
turning the " Cd.22 Manual pulse generator enable flag" ON OFF ON.
(4) Position/speed commands will not be output if an error occurs when the
manual pulse generator operation starts.
(5) The pulses input from the manual pulse generator are multiplied by 4.
REMARK
• One AD75 module can be connected to each manual pulse generator axis.
• The AD75 module can simultaneously output position/speed commands to the axis
1 to axis 3 servo amplifiers units by one manual pulse generator.
(1-axis to 3-axis simultaneous operation is possible.)
Errors during operation
When the operation is stopped by the stroke limit (limit signal OFF), manual pulse
generator operation can be performed in the direction in which the limit signal turns
ON after an error reset. (An error will occur again if pulse input is provided in the
direction in which the limit signal turns OFF is turned ON.)
V
Manual pulse
generator operation
Manual pulse generator Manual pulse generator
operation possible operation not possible
ON
Upper/lower
limit signal OFF
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Manual pulse generator operation timing and processing time
The following drawing shows details of the manual pulse generator operation
timing and processing time.
Cd. 22 Manual pulse generator 0 1 0
enable flag
t3
t4
Manual pulse generator input
pulses
t1
BUSY signal [X4,X5,X6]
Positioning start complete The start complete signal does not turn ON in manual pulse generator operation.
signal [X1, X2, X3]
Md. 35 Axis operation status Standing by In manual pulse generator operation Standing by
t2
Position/speed command
Positioning operation
Fig. 11.12 Manual pulse generator operation timing and processing times
Normal timing times Unit : ms
t1 t2 t3 t4
1 to 60 0 to 60 120 to 180 1 to 60
• Delays may occur in the t1 timing time due to the following factors.
1) Whether a FROM/TO command is issued during start processing.
2) The operation status of other axes.
3) Whether there is intervention from a peripheral device during processing
the start process.
4) Details of the positioning data to be started.
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Position control by manual pulse generator operation
The command output during manual pulse generator operation is as follows.
[No. of command pulses] = [No. of manual pulse generator input pulse] ×
[ Cd.23 Manual pulse generator 1 pulse input magnification]
[Command speed*] = [Manual pulse generator input frequency] ×
[ Cd.23 Manual pulse generator 1 pulse input magnification]
*: When the manual pulse generator input frequency changes, the new frequency will
apply after a maximum of 180ms delay.
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11.3.2 Manual pulse generator operation execution procedure
The manual pulse generator operation is carried out by the following procedure.
Preparation STEP 1 Set the parameters * One of the following two methods can be used.
)
Pr.1 to Pr.23 , Pr.100 to Pr.109 <Method 1>
Refer to Chapter 5
and section 11.3.3. Directly set (write) the parameters in the AD75 using the
AD75 software package.
<Method 2>
Set (write) the parameters from the PLC CPU to the AD75
using the sequence program (TO command).
* Using the GPP function software package, set the control
STEP 2 Set " Cd. 23 Manual pulse generator 1 pulse input
data and create a sequence program to enable/disable
Refer to section magnification". (control data setting)
the manual pulse generator operation. (Set the control data
11.3.4.
in the AD75 buffer memory using the TO command.)
Create a sequence program in which the enable/disable is
set for the manual pulse generator operation.
(" Cd. 22 Manual pulse generator enable flag" setting.)
STEP 3 * Write the sequence program created in STEP 1 and
Write the sequence program to the PLC CPU. STEP 2 to the PLC CPU using the GPP function
software package.
Manual pulse STEP 4 Issue a command to enable the manual pulse generator * Write "1" in " Cd.22 Manual pulse generator enable
generator operation operation, and input the signals from the manual pulse
generator.
flag", and operate the manual pulse generator.
start
Monitoring of the STEP 5 * One of the following two methods can be used.
manual pulse Monitor the manual pulse generator operation. <Method 1>
generator operation Monitor using the AD75 software package.
<Method 2>
Monitor using the GPP function software package.
Manual pulse STEP 6 * Stop operating the manual pulse generator, and write "0"
End the input from the manual pulse generator,
generator operation and issue a command to disable the manual pulse in " Cd. 22 Manual pulse generator enable flag".
stop
End of control
REMARK
• Mechanical elements such as limit switches are considered as already installed.
• Parameter settings work in common for all control using the AD75.
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11.3.3 Setting the required parameters for manual pulse generator operation
The "Parameters" must be set to carry out manual pulse generator operation.
The following table shows the setting items of the required parameters for carrying out
manual pulse generator operation. When only manual pulse generator operation will
be carried out, no parameters other than those shown below need to be set. (Use the
initial values or setting values within a range where no error occurs for trouble-free
operation.)
Factory-set initial value
Setting item Setting requirement
(setting details)
Pr.1 Unit setting 3 (pulse)
Pr.2 No. of pulses per rotation (Ap) (Unit: pulse) 20000
Pr.3 Movement amount per rotation (Al) (Unit: pulse) 20000
Pr.4 Unit magnification (Am) 1 (1-fold)
Pr.12 Backlash compensation amount (Unit: pulse) 0
Pr.13 Software stroke limit upper limit value (Unit: pulse) 2147483647
Pr.14 Software stroke limit lower limit value (Unit: pulse) –2147483648
Pr.15 Software stroke limit selection 0 (current feed value)
Pr.16 Software stroke limit valid/invalid setting 0 (invalid)
Pr.18 Torque limit setting value (Unit: pulse) 300
Axis 1 = 1, axis 2 = 2,
Pr.23 Manual pulse generator selection
axis 3 = 3
Parameters
Pr.100 Servo series 0 (MR-H-B (MR-H-BN)
0 (Absolute position detection
Pr.101 Amplifier setting
invalid)
0000H(External regenerative
brake option not used,
Pr.102 Regenerative brake resistor
external dynamic brake
invalid)
Pr.103 Motor type 0 (HA-SH Standard)
Pr.104 Motor capacity (unit: kW 100) 0
-3
Pr.105 Motor speed (unit: r/min 10 ) 1
Pr.106 Feedback pulse 0 (16384pulse)
0 (Forward run with
Pr.107 Rotation direction positioning address
increment)
1 (Auto tuning for ordinary
Pr.108 Auto tuning
operation)
Pr.109 Servo response setting 1 (Normal (low response))
: Setting always required.
: Set according to requirements (Leave set to the initial value when not used.)
REMARK
• Parameter settings work in common for all control using the AD75. When carrying
out other control ("main positioning control", "advanced positioning control", "zero
point return positioning control"), the respective setting items must also be
matched and set.
• Parameters are set for each axis.
• Refer to "Chapter 5 DATA USED FOR POSITIONING CONTROL" for setting
details.
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11.3.4 Creating a program to enable/disable the manual pulse generator operation
A sequence program must be created to execute a manual pulse generator operation.
Consider the "required control data setting", "start conditions", "start time chart", and
"device settings" when creating the program.
The following shows an example when a manual pulse generator operation is started
for axis 1.
Required control data setting
The control data shown below must be set to execute a manual pulse generator
operation. The setting is carried out with the sequence program.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Set "1: Enable manual pulse generator
Manual pulse
operation". (Set "0: Disable manual pulse
Cd.22 generator enable 1 (0) 1167 1217 1267
generator operation" when finished with the
flag
manual pulse generator operation.)
Manual pulse
Set the manual pulse generator 1 pulse input 1168 1218 1268
Cd.23 generator 1 pulse 1
magnification. 1169 1219 1269
input magnification
* Refer to section "5.7 List of control data" for details on the setting details.
Conditions for enabling manual pulse generator operation
The following conditions must be satisfied to enable manual pulse generator
operation. The required conditions must also be assembled in the sequence
program, and the sequence program must be configured so the operation will not
start if the conditions are not fulfilled.
Device
Signal name Signal state
Axis 1 Axis 2 Axis 3
All axes servo ON signal ON Servo operation possible Y15
PLC READY signal ON PLC CPU preparation completed Y1D
AD75 READY signal OFF AD75 preparation completed X0
Interface Axis stop signal OFF Axis stop signal is OFF Y13 Y14 Y1C
signal Start complete signal OFF Start complete signal is OFF X1 X2 X3
BUSY signal OFF BUSY signal is OFF X4 X5 X6
Error detection signal OFF There is no error XA XB XC
M code ON signal OFF M code ON signal is OFF XD XE XF
Stop signal OFF Stop signal is OFF –
External
Upper limit (FLS) ON Within limit range –
signal
Lower limit (RLS) ON Within limit range –
Monitor Md.116 Servo
Servo ON ON Servo ON is ON
data status:b1
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Start time chart
Forward run
Reverse run
Pulse input A phase
Pulse input B phase
ON
PLC READY signal [Y1D] OFF
ON
OFF
AD75 READY signal [X0]
Start complete signal [X1] OFF
ON
BUSY signal [X4] OFF
Error detection signal [XA] OFF
Cd. 22 Manual pulse generator 0 1 0
enable flag
Cd. 23 Manual pulse generator 1
1 pulse input magnification
Fig. 11.13 Manual pulse generator operation start time chart
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11 MANUAL CONTROL
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Creating the program
Example
*
* No.13 Manual pulse generator operation program
*
<Manual pulse generator operation
command pulse>
<Manual pulse generator 1 pulse input
magnification setting>
<Manual pulse generator 1 pulse input
magnification write>
<Manual pulse generator operation
enable write>
<Manual pulse generator operating flag ON>
<Manual pulse generator operation
disable command pulse>
<Manual pulse generator operation
disable write>
<Manual pulse generator operating
flag OFF>
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11 MANUAL CONTROL
MELSEC-A
MEMO
11 - 26
Chapter 12
CONTROL AUXILIARY FUNCTIONS
The details and usage of the "auxiliary functions" added and used in combination with
the main functions are explained in this chapter.
A variety of auxiliary functions are available, including functions specifically for machine
zero point returns and generally related functions such as control compensation, etc.
More appropriate, finer control can be carried out by using these auxiliary functions.
Each auxiliary function is used together with a main function by creating matching
parameter settings and sequence programs. Read the execution procedures and
settings for each auxiliary function, and set as required.
12.1 Outline of auxiliary functions ...................................................................................12- 2
12.1.1 Outline of auxiliary functions......................................................................12- 2
12.2 Auxiliary functions specifically for machine zero point returns...............................12- 4
12.2.1 Zero point return retry function ..................................................................12- 4
12.2.2 Zero point shift function ............................................................................12- 10
12.3 Functions for compensating the control.................................................................12- 13
12.3.1 Backlash compensation function..............................................................12- 13
12.3.2 Electronic gear function ............................................................................12- 15
12.3.3 Near pass mode function..........................................................................12- 20
12.3.4 Follow up processing function ..................................................................12- 24
12.4 Functions to limit the control...................................................................................12- 25
12.4.1 Speed limit function...................................................................................12- 25
12.4.2 Torque limit function..................................................................................12- 27
12.4.3 Software stroke limit function....................................................................12- 30
12.4.4 Hardware stroke limit function ..................................................................12- 36
12.4.5 Servo ON/OFF function ............................................................................12- 38
12.5 Functions to change the control details .................................................................12- 43
12.5.1 Speed change function .............................................................................12- 43
12.5.2 Override function.......................................................................................12- 50
12.5.3 Acceleration/deceleration time change function ......................................12- 53
12.5.4 Torque change function ............................................................................12- 56
12.6 Absolute position restoration function ....................................................................12- 58
12.6.1 Outline of absolute position restoration function ......................................12- 58 12
12.6.2 Absolute position restoration mode switching function............................12- 65
12.7 Other functions........................................................................................................12- 70
12.7.1 Step function .............................................................................................12- 70
12.7.2 Skip function..............................................................................................12- 75
12.7.3 M code output function..............................................................................12- 78
12.7.4 Teaching function......................................................................................12- 82
12.7.5 Command in-position function ..................................................................12- 92
12.7.6 Acceleration/deceleration processing function.........................................12- 95
12.7.7 Indirectly specification function .................................................................12- 99
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12.1 Outline of auxiliary functions
"Auxiliary functions" are functions that compensate, limit, add functions, etc., to the
control when the main functions are executed. These auxiliary functions are executed
by parameter settings, commands from the AD75 software package, auxiliary function
sequence programs, etc.
12.1.1 Outline of auxiliary functions
The following table shows the types of auxiliary functions available.
Auxiliary function Details
This function retries the machine zero point return with the upper/lower limit
Functions Zero point return retry switches during machine zero point return. This allows machine zero point
characteristic function return to be carried out even if the axis is not returned to before the near-
to machine point dog with JOG operation, etc.
zero point After returning to the machine zero point, this function offsets the position by
return Zero point shift function the designated distance from the machine zero point position and sets that
position as the zero point address.
This function compensates the mechanical backlash. Position/speed
Backlash compensation
commands equivalent to the set backlash amount are output each time the
function
movement direction changes.
By setting the movement amount per pulse, this function can freely change
Functions that Electronic gear function the machine movement amount per commanded pulse.
compensate When the movement amount per pulse is set, a flexible positioning system
control that matches the machine system can be structured.
This function suppresses the machine vibration when the speed changes
Near pass mode function
during continuous path control in the interpolation control.
Follow up processing This function monitors the rotation amount (real current value) of the motor in
function a servo OFF status and reflects it on the current feed value.
If the command speed exceeds " Pr.7 Speed limit value" during control,
Speed limit function this function limits the commanded speed to within the " Pr.7 Speed limit
value" setting range.
If the torque generated by the servomotor exceeds " Pr.18 Torque limit
Torque limit function setting value" during control, this function limits the generated torque to
within the " Pr.18 Torque limit setting value" setting range.
Functions that
limit control If a command outside of the upper/lower limit stroke limit setting range, set in
Software stroke limit
the parameters, is issued, this function will not execute positioning for that
function
command.
Hardware stroke limit This function carries out deceleration stop with the limit switch connected to
function the AD75 external device connection connector.
This function makes the servo operable (servo ON) or inoperable (servo
Servo ON/OFF function
OFF). (Free run status at servo OFF.)
This function changes the speed during positioning.
Set the changed speed in the speed change buffer memory ( Cd.16 New
Speed change function
speed value), and change the speed with the speed change request
( Cd.17 Speed change request).
Functions that This function changes the speed within a percentage of 1 to 300% during
change control
Override function positioning. This is executed using " Cd.18 Positioning operation speed
details
override".
Acceleration/deceleration This function changes the acceleration/deceleration time during speed
time change function change.
Torque change function This function changes the "torque limit value" during control.
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12 CONTROL AUXILIARY FUNCTIONS
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Auxiliary function Details
1
Absolute position restoration function* This function restores the absolute position of the specified axis.
This function temporarily stops the operation to confirm the positioning
operation during debugging, etc.
Step function
The operation can be stopped at each "automatic deceleration" or
"positioning data".
This function stops the positioning being executed (decelerates to a stop)
Skip function
when the skip signal is input, and carries out the next positioning.
This function issues an auxiliary work (clamp or drill stop, tool change, etc.)
M code output function
according to the code No. (0 to 32767) set for each positioning data.
This function stores the address positioned with manual control into the
Teaching function positioning address ( Da.5 Positioning address/movement amount) having
Other functions
the designated positioning data No.
At each automatic deceleration, this function calculates the remaining
distance for the AD75 to reach the positioning stop position, and when the
Command in-position
value is less than the set value, sets the "command in-position flag".
function
When using another auxiliary work before ending the control, use this
function as a trigger for the auxiliary work.
Acceleration/deceleration
This function adjusts the control acceleration/deceleration.
process function
Indirectly specification
This function specifies indirectly and starts the positioning data No.
function
*1 The "servomotor with absolute position detector that can configure an absolute position detection system" is required.
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12.2 Auxiliary functions specifically for machine zero point returns
The auxiliary functions specifically for machine zero point returns include the "zero
point retry function" and "zero point shift function". Each function is executed by
parameter setting.
12.2.1 Zero point return retry function
When the workpiece goes past the zero point without stopping during positioning
control, it may not move back in the direction of the zero point although a machine zero
point return is commanded, depending on the workpiece position. This normally means
the workpiece has to be moved to a position before the near-point dog by a JOG
operation, etc., to start the machine zero point return again. However, by using the
zero point return retry function, a machine zero point return can be carried out
regardless of the workpiece position.
The details shown below explain about the "zero point return retry function".
(1) Control details
(2) Precautions during control
(3) Setting the zero point return retry function
(1) Control details
The following drawing shows the operation of the zero point return retry function.
(a) Zero point return retry operation when the workpiece is within the range
between the upper and lower limits.
1) The movement starts in the " Pr.46 Zero point return direction" by a machine zero point return start.
2) The operation decelerates when the limit signal OFF is detected.
3) After stopping due to the limit signal OFF detection, the operation moves at the " Pr.48 Zero point return
speed" in the opposite direction of the " Pr.46 Zero point return direction".
4) The operation decelerates when the near-point dog turns OFF.
5) After stopping due to the near-point dog OFF, a machine zero point return is carried out in the " Pr.46
Zero point return direction".
6) The movement stops at the zero point, completing the machine zero point return.
2)
5) 1)
6) 3)
4)
ON Limit signal OFF
Near-point dog
Zero point
Fig. 12.1 Zero point return retry operation by limit signal detection
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(b) Zero point return retry operation when the workpiece is outside the range
between the upper and lower limits.
1) When the direction from the workpiece to the zero point is the same as the " Pr.46 Zero point
return direction", a normal machine zero point return is carried out.
Machine zero point return start Zero point
Pr.46 Zero point return direction
Lower limit Upper limit
Near-point dog
Zero point
Movement range
2) When the direction from the workpiece to the zero point is the opposite direction from the
" Pr.46 Zero point return direction", the operation carries out a deceleration stop when the near-
point dog turns OFF, and then carries out a machine zero point return in the direction set in
" Pr.46 Zero point return direction".
Machine zero point return start
Zero point
Pr.46 Zero point return direction
Lower limit Upper limit
Near-point dog
Zero point
Movement range
Fig. 12.2 Zero point return retry operation from on limit (limit signal OFF)
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(c) Zero point return retry operation performed when the zero point is not
passed in the near-point dog method
1) The machine starts moving in the " Pr.46 Zero point return direction" by a machine zero point
returns start.
2) The machine decelerates to the " Pr.49 Creep speed" when the near-point dog turns ON.
3) The machine decelerates to a stop when the near-point dog turns OFF.
4) The machine further moves in the " Pr.46 Zero point return direction" at the " Pr.48 Zero point
return speed".
5) The machine stops when the upper/lower limit signal turns OFF.
2) 5)
1) 3)
4)
ON Limit signal OFF
Near-point dog
Zero point
1 motor revolution
6) The machine moves at the " Pr.48 Zero point return speed" in the direction opposite to the
" Pr.46 Zero point return direction".
7) The machine stops when the near-point dog turns OFF.
8) A machine zero point return is carried out again. (Zero point return retry operation)
8)
6)
7)
ON Limit signal OFF
Near-point dog
Zero point
Fig. 12. 3 Zero point return retry operation performed when the zero point is not passed in the near-
point dog method
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(d) Setting the dwell time for a zero point return retry
With the zero point return retry function, the dwell time can be set for
reverse run operation started at detection of the upper/lower limit signal and
for a machine zero point return executed after a stop by near-point dog OFF
when a zero point return retry is made.
" Pr.58 Dwell time during zero point return retry" is made valid when the
operation stops in position "A" of the following figure. (The dwell times in
positions A and B are the same values.)
Pr.46 Zero point return direction Stop by limit
Machine zero point return
executed again signal detection
B Zero point A
Machine zero point
return start
Stop by near-point
dog OFF Reverse run operation
after limit signal detection
Near-point dog Limit signal OFF
Zero point
Fig. 12.4 Setting the dwell time during a zero point return retry
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(2) Precaution during control
(a) The following table shows whether the zero point return retry function may
be executed by the " Pr.45 Zero point return method".
Pr.45 Zero point return method Execution status of zero point return retry function
Near-point dog method : Execution possible*1
Near-point dog method 2) : Execution possible*2
Count method 1) : Execution possible*3
Count method 2) : Execution possible
Count method 3) : Execution possible
Data setting method : Execution not possible
*1: In the case of the AD75 whose software version is "P" or earlier, if the zero point is not
passed between a machine zero point return start and the near-point dog OFF, the machine
decelerates to a stop due to an error "zero point not pass at zero point return" (error code:
210), and the zero point return retry function is not executed.
*2: When the zero point is not passed between a machine zero point return start and the near-
point dog OFF, the operation performed when the zero point is not passed is performed if the
zero point return retry function is made valid.
Refer to section 8.2.4 for the operation of the near-point dog method 2).
*3: If the zero point is not passed between a machine zero point return start and the near-point
dog OFF, the machine decelerates to a stop due to an error "zero point not pass at zero
point return" (error code: 210), and the zero point return retry function is not executed.
(b) Always establish upper/lower limit switches at the upper/lower limit positions
of the machine, and connect an AD75 module. If the zero point return retry
function is used without hardware stroke limit switches, the motor will
continue rotation until a hardware stroke limit signal is detected.
(c) Always wire AD75 upper/lower limit switches even when the zero point
return function is invalidated. Control cannot be carried out with the AD75
unless the wiring is carried out.
(d) Do not carry out settings so that the servo amplifier power turns OFF by the
upper/lower limit switches connected to the AD75. If the servo amplifier
power is turned OFF, the zero point return retry cannot be carried out.
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(3) Setting the zero point return retry function
To use the "zero point return retry function", set the required details in the
parameters shown in the following table, and write them to the AD75.
When the parameters are set, the zero point return retry function will be added to
the machine zero point return control. The set details are validated at the rising
edge (OFF ON) of the PLC READY signal (Y1D). Set " Pr.58 Dwell time
during zero point return retry" according to the user's requirements.
Setting Factory-set
Setting item Setting details
value initial value
Zero point return Set "1: Carry out zero point return retry by limit
Pr.50 1 0
retry switch".
Dwell time during Set the deceleration stop time during zero point
Pr.58 zero point return return retry. 0
retry (Random value between 0 and 65535 (ms))
* Refer to section "5.2 List of parameters" for setting details.
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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12.2.2 Zero point shift function
When a machine zero point return is carried out, the zero point is normally established
using the near-point dog and zero point. However, by using the zero point shift
function, the machine can be moved a designated movement amount from the position
where the zero point was detected. A mechanically established zero point can then be
interpreted at that point.
The zero point shift function can be used without relation to " Pr.45 Zero point return
method".
The details shown below explain about the "zero point shift function".
(1) Control details
(2) Setting range for the zero point shift amount
(3) Movement speed during zero point shift
(4) Precautions during control
(5) Setting the zero point shift function
(1) Control details
The following drawing shows the operation of the zero point shift function.
Pr.46 Zero point return direction
Pr.48 Zero point return speed Speed selected by the " Pr.57
speed designation during
zero point shift"
Machine zero point return start Pr.49 Creep speed
Pr.55 Zero point shift amount
Shift operation is carried out.
Near-point dog
Zero point
Fig. 12.5 Zero point shift operation
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(2) Setting range for the zero point shift amount
Set the zero point shift amount within the range from the detected zero point to
the upper/lower limit switches.
Setting range of the
negative zero point
shift amount Setting range of the positive zero point shift amount
Address decrease Address increase
direction direction
Near-point dog
Lower limit Upper limit
Pr. 46 Zero point return direction
Zero point
Fig. 12.6 Setting range for the zero point shift amount
(3) Movement speed during zero point shift
When using the zero point shift function, the movement speed during the zero
point shift is set in " Pr.57 Speed designation during zero point shift". The
movement speed during the zero point shift is selected from either the " Pr.48
Zero point return speed" or the " Pr.49 Creep speed".
The following drawings show the movement speed during the zero point shift
when a machine zero point return is carried out by the near-point dog method.
(a) Zero point shift operation at the " Pr.48 Zero point return speed"
Pr.46 Zero point
return direction Pr.48 Zero point
return speed
When the " Pr.55 Zero point
shift amount" is positive
Zero point
Machine zero point
return start When the " Pr.55 Zero opoint
shift amount" is negative
Near-point dog
Zero point
Fig. 12.7 Zero point shift operation at the zero point return speed
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(b) Zero point shift operation at the " Pr.49 Creep speed"
Pr.46 Zero point
return direction
When the " Pr.55 Zero point
Pr.49 Creep speed
shift amount" is positive
Zero point
Zero point
Machine zero point
return start When the " Pr.55 Zero point
shift amount" is negative
Near-point dog
Zero point
Fig. 12.8 Zero point shift operation at the creep speed
(4) Precautions during control
The following data are set after the zero point shift amount is complete.
• Zero point return request flag ( Md.40 Status: b3)
• Zero point return complete flag ( Md.40 Status: b4)
• Md.29 Current feed value
• Md.30 Machine feed value
• Md.35 Axis operation status
• Md.44 Movement amount after near-point dog ON (" Pr.55 Zero point shift
amount" is not added.)
(5) Setting the zero point shift function
To use the "zero point shift function", set the required details in the parameters
shown in the following table, and write them to the AD75.
When the parameters are set, the zero point shift function will be added to the
machine zero point return control. The set details are validated at the rising edge
(OFF ON) of the PLC READY signal (Y1D).
Setting Factory-set
Setting item Setting details
value initial value
Zero point shift
Pr.55 Set the shift amount during the zero point shift. 0
amount
Speed designation Select the speed during the zero point shift
Pr.57 during zero point 0: Pr.48 Zero point return speed 0
shift 1: Pr.49 Creep speed
* Refer to "5.2 List of parameters" for setting details.
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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12.3 Functions for compensating the control
The auxiliary functions for compensating the control include the "backlash
compensation function", "electronic gear function", and "near pass mode function".
Each function is executed by parameter setting or sequence program creation and
writing.
12.3.1 Backlash compensation function
The "backlash compensation function" compensates the backlash amount in the
mechanical system. When the backlash compensation amount is set, an extra amount
of position/speed commands equivalent to the set backlash amount is output every
time the movement direction changes.
The details shown below explain about the "backlash compensation function".
(1) Control details
(2) Precautions during control
(3) Setting the backlash compensation function
(1) Control details
The following drawing shows the operation of the backlash compensation
function.
Worm gear
Workpiece
Pr.12 Backlash compensation amount
Fig. 12.9 Backlash compensation amount
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12 CONTROL AUXILIARY FUNCTIONS
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(2) Precautions during control
(a) The position/speed commands of the backlash compensation amount are
not added to the " Md.29 Current feed value" or " Md.30 Machine feed
value".
(b) Always carry out a machine zero point return before starting the control
when using the backlash compensation function (when " Pr.12 Backlash
compensation amount" is set). The backlash in the mechanical system
cannot be correctly compensated if a machine zero point return is not
carried out.
(c) Set one backlash compensation (value in which the " Pr.12 Backlash
compensation amount" is divided by the "movement amount per pulse") to a
value of 255 or less. A "setting error" will occur if 255 is exceeded.
(Depending on the connected servo, tracking may not be possible if the
backlash compensation is large.)
Backlash compensation amount
0≤ ≤ 255
Movement amount per pulse
(Omit values after the decimal point.)
(3) Setting the backlash compensation function
To use the "backlash compensation function", set the "backlash compensation
amount" in the parameter shown in the following table, and write it to the AD75.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y1D).
Setting Factory-set
Setting item Setting details
value initial value
Backlash
Pr.12 compensation Set the backlash compensation amount. 0
amount
* Refer to section "5.2 List of parameters" for setting details.
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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12.3.2 Electronic gear function
The "electronic gear function" adjusts the position and speed commands calculated
and output according to the parameters set in the AD75 with the actual machine
movement amount.
The "electronic gear function" has the following four functions.
(A) During machine movement, the function increments in the AD75 values less
than one pulse that could not be position command output, and outputs the
incremented amount of position commands when the total incremented value
reached one pulse or more.
(B) The accumulated value not reaching one pulse is reset to zero when sizing
feed control is started. (Even if sizing feed control continues, the same
machine movement amount is always used for the control.)
(C) When the current value is changed, the accumulated value not reaching one
pulse is reset to zero.
(D) The function compensates the mechanical system error of the command
movement amount and actual movement amount by adjusting the "movement
amount per pulse".
(The "movement amount per pulse" value is defined by " Pr.2 No. of pulses
per rotation (Ap)", " Pr.3 Movement amount per rotation (Al)", and " Pr.4
Unit magnification (Am)".)
The AD75 automatically carries out the processing for (A), (B) and (C).
The details shown below explain about the "electronic gear function", including the
method for compensating the error in (D) above, etc.
(1) Error compensation method
(2) Relation between the movement amount per pulse and speed
(3) Precautions during control
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12 CONTROL AUXILIARY FUNCTIONS
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(1) Error compensation method
When position control is carried out by the "movement amount per pulse" set in
the AD75 parameters, an error sometimes occurs between the command
movement amount (L) and the actual movement amount (L').
That error is compensated in the AD75 by adjusting the values in " Pr.2 No. of
pulses per rotation (Ap)", " Pr.3 Movement amount per rotation (Al)", and
" Pr.4 Unit magnification (Am)".
(a) Definition
The "error compensation amount" used to carry out the error compensation
is defined as follows.
Actual movement amount (L')
Error compensation amount =
Designated movement amount (L)
The AD75 "movement amount per pulse" is calculated with the following
equation.
Movement amount per pulse is "A", Pr.2 No. of pulses per rotation is
(Ap), Pr.3 Movement amount per rotation is (Al), and Pr.4 Unit
magnification is (Am).
Al
A= × Am
Ap
(b) Procedure
1) Set the "command movement amount (L)", and carry out positioning.
(Set the "movement amount per pulse (A)" according to section "5.2
List of parameters".)
2) After positioning, measure the "actual movement amount (L')".
3) Calculate the "error compensation amount".
L'
Error compensation amount =
L
4) Calculate the post-compensation " Pr.2 No. of pulses per rotation
(Ap')", " Pr.3 Movement amount per rotation (Al')", and " Pr.4 Unit
magnification (Am')" from the "post-compensation movement amount
per pulse (A')".
A= A × Error compensation amount
Al L'
= × Am ×
Ap L
Al'
= × Am'
Ap'
(Adjust with Am' so that Al' and Ap' do not exceed the setting range.)
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12 CONTROL AUXILIARY FUNCTIONS
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Calculation example
(Conditions)
Movement amount per pulse : 500 (µm/rev)
No. of pulses per rotation : 12000 (pulse/rev)
Unit magnification :1
(Positioning results)
Command movement amount : 100mm
Actual movement amount : 101mm
(Compensation amount)
5× 10 101× 10
3 3
AL' 5050 101
= × = =
101× 10
3
AP' 12000 12000 240
Movement amount per pulse : 101 (µm/rev)
No. of pulses per rotation : 240 (pulse/rev)
Unit magnification :1
5) Set the post-compensation " Pr.2 No. of pulses per rotation (Ap')",
" Pr.3 Movement amount per rotation (Al')", and " Pr.4 Unit
magnification (Am')" in the parameters, and write them to the AD75.
The set details are validated at the rising edge (OFF ON) of the
PLC READY signal (Y1D).
Setting Pre-compensation
Setting item Setting details
value value
No. of pulses per
Pr.2 Ap' Set the post-compensation value. Ap
rotation
Movement
Pr.3 amount per Al' Set the post-compensation value. Al
rotation
Unit
Pr.4 Am' Set the post-compensation value. Am
magnification
* Refer to section "5.2 List of parameters" for setting details.
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(2) Relation between the movement amount per pulse and speed
The following shows the relation of the "movement amount per pulse (A)" to the
command speed and actual speed. The command speed is the speed
commanded by each control, and the actual speed is the actual feedrate.
Command speed = V, Actual speed = V'
Relation of the command speed and actual speed
The actual speed becomes faster than the
1) Movement amount per pulse < 1 V < V' command speed.
The actual speed is the same as the command
2) Movement amount per pulse = 1 V = V' speed.
The actual speed becomes slower than the
3) Movement amount per pulse > 1 V > V' command speed.
V
Actual speed V'
1)
Command speed V 2)
3)
Fig. 12.10 Relation of the movement amount per pulse to the command speed and actual speed
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12 CONTROL AUXILIARY FUNCTIONS
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(3) Precautions during control
It is recommended that the "movement amount per pulse (A)" be set to a value
close to "1" for the following reasons.
“1” set in the “movement amount per pulse” indicates the minimum value of
“ Pr.1 Unit setting.” (In case of [mm] unit: 0.1 [µm])
"Movement amount per pulse" = "1" means the minimum value of " Pr.1 Unit
setting". (0.1 [(m] when the unit setting is [mm])
(a) If the setting of the movement amount per pulse is less than 1, the
command speed increases, and the actual speed may exceed the speed
limit value ( Pr.7 Speed limit value, Pr.32 JOG speed limit value),
causing the servomotor speed to be overspeed.
(b) If the setting of the movement amount per pulse is less than 1, the
mechanical system may vibrate.
(c) Set the movement amount per pulse that will make the command speed to
the servo amplifier not more than 1Mpps.
If the setting of the command speed to the servo amplifier is more than
1Mpp, the AD75 may operate improperly.
REMARK
In the AD75, the general term for the functions in items (a) to (c) above is defined as
the "electronic gear function". Refer to the User's Manual for the servomotor for the
definition of the "electronic gear" on the servomotor side.
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12.3.3 Near pass mode function
When carrying out continuous path control using interpolation control, either the
"positioning address pass mode" or the "near pass mode" can be selected by setting
the " Pr.44 Near pass mode selection for path control".
The "near pass mode" can be selected as the "near pass mode function" to suppress
the mechanical vibration occurring during speed changes when carrying out
continuous path control using interpolation control. (Mechanical vibration may occur in
continuous path control due to the dropping of the output speed during speed
changes.)
(A) Positioning address pass mode (factory-set initial value)
The control is carried out so the machine passes the position set in " Da.5
Positioning address/movement amount" of each positioning data unit being
continuously executed.
(B) Near pass mode
The extra movement amount occurring at the end of each positioning data unit
being continuously executed is carried over to the next positioning data unit.
By not carrying out alignment, the output speed drops are eliminated, and the
mechanical vibration occurring during speed changes can be suppressed.
Because alignment is not carried out, the operation is controlled on a path that
passes near the position set in " Da.5 Positioning address/movement
amount".
The details shown below explain about the "near pass mode function".
(1) Control details
(2) Precautions during control
(3) Setting the near pass mode function
REMARK
The "near pass mode function" is added to AD75 software version "G" and
subsequent versions.
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(1) Control details
The following drawing shows the paths of the "positioning address pass mode"
and "near pass mode".
[Positioning address pass mode path] [Near pass mode path]
Da. 5 Positioning address Da. 5 Positioning address
Path of positioning data No. 4
Path of positioning data No.3 Path of positioning data No.3 Path of positioning data No.4
Speed dropping occurs Speed dropping does not occur
V V
t t
Positioning data No. 3 Positioning data No. 4 Positioning data No. 3 Positioning data No. 4
Fig. 12.11 Paths of the positioning address pass mode and near pass mode
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(2) Precautions during control
(a) If the movement amount designated by the positioning data is small when
the continuous path control is executed in the near pass mode, the output
speed may not reach the designated speed.
(b) If continuous path control is carried out in the near pass mode, the output
will suddenly reverse when the reference axis movement direction changes
from the positioning data No. currently being executed to the next
positioning data No.
If the sudden output reversal affects the mechanical system, carry out
control with continuous positioning control.
(When the reference axis movement direction changes in the positioning
address pass mode, the operation automatically decelerates.)
[Path during continuous path control]
Axis 2
Positioning data No.2
Positioning data No.1
Axis 1 (reference axis)
[Axis 1 output speed]
(a) Positioning address pass mode (b) Near pass mode
V V
Output does not suddenly reverse. Output suddenly reverses.
Positioning data Positioning data
No. 1 No. 1
t t
Positioning data No.2 Positioning data No.2
[Axis 2 output speed]
(a) Positioning address pass mode (b) Near pass mode
V V
Positioning data Positioning data No.2 Positioning data Positioning data No.2
No. 1 No. 1
t t
Fig. 12.12 Path and output speed of various axes during continuous path control
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(c) When continuous path control of a circular interpolation is being carried out in
the near pass mode, an address in which the extra movement amount is
subtracted from the positioning address of the positioning data currently being
executed is replaced by the starting point address of the next positioning data
No.
Because of this, circular interpolation control cannot be carried out using the
increment system.
Because the starting point address will be replaced, an error "large arc error
deviation" (error code: 506) may occur.
In this case, adjust the " Pr.42 Allowable circular interpolation error width".
Positioning data No.2
starting point address Address designated by positioning data No.1
during the near pass mode
Positioning data No.2
Positioning data No.1
Path of positioning
address pass mode
Path of near pass mode
Fig. 12.13 Arc error during the near pass mode
(d) When a circle center is designated to continuously designate the circular
interpolation control by a continuous path designation in the near pass mode,
and the positioning address and starting point address of that arc are the
same address, the path will make one circle using the two data items. This is
because the 2nd data starting point address is shifted by the extra amount of
the movement amount occurring from the 1st data.
Example
[Positioning address pass mode] [Near pass mode]
Starting point address of positioning data No.1 Path of positioning data No.2
Starting point address of
positioning data No.2
Path of positioning data No.1
Path makes two circles because
the starting point addresses for
positioning data No.1 and 2 are the same.
(3) Setting the near pass mode function
To use the "near path pass mode function", set the "near pass mode" in the
parameter shown in the following table, and write it to the AD75.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y1D).
Setting
Setting item Setting details Factory-set initial value
value
Near pass mode
Pr.44 selection for path 1 Set "1: Near pass mode". 0: Positioning address pass mode
control
* Refer to section "5.2 List of parameters" for setting details.
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12.3.4 Follow up processing function
Follow up processing monitors the rotation amount (real current value) of the motor in
a servo OFF status and reflects it on the current feed value.
Hence, if the servomotor rotates during servo OFF, the servomotor will not rotate by
the droop pulse value at next servo ON, starting positioning at the stopping position.
The following details will be explained for the "follow up processing function".
(1) Processing execution timing
(2) Setting method
(1) Processing execution timing
The timing of follow up processing execution is shown below.
ON
All axes servo ON signal [Y15] OFF
Cd.100 Servo OFF command 0
Servo error
occurrence
ON
Servo ON/OFF status OFF
Follow up processing execution
(2) Setting method
Setting is not necessary for execution of the follow up processing function.
It is executed during servo OFF all the time.
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12.4 Functions to limit the control
Functions to limit the control include the "speed limit function", "torque limit function",
"software stroke limit", and "hardware stroke limit". Each function is executed by
parameter setting or sequence program creation and writing.
12.4.1 Speed limit function
The speed limit function limits the command speed to a value within the "speed limit
value" setting range when the command speed during control exceeds the "speed limit
value".
The details shown below explain about the "speed limit function".
(1) Relation between the speed limit function and various controls
(2) Precautions during control
(3) Setting the speed limit function
(1) Relation between the speed limit function and various controls
The following table shows the relation of the "speed limit function" and various
controls.
Control type Speed limit function Speed limit value
Zero point Machine zero point return control
return
control High-speed zero pint return control
1-axis linear control
2-axis linear interpolation
control
1-axis fixed-dimension Pr.7 Speed limit
Position
feed control value
control
Main 2-axis fixed-dimension
positioning feed control (interpolation)
control 2-axis circular interpolation
control
Speed control
Speed/position changeover control
Other Current value change –
Setting value invalid
control JUMP command –
Pr.32 JOG speed
Manual JOG operation
limit value
control
Manual pulse generator operation Setting not possible.
: Always set
: Setting not possible
– : Setting not required (Setting value is invalid. Use the initial values or setting values
within a range where no error occurs.)
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(2) Precautions during control
During interpolation control, speed limiting is carried out at the reference axis
side setting value.
(The speed limit will not function on the interpolation side.)
(3) Setting the speed limit function
To use the "speed limit function", set the "speed limit value" in the parameters
shown in the following table, and write them to the AD75.
The set details are validated after they are written to the AD75.
Setting Factory-set
Setting item Setting details
value initial value
Pr.7 Speed limit value Set the speed limit value (max. speed during control). 0
Set the speed limit value during JOG operation (max.
JOG speed limit speed during control). (Note that " Pr.32 JOG speed
Pr.32 0
value limit value" shall be less than or equal to " Pr.7
Speed limit value".)
* Refer to section "5.2 List of parameters" for setting details.
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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12.4.2 Torque limit function
The "torque limit function" limits the generated torque to a value within the "torque limit
value" setting range when the torque generated in the servomotor exceeds the "torque
limit value".
The "torque limit function" protects the deceleration function, limits the power of the
operation pressing against the stopper, etc. It controls the operation so that
unnecessary force is not applied to the load and machine.
The details shown below explain about the "torque limit function".
(1) Relation between the torque limit function and various controls
(2) Control details
(3) Precautions during control
(4) Setting the torque limit function
(1) Relation between the torque limit function and various controls
The following table shows the relation of the "torque limit function" and various
controls.
Torque limit
Control type Torque limit value *1
function
Zero point Cd.101 Torque output setting
Machine zero point return control
return value*2,*3
control High-speed zero pint return control
1-axis linear control
2-axis linear interpolation
control
1-axis fixed-dimension
Position
feed control Cd.101 Torque output setting
control
2-axis fixed-dimension value*2
Main
positioning feed control (interpolation)
control 2-axis circular interpolation
control
Speed control
Speed/position changeover control
Other Current value change –
–
control JUMP command –
Manual JOG operation Cd.101 Torque output setting
control Manual pulse generator operation value*2
: Set when required (Set to " – " when not used.)
– : Setting not required (Setting value is invalid. Use the initial values or setting values
within a range where no error occurs.)
*1: Indicates the torque limit value to be transferred to the servo amplifier at a start of
the corresponding control when the " Cd.30 New torque value" is "0".
*2: When the " Cd.101 Torque output setting value" is "0" or greater than the " Pr.18 Torque
limit setting value", the torque is limited at the " Pr.18 Torque limit setting value".
*3: After deceleration to the " Pr.49 Creep speed", the torque is limited with the
" Pr.56 Zero point return torque limit value".
At a start of the corresponding control, the " Cd.101 Torque output setting value" is
referred to, and its value is transferred to the servo amplifier. However, if the " Cd.101
Torque output setting value" is "0" or greater than the " Pr.18 Torque limit setting value",
the " Pr.18 Torque limit setting value" is transferred to the servo amplifier.
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(2) Control details
The following drawing shows the operation of the torque limit function.
Various operations
PLC READY signal [Y1D]
Pr.18 Torque limit setting value 100% 50%
Cd.101 Torque output setting value 75% 25%
Cd.30 New torque value 0% 0%
Torque is limited at the torque output Torque is limited at the torque Torque is limited at the torque
setting value (75%) of the axis control limit setting value (50%) of the output setting value (25%) of
data. parameter.* the axis control data.
Md.45 Torque limit stored value 75% 50% 25%
*: Since the " Cd.101 Torque output setting value" is greater than the " Pr.18 Torque limit setting value", the torque is limited at the " Pr.18 Torque limit setting value".
Fig. 12.14 Torque limit function operation
(3) Precautions during control
(a) When limiting the torque at the " Cd.101 Torque output setting value",
confirm that the " Cd.30 New torque value" is set to "0". If this axis control
data is set to a value other than "0", the " Cd.30 New torque value" will be
validated, and the torque will be limited at that value. (Refer to section
"12.5.4 Torque change function" for details of the "new torque value".)
(b) When the operation is stopped by torque limiting, the droop pulses will
remain in the deviation counter. When the load torque is eliminated,
operation for the amount of droop pulses will be carried out.
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(4) Setting the torque limit function
(a) To use the "torque limit function", set the "torque limit value" in the axis
control data or parameters indicated in the following table, and write them to
the AD75.
The data set to the axis control data is validated at the rising edge (OFF to
ON) of the PLC READY signal (Y1D) and at a start of the corresponding
control.
The data set to the parameters are validated at the rising edge (OFF to ON)
of the PLC READY signal (Y1D).
Setting Factory-set
Setting item Setting details
value initial value
Torque output Set the torque limit value to be output by the
Cd.101 0
setting value servomotor in %.
Torque limit
Pr.18 Set the torque limit value as a percentage. 300
setting value
Zero point return Set the torque limit value to be used after starting the
Pr.56 300
torque limit value deceleration to the " Pr.49 Creep speed" with %.
* Refer to section "5.2 List of parameters" and "5.7 List of control data" for setting details.
(b) The "torque limit value" set in the AD75 is transferred to the servo amplifier
at a start of the corresponding control to limit the torque.
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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12.4.3 Software stroke limit function
In the "software stroke limit function" the address established by a machine zero point
return is used to set the upper and lower limits of the moveable range of the workpiece.
Movement commands issued to addresses outside that setting range will not be
executed.
In the AD75, the "current feed value" and "machine feed value" are used as the
addresses indicating the current position. However, in the "software stroke limit
function", the address used to carry out the limit check is designated in the " Pr.15
Software stroke limit selection". (Refer to section "9.1.4 Confirming the current value"
or details on the "current feed value" and "machine feed value".)
The upper and lower limits of the moveable range of the workpiece are set in " Pr.13
Software stroke limit upper limit value"/ " Pr.14 Software stroke limit lower limit value".
The details shown below explain about the "software stroke limit function".
(1) Differences in the moveable range when "current feed value" and "machine feed
value" are selected.
(2) Software stroke limit check details
(3) Relation between the software stroke limit function and various controls
(4) Precautions during software stroke limit check
(5) Setting the software stroke limit function
(6) Invalidating the software stroke limit
(7) Setting when the control unit is "degree"
(1) Differences in the moveable range when "current feed value" and
"machine feed value" are selected.
The following drawing shows the moveable range of the workpiece when the
software stroke limit function is used.
Workpiece moveable range FLS
RLS
Software stroke limit (lower limit) Software stroke limit (upper limit)
Fig. 12.15 Workpiece moveable range
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The following drawing shows the differences in the operation when " Md.29
Current feed value" and " Md.30 Machine feed value" are used in the moveable
range limit check.
[Conditions]
Assume the current stop position is 2000, and the upper stroke limit is set to 5000.
Moveable range
Md. 29 Current feed value 2000 5000
Md. 30 Machine feed value 2000 5000
Stop position Upper stroke limit
[Current value change]
When the current value is changed by a new current value command from 2000 to 1000, the
current value will change to 1000, but the machine feed value will stay the same at 2000.
1) When the machine feed value is set at the limit
The machine feed value of 5000 (current feed value: 4000) becomes the upper stroke limit.
Moveable range
Md. 29 Current feed value 1000 4000 5000
Md. 30 Machine feed value 2000 5000 6000
Upper stroke limit
2) When the current feed value is set at the limit
The current feed value of 5000 (machine feed value: 6000) becomes the upper stroke limit.
Moveable range
Md. 29 Current feed value 1000 4000 5000
Md. 30 Machine feed value 2000 5000 6000
Upper stroke limit
Fig. 12.16 Software stroke limits of the current feed value and machine feed value
POINT
When "machine feed value" is set in " Pr.15 Software stroke limit selection", the
moveable range becomes an absolute range referenced on the zero point. When
"current feed value" is set, the moveable range is the relative range from the
"current feed value".
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(2) Software stroke limit check details
Processing when
Check details
an error occurs
An error shall occur if the current value*1 is outside the software
2
1) stroke limit range* .
(Check " Md.29 Current feed value" or " Md.30 Machine feed An "axis error" will
value".) occur, and the
An error shall occur if the command address is outside the operation will not start.
2) software stroke limit range.
(Check " Da.5 Positioning address/movement amount".)
*1 Check whether the " Md.29 Current feed value" or " Md.30 Machine feed value" is set in
" Pr.15 Software stroke limit selection".
*2 Moveable range from the " Pr.13 Software stroke limit upper limit value" to the " Pr.14
Software stroke limit lower limit value".
(3) Relation between the software stroke limit function and various
controls
Limit
Control type Processing at check
check
Zero point Machine zero point return control –
Check not carried out.
return control High-speed zero pint return control –
1-axis linear control
2-axis linear interpolation
control
Position 1-axis fixed-dimension feed Checks 1) and 2) in the previous section (2) are carried
control out.
control
2-axis fixed-dimension feed For position control: The axis comes to an immediate
control (interpolation) stop when it exceeds the software
Main 2-axis circular interpolation stroke limit range.
positioning control
control Speed control *3, 4
Speed/position changeover control *3, 4
When the current value is changed, an error will not occur
even if the new address is outside the software stroke
Other Current value change – limit range. However, an error "start outside stroke limit
control +/-" (error code: 507/508) will occur at the next operation
start.
JUMP command – Check not carried out.
5 Check 1) in the previous section (2) is carried out.
JOG operation *
The machine will carry out a deceleration stop when the
Manual software stroke limit range is exceeded. If the address is
control Manual pulse generator operation *5 outside the software stroke limit range, the operation can
only be started toward the moveable range after the error
is reset.
: Check valid
: Check only carried out at start. (If "current feed value" is set in the " Pr.15 Software stroke limit selection", the
check will not be carried out when the Pr.22 Current feed value is updated.)
– : Check not carried out (check invalid).
: Valid only when "valid" is set in the " Pr.16 Software stroke limit valid/invalid setting".
*3 : The value in " Md.29 Current feed value" will differ according to the " Pr.22 Current feed value during speed
control" setting.
*4 : When the unit is "degree", check is not carried out during speed control.
*5 : When the unit is "degree", check is not carried out.
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(4) Precautions during software stroke limit check
(a) A machine zero point return must be executed beforehand for the "software
stroke limit function" to function properly.
(b) During interpolation control, a stroke limit check is carried out for the current
values of both the reference axis and the interpolation axis. Neither axis will
start if an error occurs, even if it only occurs in one axis.
(c) During circular interpolation control, the " Pr.13 Software stroke limit upper
limit value" / " Pr.14 Software stroke limit lower limit value" may be
exceeded.
In this case, a deceleration stop will not be carried out even if the stroke limit
is exceeded. Always install an external limit switch if there is a possibility the
stroke limit will be exceeded.
Example
Axis 1
Deceleration stop not carried out
Axis 1 stroke limit
Starting address End point address ( Da. 5 )
Axis 2
Arc address ( Da. 6 )
* The software stroke limit check is carried out for the following addresses
during circular interpolation control.
Current value/end point address ( Da. 5 )/arc address ( Da. 6 )
(d) If an error is detected during continuous path control, the operation will
immediately stop after the positioning data just before the positioning data
where the error occurred has been executed.
Example
• If the positioning address of positioning data No. 13 is outside the software stroke limit range,
the operation immediately stops after positioning data No. 12 has been executed.
Positioning data
Immediate stop at
error detection No.10
P11
No.11
P11
No.10 No.11 No.12 No.13
No.12
P11
No.13
P11
Md. 35
Axis operation status Controlling position Error occurring No.14
P01
(e) During simultaneous start, a stroke limit check is carried out for the current
values of both axes to be started. Neither axis will start if an error occurs,
even if it only occurs in one axis.
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(5) Setting the software stroke limit function
To use the "software stroke limit function", set the required values in the
parameters shown in the following table, and write them to the AD75.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y1D).
Setting Factory-set
Setting item Setting details
value initial value
Software stroke
Pr.13 limit upper limit Set the upper limit value of the moveable range. 2147483647
value
Software stroke
Pr.14 limit lower limit Set the lower limit value of the moveable range. –2147483648
value
Software stroke Set whether to use the " Md.29 Current feed value" or 0: Current feed
Pr.15
limit selection " Md.30 Machine feed value" as the "current value". value
Software stroke Set whether the software stroke limit is validated or
Pr.16 limit valid/invalid 1 : V a l i d invalidated during manual control (JOG operation, 0: Invalid
setting manual pulse generator operation).
* Refer to section "5.2 List of parameters" for setting details.
(6) Invalidating the software stroke limit
To invalidate the software stroke limit, set the following parameters as shown,
and write them to the AD75.
Software stroke limit Software stroke limit
Pr.13 = Pr.14
upper limit value lower limit value
(For manual operation, set "0: software stroke limit invalid" in the " Pr.16
Software stroke limit valid/invalid setting".)
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y1D).
When the unit is "degree", the software stroke limit check is not performed during
speed control (including speed control in speed/position changeover control) or
during manual control, independently of the values set in Pr.13 , Pr.14 and
Pr.16 .
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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(7) Setting when the control unit is "degree"
Current value address
The " Md.29 Current feed value" address is ring addresses between 0 and
359.99999° .
359.99999° 359.99999°
0° 0° 0°
Fig. 12.17 Current value address when the control unit is "degree".
Setting the software stroke limit
The upper limit value/lower limit value of the software stroke limit is a value
between 0 and 359.99999° .
(1) Setting when the software stroke limit is to be validated.
When the software stroke limit is to be validated, set the upper limit value in a
clockwise direction from the lower limit value.
Lower limit
Set in a clockwise direction
315º
Section A
Upper limit
90º
Section B
(a) Set the movement range of section A as follows.
• Software stroke limit lower limit value ................ 315.00000°.
• Software stroke limit upper limit value................ 90.00000°.
(b) Set the movement range of section B as follows.
• Software stroke limit lower limit value ................ 90.00000°.
• Software stroke limit upper limit value................ 315.00000°.
Fig. 12.18 Software stroke limit when the control unit is "degree"
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12.4.4 Hardware stroke limit function
In the "hardware stroke limit function", limit switches are set at the upper/lower limit of
the physical moveable range, and the control is stopped (by deceleration stop) by the
input of a signal from the limit switch. Damage to the machine can be prevented by
stopping the control before the upper/lower limit of the physical moveable range is
reached.
The details shown below explain about the "hardware stroke limit function".
(1) Control details
(2) Wiring the hardware stroke limit
(3) Precautions during control
(4) When the hardware stroke limit is not used
(1) Control details
The following drawing shows the operation of the hardware stroke limit function.
Lower limit Upper limit
AD75 control moveable range
Mechanical stopper Mechanical stopper
Start Start
Movement direction Movement direction
Deceleration stop at Deceleration stop at
upper limit switch detection lower limit switch detection
Lower limit switch Upper limit switch AD75
Servo amplifier*
* The B type servo amplifier does not have the stroke limit input.
Fig. 12.19 Hardware stroke limit function operation
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(2) Wiring the hardware stroke limit
When using the hardware stroke limit function, wire the terminals of the AD75
upper/lower limit stroke limit as shown in the following drawing.
AD75
FLS
RLS
COM
24VDC
Note) Connect the upper and lower limit switches to the directions of increasing and decreasing
current feed values respectively. When these switches are connected in wrong directions, the
hardware stroke limit function does not operate properly and the motor does not stop.
For " Pr.107 Rotation direction", refer to "5.1.4 Setting items for servo parameters".
Fig. 12.20 Wiring when using the hardware stroke limit
(3) Precautions during control
(a) If the machine is stopped outside the AD75 control range (outside the
upper/lower limit switches), or if stopped by hardware stroke limit detection,
the "zero point return control", "main positioning control", and "advanced
positioning control" cannot start. To carry out these types of control again,
return the workpiece to the AD75 control range by a "JOG operation" or
"manual pulse generator operation".
(b) If the circuit between the RLS (lower limit signal) and COM, or between the
FLS (upper limit signal) and COM is open (including when not wired), the
upper/lower limit signal will turn OFF, and control with the AD75 will not be
possible.
(4) When the hardware stroke limit is not used
When not using the hardware stroke limit function, wire the terminals of the AD75
upper/lower limit stroke limit as shown in the following drawing.
AD75
FLS
RLS
COM
24VDC
Fig. 12.21 Wiring when not using the hardware stroke limit
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12.4.5 Servo ON/OFF function
The "servo ON/OFF function" performs the servo ON/OFF of the servo amplifier, which
is connected to the AD75, from the AD75.
Performing servo ON makes the servo operable.
Performing servo OFF puts the servomotor in a free run status, so that the axis can be
moved by external force when a machine system fault occurs, for example.
The servo ON/OFF status of the servo amplifier can be confirmed using " Md.116
Servo status (b1: Servo ON)".
Important
Always switch the servo ON when performing positioning control.
Control cannot be performed in a servo OFF status.
The following details will be explained for the "servo ON/OFF function".
(1) Servo ON method
(2) Servo OFF method
(3) Restart at servo OFF to ON
(1) Servo ON method
Servo ON includes all axes servo ON and axis-by-axis servo ON.
(a) All axes servo ON commands the servo amplifiers of all axes to perform
servo ON.
Turn ON the all axes servo ON signal (Y15) when the following conditions
are satisfied.
• No errors are detected in the servo amplifiers.
• The " Cd.100 Servo OFF command" (buffer memory address: 1179 (Axis
1), 1229 (Axis 2), 1279 (Axis 3)) is "0".
If an error is detected in any of the servo amplifiers during all axes servo
ON, servo OFF is carried out on only the axis where the error has occurred.
(b) Axis-by-axis servo ON returns the axes, where servo OFF was performed, to
the servo ON status on an axis basis when the all axes servo ON signal
(Y15) is ON (during all axes servo ON).
When the following conditions are satisfied, set the data indicated in the
following table.
• No errors are detected in the servo amplifiers.
• The all axes servo ON signal (Y15) is ON.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Servo OFF
Cd.100 0 Set "0: Servo ON". 1179 1229 1279
command
* Refer to section "5.7 List of control data" for the setting details.
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(2) Servo OFF method
Servo OFF includes all axe servo OFF and axis-by-axis servo OFF.
(a) All axes servo OFF commands the servo amplifiers of all axes to perform
servo OFF.
Turn OFF the all axes servo ON signal (Y15) when the " Md.35 Axis
operation status" of all axes are in any of the following statuses. (The servo
ON signal is ignored if it is turned OFF while any other axis is operating.)
• Standby
• Stop
• Step standby
• Step stop
• Error occurrence
• Step error occurrence
(b) Axis-by-axis servo OFF performs the servo OFF of only any of the axes
when the all axes servo ON signal (Y15) is ON (during all axes servo
ON).When the " Md.35 Axis operation status" of the axis whose servo will
be switched OFF is in any of the following statuses, set the data indicated in
the following table.
• Standby
• Stop
• Step standby
• Step stop
• Error occurrence
• Step error occurrence
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Servo OFF
Cd.100 1 Set "1: Servo OFF". 1179 1229 1279
command
* Refer to section "5.7 List of control data" for the setting details.
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(3) Restart at servo OFF to ON
This section explains whether a restart is allowed or not, the setting method and
precautions in the case where servo OFF is performed once by a servo
emergency stop command during operation or by a servo OFF command during
a stop and servo ON is then performed again. (For the restarting method, refer to
section "6.5.5 Restart program".)
(a) Restart operation at servo OFF to ON
1) Restart at servo ON after servo OFF by servo emergency stop
When operation is stopped by the servo emergency stop signal sent to
the servo amplifier, " Md.35 Axis operation status" turns to "Error
occurrence" once, and then turns to "Servo OFF" since servo OFF is
performed automatically.
When the servo emergency stop signal to the servo amplifier turns
OFF, servo ON is performed automatically, and " Md.35 Axis
operation status" turns to "Stop" or "Standby".
When " Md.35 Axis operation status" is "Stop", operation can be
restarted by " Cd.13 Restart command".
When " Md.35 Axis operation status" is other than "Stop", a warning
"Restart not possible" (warning code: 104) occurs and the restart
command is ignored.
ON
Servo emergency OFF
stop signal
Md.35 Axis operation Operation Error Servo OFF Stop/Standby
status
Restart not possible
Last command position Servo ON Restart possible
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2) Restart at servo ON after servo OFF by all axes servo ON signal (Y15)
or " Cd.100 Servo OFF command"
When operation is stopped by an external "stop signal" or the axis stop
signal (Y13 (Axis 1), Y14 (Axis 2), Y1C (Axis 3)), " Md.35 Axis
operation status" turns to "Stop". (Refer to section "6.5.6 Stop
program".)
At this time, servo OFF is performed by the OFF of the servo ON
signal or by the " Cd.100 Servo OFF command", and when servo ON
is performed again, " Md.35 Axis operation status" turns to "Stop" or
"Standby".
When " Md.35 Axis operation status" is "Stop", operation can be
restarted by " Cd.13 Restart command".
When " Md.35 Axis operation status" is other than "Stop", a warning
"Restart not possible" (warning code: 104) occurs and the restart
command is ignored.
ON
Servo ON signal OFF
Md.35 Axis operation Positioning Stop Servo OFF Stop/Standby Servo OFF Stand by
status
Restart not possible Restart not possible
Stop command Servo ON Restart possible Servo ON
(b) Conditions for restart at servo OFF to ON
1) The " Md.35 Axis operation status" at servo OFF to ON is "Stop" or
"Standby" depending on the difference between the last command
position of the AD75 at servo ON to OFF and the current feed value at
servo OFF to ON (range of movement during servo OFF).
Range of movement during servo OFF Md.35 Axis operation status Restart possible or not
Inside the range of " Pr.150 Setting for the restart
Stop Restart possible
allowable range when servo OFF to ON"
Outside the range of " Pr.150 Setting for the
Standby Restart not possible
restart allowable range when servo OFF to ON"
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2) Setting of " Pr.150 Setting for the restart allowable range when servo
OFF to ON"
To enable or disable a restart at servo OFF to ON, set the "movement
range during servo OFF" in the following parameter.
The set data is validated at the rising edge (OFF to ON) of the PLC
READY signal (Y1D).
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Set "0: Restart not
Setting for the Restart not allowed
allowed".
restart allowable 64 214 364
Pr.150 range when Set the restart allowable
servo OFF to movement range during 65 215 365
Restart allowed
ON servo OFF, 1 to 163840
(pulses).
* *Refer to section "5.2 List of parameters" for the setting details.
" Pr.150 Setting for the restart allowable range when servo OFF to ON" cannot be set with the AD75TU
whose software version is "C" or earlier.
(c) Precautions for restart at servo OFF to ON
1) To restart operation by servo OFF to ON, the difference between the
last command position and current value is output once at servo ON.
If the setting for the restart allowable range when servo OFF to ON is
large at this time, overload occurs in the machine system such as the
servo side.
Make the setting for the restart allowable range when servo OFF to ON
within the range where the machine system is not affected by the
output provided once.
[Operation at emergency stop input] [Operation at restart]
Restart operation
Emergency stop input Stop position Last command (Current value at servo ON)
(Last command position) at servo OFF position Stop position at servo OFF
Movement during Output once
servo OFF at restart
2) A restart at servo OFF to ON is valid at the servo OFF to ON performed
at the first time.
At the servo OFF to ON performed at the second time or later, " Pr.150
Setting for the restart allowable range when servo OFF to ON" is
ignored.
3) Perform servo OFF in the status where the machine system has
stopped completely.
A restart at servo OFF to ON is not applicable to the system where the
machine system is operated by external pressure, etc. during servo
OFF.
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12.5 Functions to change the control details
Functions to change the control details include the "speed change function", "override
function", "acceleration/deceleration time change function" and "torque change
function". Each function is executed by parameter setting or sequence program
creation and writing.
Both the "speed change function" or "override function" change the speed, but the
differences between the functions are shown below. Use the function that corresponds
to the application.
"Speed change function"
• The speed is changed at any time, only in the control being executed.
• The new speed is directly set.
"Override function"
• The speed is changed for all control to be executed. (Note that this excludes
manual pulse generator operation.)
• The new speed is set as a percent (%) of the command speed.
12.5.1 Speed change function
The speed control function is used to change the speed during control to a newly
designated speed at any time.
The new speed is directly set in the buffer memory, and the speed is changed by a
speed change command ( Cd.17 Speed change request) or external start signal.
The details shown below explain about the "speed change function".
(1) Control details
(2) Precautions during control
(3) Setting the speed change function from the PLC CPU
(4) Setting the speed change function using an external start signal
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(1) Control details
The following drawing shows the operation during a speed change.
V Speed changes to V2.
Speed changes to V3.
V1
Operation during
V2 positioning by V1.
V3
t
Md. 50 In speed change processing flag
Fig. 12.22 Speed change operation
(2) Precautions during control
(a) Control is carried out as follows at the speed change during continuous path
control.
1) When no speed designation (current speed) is provided in the next
positioning data:
The next positioning data is controlled at the " Cd.16 New speed
value".
2) When a speed designation (current speed) is provided in the next
positioning data:
The next positioning data is controlled at its command speed
( Da.7 ).
Positioning control Next control
P1 P2
Cd. 16 New speed value [a] When no speed designation
(current speed) is provided.
Designated speed in P2 [b] When a speed designation
is provided.
Designated speed in P1
Speed change
command
Fig. 12.23 Speed change during continuous path control
(b) When changing the speed during continuous path control, the speed change
will be ignored if there is not enough distance remaining to carry out the
change.
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(c) When the speed is changed by setting " Cd.16 New speed value" to "0", the
operation is carried out as follows.
• A deceleration stop is carried out, and the speed change 0 flag ( Md.40
Status: b10) turns ON.
(During interpolation control, the speed change 0 flag on the reference axis
side turns ON.)
• The axis stops, but " Md.35 Axis operation status" does not change, and
the BUSY signal remains ON. (If a stop signal is input, the BUSY signal
will turn OFF, and " Md.35 Axis operation status" will change to
"stopped".)
* In this case, setting the " Cd.16 New speed value" to a value besides "0"
will turn OFF the speed change 0 flag ( Md.40 Status: b10), and enable
continued operation.
Positioning start signal ON
[Y10, Y11, Y12] OFF
ON
BUSY signal [X4,X5,X6] OFF
Cd. 16 New speed value 0 1000
ON
Cd. 17 Speed change request OFF
Positioning operation
ON
Speed change 0 flag OFF
Md. 40 status: b10
Fig. 12.24 Speed change at new speed value "0"
(d) A warning "deceleration and stop speed change" (warning code: 500)
occurs and the speed cannot be changed in the following cases.
• During deceleration by a stop command
• During automatic deceleration during positioning control
(e) A warning "speed limit value over" (warning code: 501) occurs and the
speed is controlled at the " Pr.7 Speed limit value" when the value set in
" Cd.16 New speed value" is equal to or larger than the " Pr.7 Speed limit
value".
(f) When the speed is changed during interpolation control, the required speed
is set in the reference axis.
(g) When carrying out consecutive speed changes, be sure there is an interval
between the speed changes of 100ms or more.
(If the interval between speed changes is short, the AD75 will not be able to
track, and it may become impossible to carry out commands correctly.)
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(3) Setting the speed change function from the PLC CPU
The following shows the data settings and sequence program example for
changing the control speed of axis 1 from the PLC CPU. (In this example, the
control speed is changed to "20.00mm/min".)
(a) Set the following data.
(Use the start time chart shown in section (2) below as a reference, and set
using the sequence program shown in section (3).)
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
1156 1206 1256
Cd.16 New speed value 2000 Set the new speed.
1157 1207 1257
Speed change
Cd.17 request 1 Set "1: Change the speed". 1158 1208 1258
* Refer to section "5.7 List of control data" for details on the setting details.
(b) The following shows the speed change time chart.
V
Dwell time
Positioning start signal [Y10]
PLC READY signal [Y1D]
AD75 READY signal [X0]
Start complete signal [X1]
BUSY signal [X4]
Positioning complete signal [X7]
Error detection signal [XA]
Md. 50 In speed change
processing flag 0 1 0
Cd. 16 New speed value 2000
Cd. 17 Speed change request 0 1 0
Fig. 12.25 Time chart for changing the speed from the PLC CPU
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(c) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example
*
* No.14 Speed change program
*
<Speed change command pulse>
<Speed change command hold>
<New speed value setting>
<Speed change request setting>
<Speed change write>
<Speed change result read>
<Speed change command storage OFF>
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(4) Setting the speed change function using an external start signal
The speed can also be changed using an "external start signal".
The following shows the data settings and sequence program example for
changing the control speed of axis 1 using an "external start signal". (In this
example, the control speed is changed to "10000.00mm/min".)
(a) Set the following data to change the speed using an external start signal.
(Use the start time chart shown in section (2) below as a reference, and set
using the sequence program shown in section (3).)
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
External start
Pr.43 1 Set "1: External speed change request". 62 212 362
function selection
1156 1206 1256
Cd.16 New speed value 1000000 Set the new speed.
1157 1207 1257
Cd.25 External start valid 1 Set "1: Validate the external start". 1171 1221 1271
* Refer to section "5.2 List of parameters" and "5.7 List of control data" for details on the setting details.
(b) The following shows the speed change time chart.
V
Dwell time
Positioning start signal [Y10]
PLC READY signal [Y1D]
AD75 READY signal [X0]
Start complete signal [X1]
BUSY signal [X4]
Positioning complete signal [X7]
Error detection signal [XA]
External start signal
Pr.43 External start function selection 1
Md.50 In speed change processing plug 0 1 0
Cd. 16 New speed value 1000000
Cd.25 External start valid 0 1 0
Fig. 12.26 Time chart for changing the speed using an external start signal
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(c) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example
Write 1000000 to D108 and D109.
External start
valid signal [Speed change processing]
DTOP H0 K1156 D108 K1 Write the new speed.
TOP H0 K62 K1 K1 Set the external start function selection
to external speed change request.
TOP H0 K1171 K1 K1 Set the external start signal input to valid.
Input the external start signal. (AD75 starts speed change processing.)
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12.5.2 Override function
The override function changes the command speed by a designated percentage (1 to
300%) for all control to be executed.
The speed can be changed by setting the percentage (%) by which the speed is
changed in " Cd.18 Positioning operation speed override".
(1) Control details
(2) Precautions during control
(3) Setting the override function
(1) Control details
The following shows that operation of the override function.
1) A value changed by the override function is monitored by " Md.31
Feedrate".
2) If " Cd.18 Positioning operation speed override" is set to 100%, the speed
will not change.
3) If " Cd.18 Positioning operation speed override" is set a value less than
100%, control will be carried out at speed unit "1" at the time " Md.31
Feedrate" becomes a value of "1" or less.
4) If there is not enough remaining distance to change the speed when the
speed is changed during the position control of speed/position changeover
control, the operation will be carried out at the speed that could be changed.
5) If the speed changed by the "override function" is greater than the " Pr.7
Speed limit value", a warning "speed limit value over" (warning code: 501)
will occur and the speed will be controlled at the " Pr.7 Speed limit value".
The " Md.49 In speed limit flag" will turn ON.
Da. 7 Command speed 50
Cd. 18 Positioning operation
speed override value 100 1 50 150 100 200
Md. 31 Feedrate 50 1 25 75 50 75
V
Not enough remaining
Not affected by the override value
distance could be secured,
during deceleration
so operation is carried out
at an increased speed.
Fig. 12.27 Override function operation
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(2) Precaution during control
(a) When changing the speed during continuous path control, the speed change
will be ignored if there is not enough distance remaining to carry out the
change.
(b) A warning "deceleration and stop speed change" (warning code: 500)
occurs and the speed cannot be changed in the following cases.
• During deceleration by a stop command
• During automatic deceleration during positioning control
(c) When the speed is changed during interpolation control, the required speed
is set in the reference axis.
(3) Setting the override function
The following shows the data settings and sequence program example for setting
the override value of axis 1 to "200%".
(a) Set the following data. (Use the start time chart shown in section (2) below
as a reference, and set using the sequence program shown in section (3).)
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Positioning
Cd.18 operation speed 200 Set the new speed as a percentage (%). 1159 1209 1259
override
* Refer to section "5.7 List of control data" for details on the setting details.
(b) The following shows a time chart for changing the speed using the override
function.
V
Dwell time
Positioning start signal [Y10]
PLC READY signal [Y1D]
AD75 READY signal [X0]
Start complete signal [X1]
BUSY signal [X4]
Positioning complete signal [X7]
Error detection signal [XA]
Cd. 18 Positioning operation 200
speed override
Fig. 12.28 Time chart for changing the speed using the override function
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(c) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example
*
* No.15 Override program
*
<Override command pulse>
<Override value setting>
<Override value write>
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12.5.3 Acceleration/deceleration time change function
The "acceleration/deceleration time change function" is used to change the
acceleration/deceleration time during a speed change to a random value when
carrying out the speed change indicated in section "12.5.1 Speed change function".
In a normal speed change (when the acceleration/deceleration time is not changed),
the acceleration/deceleration time previously set in the parameters ( Pr.8 , Pr.9 ,
and Pr.26 to Pr.31 values) is set in the positioning parameter data items Da.3
and Da.4 , and control is carried out with that acceleration/deceleration time.
However, by setting the new acceleration/deceleration time ( Cd.33 , Cd.34 ) in the
control data, and issuing an acceleration/deceleration time change enable command
( Cd.35 Acceleration/deceleration time change during speed change, enable/disable
selection) to change the speed when the acceleration/deceleration time change is
enabled, the speed will be changed with the new acceleration/deceleration time
( Cd.33 , Cd.34 ).
The details shown below explain about the "acceleration/deceleration time change
function".
(1) Control details
(2) Precautions during control
(3) Setting the acceleration/deceleration time change function
(1) Control details
The following drawing shows the operation during an acceleration/deceleration
time change.
(For an acceleration/deceleration time change disable setting)
V
Operation with the acceleration/deceleration
time set in Da. 3 and Da. 4 .
Cd.17 Speed
change request
t
Cd.35 Acceleration/deceleration
time change during
Disabled
speed change, enable/
disable selection
(For an acceleration/deceleration time change enable setting)
V
Operation with the acceleration/deceleration
time ( Cd. 33 and Cd. 34 ) set in the buffer memory.
Cd.17 Speed
change request
Cd.35 Acceleration/deceleration
time change during Disabled Enabled
speed change, enable/
disable selection
Fig. 12.29 Operation during an acceleration/deceleration time change
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(2) Precautions during control
(a) When "0" is set in " Cd.33 New acceleration time value" and " Cd.34 New
deceleration time value", the acceleration/deceleration time will not be
changed even if the speed is changed. In this case, the operation will be
controlled at the acceleration/deceleration time previously set in the
parameters.
(b) The "new acceleration/deceleration time" is valid during execution of the
positioning data for which the speed was changed. In continuous positioning
control and continuous path control, the speed is changed and control is
carried out with the previously set acceleration/deceleration time at the
changeover to the next positioning data, even if the
acceleration/deceleration time is changed to the "new
acceleration/deceleration time ( Cd.33 , Cd.34 )".
(c) Even if the acceleration/deceleration time change is set to disable after the
"new acceleration/deceleration time" is validated, the positioning data for
which the "new acceleration/deceleration time" was validated will continue to
be controlled with that value. (The next positioning data will be controlled
with the previously set acceleration/deceleration time.)
Example
V Speed change
Speed change
Positioning start New acceleration/deceleration
time ( Cd. 33 , Cd. 34 )
Cd.35 Acceleration/deceleration time
Disabled Enabled Disabled
change during speed change,
enable/disable selection
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(d) If the "new acceleration/deceleration time" is set to "0" and the speed is
changed after the "new acceleration/deceleration time" is validated, the
operation will be controlled with the previous "new acceleration/deceleration
time".
Example
New acceleration/deceleration
time ( Cd. 33 , Cd. 34 )
V Speed change
Speed change
Speed change
Controlled with the acceleration/
deceleration time in the parameter
t
Cd.35 Acceleration/deceleration time
change during speed change, Disabled Enabled
enable/disable selection
Cd.33 New acceleration time value
0 1000 0
Cd.34 New deceleration time value
(e) During JOG operation, the acceleration/deceleration time change function
does not function.
POINT
If the speed is changed when an acceleration/deceleration change is enabled, the
"new acceleration/deceleration time" will become the acceleration/deceleration time
of the positioning data being executed. The "new acceleration/deceleration time"
remains valid until the changeover to the next positioning data. (The automatic
deceleration processing at the completion of the positioning will also be controlled
by the "new acceleration/deceleration time".)
(3) Setting the acceleration/deceleration time change function
To use the "acceleration/deceleration time change function", write the data
shown in the following table to the AD75 using the sequence program.
The set details are validated when a speed change is executed after the details
are written to the AD75.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
New acceleration 1184 1234 1284
Cd.33 Set the new acceleration time.
time value 1185 1235 1285
New deceleration 1186 1236 1286
Cd.34 Set the new deceleration time.
time value 1187 1237 1287
Acceleration/
deceleration time
change during Set "1: Acceleration/deceleration time change
Cd.35 1 1188 1238 1288
speed change, enable".
enable/disable
selection
* Refer to section "5.7 List of control data" for details on the setting details.
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12.5.4 Torque change function
The "torque change function" is used to change the torque limit value during torque
limiting.
The torque limit value during torque limiting is normally the value set in the " Cd.101
Torque output setting value" that was set in the axis control data. However, by setting
the new torque limit value in the positioning data " Cd.30 New torque value", and
writing it to the AD75, the torque generated by the servomotor during control can be
limited with the new torque value.
(The " Cd.30 New torque value" is validated when written to the AD75.)
The details shown below explain about the "control torque change function".
(1) Control details
(2) Precautions during control
(3) Setting the torque change function start signal
(1) Control details
The following drawing shows the torque change operation.
Various operations
ON
PLC READY signal [Y1D] OFF
Pr.18 Torque limit setting value 100%
Cd.101 Torque output setting value 100% 50%
Cd.30 New torque value 0% 75% 0%
Torque is limited at the torque Torque is limited at the new Torque is limited at the torque
output setting value (50%) of torque value (75%) of the output setting value (50%) of
the axis control data. axis control data. the axis control data.
Md.45 Torque limit stored value 100% 50% 75% 50%
Fig. 12.30 Torque change operation
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(2) Precautions during control
(a) If a value other than "0" is set in the " Cd.30 New torque value", the torque
generated by the servomotor will be limited by that value. To limit the torque
with the value set in " Cd.101 Torque output setting value", set "0" in the
" Cd.30 New torque value".
To limit the torque with the value set in " Pr.18 Torque limit setting value",
set "0" in the " Cd.101 Torque output setting value" and " Cd.30 New torque
value".
(b) The " Cd.30 New torque value" is validated when it is written to the
AD75.However, there is a maximum delay of 56.8ms from when the new
torque value is written until the torque is limited with the new value.
(c) At a start of the corresponding control, the " Cd.30 New torque value" is
cleared to "0", and the torque is limited with the " Cd.101 Torque output
setting value".
(d) If the setting value is outside the setting range, a warning "Outside torque
change value range" (warning code: 113) will occur and the torque will not
be changed.
(3) Setting the torque change function start signal
To use the "torque change function", write the data shown in the following table
to the AD75 using the sequence program.
The set details are validated when written to the AD75.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Cd.30 New torque value Set the new torque limit value. 1176 1226 1276
* Refer to section "5.7 List of control data" for details on the setting details.
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12.6 Absolute position restoration function
The "absolute position restoration function" restores the absolute position of the axis
automatically at power-on of the AD75 by an absolute position detection system.
This function eliminates the need for a zero point return after power-off, such as an
instantaneous power failure or emergency stop, facilitating on-site recovery.
12.6.1 Outline of absolute position restoration function
The following details will be explained for the "absolute position restoration function".
[1] Configuration and preparations of absolute position detection system
[2] Outline of absolute position detection data communication
[3] Precautions during control
[1] Configuration and preparations of absolute position detection system
(1) Configuration
The following shows the configuration of an absolute position detection system.
Absolute position holding battery
1)
Power supply
Servo
amplifier
PLC AD
3) CPU 75 *
Detector cable SSCNET cable
SSCNET
2)
Servomotor with absolute position detector
* Set "1: Absolute position detection valid" to " Pr.101 Amplifier setting".
Fig. 12.31 Absolute position detection system configuration
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(2) Preparations
Note the contents of the following table for preparations of the absolute position
detection system.
Component Description
1) Servo amplifier • Install the battery (MR-BAT, A6BAT) to the servo amplifier.
(MR-H-B (MR-H-BN), • Validate the absolute position detection function of the
MR-J-B, MR-J2-B, servo amplifier.
MR-J2S-B)
For other details, refer to the manual of the servo amplifier.
2) Servomotor • Use the servomotor with absolute position detector.
For other details, refer to the manual of the servomotor.
3) Detector cable • Add the connection of the battery power supply (BAT/LG
signal) to the wiring of the incremental detector cable.
For other details, refer to the manual of the cable.
[2] Outline of absolute position detection data communication
As shown in the system block diagram in Fig. 12.32, the current absolute position is
stored by the battery fitted to the servo amplifier, and the absolute position of the zero
point is stored in the FeRAM of the AD75.
Making a zero point return once at the installation of the machine eliminates the need
for a zero point return at subsequent power-on.
After powering on the AD75 and servo amplifier, start communication between the
AD75 and servo amplifier to restore the absolute position.
AD75 Servo amplifier
Unit setting,
No. of pulses per rotation,
Movement amount per
rotation,
Unit magnification,
Rotation direction,
Zero point address
Current feed value
Machine feed value
Read Write
Absolute position of
zero point Battery
FeRAM
Battery backup
Servomotor
Absolute position data
(Detector)
Fig. 12.32 Outline of absolute position restoration function
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[3] Precautions during control
(1) Since the zero point data in the AD75 is initialized before shipment from the
factory, the absolute position (zero point position) cannot be restored normally.
When using the AD75 for the first time, always perform machine zero point
return control.
(2) When machine zero point return control is executed in the absolute position
detection system, access is made to the FeRAM (Ferroelectric Random
Access Memory).
9
The FeRAM access count is maximum 9.9999 10 times.
Access to the FeRAM is made three times (read is performed twice, and write
once) at power-on.
At a machine zero point return in the absolute position detection system,
(a) When the "Md.121 Absolute position restoration mode" is switched between
the "standard mode" and "infinite length mode"
Access to the FeRAM is made four times (read is performed twice, and write
twice)
(b) When the "Md.121 Absolute position restoration mode" is not switched
Access to the FeRAM is made twice (read is performed once, and write
once)
9
When the " Md.120 FeRAM access count" exceeds 9.0000 10 times, a
warning "FeRAM count warning" (warning code: 10) occurs.
9
When the " Md.120 FeRAM access count" exceeds 9.9999 10 times, an
error "FeRAM count over" (error code: 10) occurs. In this case, the AD75
has reached the end of its service life. Therefore, replace the module.
9
When the FeRAM access count exceeds 9.9999 10 times, the absolute
position (zero point position) cannot be restored normally at a system
startup (power on, reset, etc.).
(3) When the absolute position detection system has been configured, start
communication between the AD75 and servo amplifier after power-on or reset
to perform absolute position restoration. The parameters on the OS memory
are used for absolute position restoration. (Refer to Chapter 7 for details of the
OS memory.)
(4) When the AD75 is used in the absolute position detection system, the
followings cannot be performed.
• Infinite length feed control* that performs control in the given direction only
• Control in which the movement amount from the zero point address is outside
the range of Condition 1 and Condition 2 indicated below
When performing positioning in the absolute position detection system, use the
AD75 within the range that satisfies Condition 1 and Condition 2 indicated
below.
If it is used in the range that does not satisfy Condition 1 and Condition 2, a
normal current value cannot be restored at the time of absolute position
restoration and therefore the AD75 cannot be used in the absolute position
detection system.
* When the control unit is degree, set the absolute position restoration mode to
the "infinite length mode" to enable infinite length feed control. (Refer to
section 12.6.2 for details.)
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Condition 1. Number of output pulses
(a) It indicates the number of pulses that can be output to the servo amplifier
when positioning is started from the zero point in the absolute position
detection system. In the absolute position detection system, pulses within
the range of the following expression can be output.
[ 32768 (number of feedback pulses)] [number of output pulses] [32768 (number of feedback pulses) 1]
(b) The direction in which the address increases from the zero point is positive,
and the direction in which the address decreases from the zero point is
negative.
Zero point
-214748364.8 0 214748364.7
Negative pulse output Positive pulse output Unit : µm
(c) The number of output pulses changes depending on the number of
feedback pulses as indicated below.
• When the number of feedback pulses is 8192 (pulse):
268435456 (pulse) to 268435455 (pulse)
• When the number of feedback pulses is 16384 (pulse):
536870912 (pulse) to 536870911 (pulse)
Condition 2. Positioning address
(a) The positioning addresses that can be specified for the AD75 are as
indicated below.
• When the unit is mm: 214748364.8 (µm) to 214748364.7 (µm)
• When the unit is inch: 21474.83648 (inch) to 21474.83647 (inch)
• When the unit is pulse: 2147483648 (pulse) to 2147483647 (pulse)
• When the unit is degree:0° to 359.99999°
[Calculation of positioning address and concept of absolute position detection system]
Calculate the positioning address with the following expression.
(Positioning address) = (movement amount per pulse) (number of output pulses)
+ (zero point address) ......................................... Expression 1
1. Concept in the case where the unit is mm, inch or pulse
The range that satisfies Condition 1 and Condition 2 can be used as the
positioning address of the absolute position detection system.
The range that does not satisfy Condition 1 and Condition 2 cannot be used as
the positioning address of the absolute position detection system.
Since the concept of the positioning address is the same, an example of the case
where the unit is mm is given below.
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Example 1.
(1) The conditions for calculating the positioning address are indicated below.
• Movement amount per pulse: 0.1 (µm)
• Zero point address: 0.0 (µm)
• Number of feedback pulses = 8192 (pulse)
(2) Calculate the upper and lower limit values of the positioning address that can
be specified from the range of using the number of output pulses in Condition
1 and the expression for calculating the positioning address (Expression 1).
• Lower limit value of positioning address (use the number of negative side
pulses in Condition 1 for calculation)
(Positioning address) = (movement amount per pulse) (number of output
pulses) + (zero point address)
= 0.1 (-268435456) + 0.0
= -26843545.6 (µm)
• Upper limit value of positioning address (use the number of positive side
pulses in Condition 1 for calculation)
(Positioning address) = (movement amount per pulse) (number of output
pulses) + (zero point address)
= 0.1 268435455 + 0.0
= 26843545.5 (µm)
(3) The upper and lower limit values of the calculated positioning address are
within the range of Condition 2.
Hence, the positioning range calculated under Condition 1 [ 26843545.6 (µm)
to 26843545.5 (µm)] can be used in the absolute position detection system.
For positioning outside the range 26843545.6 (µm) to 26843545.5 (µm), the
AD75 cannot be used in the absolute position detection system.
Unit: µm
Zero point
-214748364.8 -26843545.6 0 26843545.5 214748364.7
Unusable range in Unusable range in
absolute position Usable range in absolute position absolute position
detection system detection system detection system
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Example 2.
(1) Using Expression 1, calculate the positioning address that can be specified in
the system where the zero point address in Example 1 is 214740000.0 (µm).
• Lower limit value of positioning address
(Positioning address) = 0.1 (-268435456) + 214740000.0
= 187896454.4 (µm)
• Upper limit value of positioning address
(Positioning address) = 0.1 268435455 + 214740000.0
= 241583545.5 (µm)
(2) Since the lower limit value of the calculated positioning address is within the
range of Condition 2, the calculated address 187896454.4 (µm) is the lower
limit for positioning in the absolute position detection system.
Since the upper limit value of the calculated positioning address is outside the
range of Condition 2, the upper limit value 214748364.7 (µm) in the positioning
range of Condition 2 is the upper limit for positioning in the absolute position
detection system.
Use the AD75 within the range 187896454.4 (µm) to 214748364.7 (µm) in the
absolute position detection system.
For positioning in excess of 187896454.4 (µm), the AD75 cannot be used in
the absolute position detection system.
-214748364.8 214748364.7 Unit: µm
Positioning address specifying range
(Zero point)
187896454.4 214740000.0 241583545.5
Unusable range in absolute Usable range in absolute Setting cannot
position detection system position detection system be made
Example 3.
(1) The conditions for calculating the positioning address are indicated below.
• Movement amount per pulse: 0.9 (µm)
• Zero point address: 0.0 (µm)
• Number of feedback pulses = 8192 (pulse)
(2) Calculate the positioning address from the range of using the number of output
pulses in Condition 1 and the expression for calculating the positioning
address (Expression 1).
• Lower limit value of positioning address (use the number of negative side
pulses in Condition 1 for calculation)
(Positioning address) = (movement amount per pulse) (number of output
pulses) + (zero point address)
= 0.9 (-268435456) + 0.0
= -241591910.4 (µm)
• Upper limit value of positioning address (use the number of positive side
pulses in Condition 1 for calculation)
(Positioning address) = (movement amount per pulse) (number of output
pulses) + (zero point address)
= 0.9 268435455 + 0.0
= 241591909.5 (µm)
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(3) Since the upper and lower limit values of the calculated positioning address
are outside the range of Condition 2, use the AD75 within the positioning
range of Condition 2 ( 214748364.8 (µm) to 214748364.7 (µm)).
Unit: µm
Zero point
-241591910.4 -214748364.8 0 214748364.7 241591909.5
Setting cannot Usable range in absolute position Setting cannot
be made detection system be made
2. Concept in the case where the unit is degree
The positioning address is the address of the position reached by the machine
zero point return, and its range is 0° to 359.99999°.
The range 0° to 359.99999° also applies to the case where the zero point
position is not 0°.
<When the mode for absolute position restoration is the "standard mode"
("Md.121 Absolute position restoration mode" = 0)>
For positioning in the same direction, out of bound control (when the address
increases: 359.99999° 0° / when the address decreases: 0° 359.99999°)
cannot be performed.
Zero point
359.99999 359.99999
Cannot be used in the absolute
Cannot be used in the absolute
position detection system.
position detection system.
At power-on or reset, the current
At power-on or reset, the current
value cannot be restored normally.
value cannot be restored normally.
0 0
Usable range in absolute position
detection system
(0 to 359.99999 )
To make the software stroke limit valid, set the upper and lower limit values
within the range 0° to 359.99999°.
<When the mode for absolute position restoration is the "infinite length mode"
("Md.121 Absolute position restoration mode" = 1)>
For positioning in the same direction, out of bound control (when the address
increases: 359.99999° 0° / when the address decreases: 0° 359.99999°)
can be performed.
Zero point
359.99999 359.99999
Out of bound positioning control
be performed.
0 0 (Infinite length positioning control)
Make the software stroke limit invalid.
For details of the mode for absolute position restoration, refer to section "12.6.2
Absolute position restoration mode switching function".
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12.6.2 Absolute position restoration mode switching function
The "absolute position restoration mode switching function" switches the mode for
absolute position restoration in the absolute position detection system of control unit
"degree". This enables absolute position detection for infinite length positioning control
where control is performed in only the given direction, e.g. turn table.
[1] About absolute position restoration mode
[2] Control details
[3] Precautions during control
[4] Absolute position restoration mode switching method
[1] About absolute position restoration mode
There are the following two absolute position restorable ranges (absolute position
restoration modes) in an absolute position detection system of control unit "degree"
(" Pr.1 Unit setting" is "2").
(a) Standard mode
In this mode, the absolute position can be restored only within the range
where out of bound operation (operation where " Md.29 Current feed value"
changes from 359.99999° to 0° when the address increases, or " Md.29
Current feed value" changes from 0° to 359.99999° when the address
decreases) is not performed from the zero point return position.
(b) Infinite length mode
In this mode, the absolute position can be restored in the range where out of
bound operation (operation where " Md.29 Current feed value" changes
from 359.99999° to 0° when the address increases, or " Md.29 Current feed
value" changes from 0° to 359.99999° when the address decreases) is
performed from the zero point return position.
(Standard mode) Zero point return position
359.99999 359.99999 359.99999 359.99999 359.99999
0 0 0 0 0
(Infinite length mode) Zero point return position
359.99999 359.99999 359.99999 359.99999 359.99999
0 0 0 0 0
Usable range in absolute position
detection system
Unusable range in absolute position
detection system
Fig. 12.33 Ranges where absolute position can be restored in absolute position detection system of
control unit "degree"
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[2] Control details
The operation performed for absolute position restoration mode switching is described
below.
1) To switch the absolute position restoration mode, select the mode in
" Pr.59 Absolute position restoration selection" and make a machine
zero point return.
The absolute position restoration mode is established when the zero
point return complete flag ( Md.40 Status: b4) turns ON.
2) When power is switched from OFF to ON after execution of Step 1),
the system starts up in the mode established in Step 1) and restores
the absolute position.
The established absolute position restoration mode can be checked in the " Md.121
Absolute position restoration mode".
When the " Md.121 Absolute position restoration mode" is "1: Infinite length mode", the
AD75 automatically updates the absolute position of the zero point stored in the
FeRAM every time the machine moves the given distance* (servomotor shaft: 8142 to
8192 revolutions). This detects the absolute position for infinite length positioning
control. Every time the absolute position is automatically updated, the " Md.120 FeRAM
access count" is incremented by "2".
* The given distance is automatically determined by the setting of " Pr.2 No. of
pulses per rotation".
ON
PLC READY signal [Y1D]
OFF
ON
AD75 READY signal [X0]
OFF
Pr.59 Absolute position
Standard mode Infinite length mode
restoration selection
ON
Machine zero point return start OFF
(Positioning start signal) [Y10,Y11,Y12]
ON
Zero point return request flag OFF
Md.40 Status: b3
ON
Zero point return complete flag OFF
Md.40 Status: b4
Md.35 Axis operation status
Standing by In zero point return Standing by
Md.121 Absolute position restoration Standard mode Infinite length mode
mode
Fig. 12.34 Absolute position restoration mode switching operation
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[3] Precautions during control
The following precautions are for the case where the "infinite length mode" is selected
as the absolute position restoration mode and the absolute position is detected for
infinite positioning control.
(1) The following table indicates usable hardware versions and software versions
of the modules.
Model name Hardware version Software version
AD75M1 F or later
AD75M2 F or later
AD75M3 G or later
W or later
A1SD75M1 G or later
A1SD75M2 G or later
A1SD75M3 H or later
If the hardware version is earlier than the one indicated in the above table and
the software version is as indicated in the above table, selection of the "infinite
length mode" in " Pr.59 Absolute position restoration selection" will result in an
error "absolute position restoration selection error" (error code: 998) when the
PLC READY signal (Y1D) turns from OFF to ON.
(2) To switch the absolute position restoration mode to the "infinite length mode",
make a machine zero point return after satisfying the following conditions (a) to
(c). If any of (a) to (c) is not satisfied, the absolute position restoration mode
turns to the "standard mode" on completion of the machine zero point return.
(a) " Pr.1 Unit setting" is "2: degree".
(b) The software stroke limit function (refer to section 12.4.3) is invalid.
(c) " Pr.101 Amplifier setting" is "1: Absolute position detection valid".
(3) " Md.30 Machine feed value" cannot be used.
(4) The following control methods cannot be executed.
• " Da.2 Control method" "03H: 1-axis fixed-dimension feed control"
• " Da.2 Control method" "06H: 2-axis fixed-dimension feed control"
• " Da.2 Control method" "0FH: Speed/position changeover control (forward
run)"
• " Da.2 Control method" "10H: Speed/position changeover control (reverse
run)"
• " Da.2 Control method" "11H: Current value change"
If any of the above is executed, an error "control method setting error" (error
code: 524) occurs.
(5) The following positioning starts cannot be executed.
• Positioning start when the " Cd.11 Positioning start No." is "9002: High-speed
zero point return"
• Positioning start when the " Cd.11 Positioning start No." is "9003: Current
value change"
If either of the above is executed, an error "outside start number range" (error
code: 543) occurs.
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(6) When " Da.2 Control method" "0DH: Speed control (forward run)" or "0EH:
Speed control (reverse run)" is to be executed, " Pr.22 Current feed value
during speed control" must be set to "1: Update current feed value". If either of
the above control methods is executed at the setting of other than "1", an error
"control method setting error" (error code: 524) occurs.
(7) If the servomotor shaft has rotated more than 15000 turns without the AD75
and servo amplifier making communication, e.g. at power-off, absolute position
restoration may not be made normally at the next power-on.
If external force, etc. may cause the servomotor shaft to rotate more than
15000 turns, use the servomotor equipped with brake, for example, to secure
the servomotor shaft.
(8) When any of the following parameters has been changed from the setting at
execution of a machine zero point return, always make a machine zero point
return. If a machine zero point return is not executed, normal absolute position
restoration cannot be performed.
(a) Basic parameters 1
Pr.1 Unit setting, Pr.2 No. of pulses per rotation, Pr.3 Movement
amount per rotation, Pr.4 Unit magnification
(b) Detailed parameters 1
Pr.13 Software stroke limit upper limit value,
Pr.14 Software stroke limit lower limit value
(c) Zero point return basic parameters
Pr.47 Zero point address
(d) Zero point return detailed parameters
Pr.59 Absolute position restoration selection
(e) Servo basic parameters*
Pr.101 Amplifier setting, Pr.107 Rotation direction
*: When the servo basic parameters in above (e) are changed after the AD75
and servo amplifier has started communication, power the AD75 or servo
amplifier OFF, then ON and make communication between the AD75 or servo
amplifier.
(9) If either of the following settings is made with "Md.121 Absolute position
restoration mode" set to "1: infinite length mode" and " Pr.59 Absolute
position restoration selection" set to "1: infinite length mode", an error occurs
when the PLC READY signal (Y1D) turns from OFF to ON.
(a) When " Pr.1 Unit setting" is set to other than "2: degree"
Error "outside unit setting range" (error code: 900)
(b) When the software stroke limit function (refer to section 12.4.3) is set valid
Error "software stroke limit upper limit" (error code: 921), error "software
stroke limit lower limit" (error code: 922)
(10)Every time a machine zero point return is executed, " Md.120 FeRAM access
count" increases as described below.
(a) When "Md.121 Absolute position restoration mode" is switched between the
"standard mode" and "infinite length mode"
" Md.120 FeRAM access count" increases by "4".
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(b) When "Md.121 Absolute position restoration mode" is not switched
" Md.120 FeRAM access count" increases by "2".
9
(11)If the " Md.120 FeRAM access count" exceeds 9.9999 10 times at automatic
updating of the absolute position of the zero point, a warning "automatic
update count over" (warning code: 11) occurs.
(12)If write to the FeRAM is not completed normally at automatic updating of the
absolute position of the zero point, a warning "automatic update failure"
(warning code: 12) occurs.
[4] Absolute position restoration mode switching method
The method of switching the absolute position restoration mode is described below.
(1) Set the following parameter.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Select the mode for absolute
Absolute position position restoration in an absolute
Pr.59 restoration position detection system. 91 241 391
selection 0: Standard mode
1: Infinite length mode
* Refer to section "5.2 List of parameters" for the setting details.
POINT
When the "infinite length mode" is selected as the absolute position restoration
selection, set the parameters to satisfy the following (a) to (c).
(a) Set " Pr.1 Unit setting" to "2: degree".
(b) Set the software stroke limit function invalid.
(c) Set " Pr.101 Amplifier setting" to "1: Absolute position detection valid".
(2) Turn ON the PLC READY signal (Y1D).
(3) Using the servo ON/OFF function (refer to section 12.4.5), turn ON the all axes
servo ON signal (Y15).
(4) Execute a machine zero point return.
(5) After completion of the machine zero point return, the absolute position
restoration mode is established. The established mode is stored into the
following monitor data.
Monitor Buffer memory address
Setting item Storage details
value Axis 1 Axis 2 Axis 3
The mode for absolute position
restoration selected in Pr.59 is
Absolute position stored.
Md.121 879 979 1079
restoration mode
0: Standard mode
1: Infinite length mode
* Refer to section "5.6 List of monitor data" for the storage details.
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12.7 Other functions
Other functions include the "step function", "skip function", "M code output function",
"teaching function", "command in-position function", "acceleration/deceleration
processing function" and "indirectly specification function". Each function is executed
by parameter setting or sequence program creation and writing.
12.7.1 Step function
The "step function" is used to confirm each operation of the positioning control one by
one.
It is mainly used in debugging work for positioning control, etc.
A positioning operation in which a "step function" is used is called a "step operation".
In step operations, the timing for stopping the control can be set. (This is called the
"step mode".) Control stopped by a step operation can be continued by setting "step
continue" (to continue the control)" or restarted by setting "restart" in the "step start
information".
The details shown below explain about the "step function".
(1) Relation between the step function and various controls
(2) Step mode
(3) Step start information
(4) Using the step operation
(5) Control details
(6) Precautions during control
(7) Step function settings
(1) Relation between the step function and various controls
The following table shows the relation between the "step function" and various
controls.
Control type Step function Step applicability
Zero point Machine zero point return control
Step operation not possible
return control High-speed zero pint return control
1-axis linear control
2-axis linear interpolation control
Position 1-axis fixed-dimension feed control
Step operation possible
control 2-axis fixed-dimension feed control
Main (interpolation)
positioning
2-axis circular interpolation control
control
Speed control Step operation not possible
Speed/position changeover control
Other Current value change Step operation possible
control JUMP command
Manual JOG operation
Step operation not possible
control Manual pulse generator operation
: Set when required. : Setting not possible
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(2) Step mode
In step operations, the timing for stopping the control can be set. This is called
the "step mode". (The "step mode" is set in the control data " Cd.27 Step
mode".)
The following shows the two types of "step mode" functions.
(a) Deceleration unit step
The operation stops at positioning data requiring automatic deceleration. (A
normal operation will be carried out until the positioning data requiring
automatic deceleration is found. Once found, that positioning data will be
executed, and the operation will then automatically decelerate and stop.)
(b) Data No. unit step
The operation automatically decelerates and stops for each positioning
data. (Even in continuous path control, an automatic deceleration and stop
will be forcibly carried out.)
(3) Step start information
Control stopped by a step operation can be continued by setting "step continue"
(to continue the control) or restarted by setting "restart" in the "step start
information". (The "step start information" is set in the control data " Cd.28 Step
start information".)
The following table shows the results of starts using the "step start information"
during step operation.
(Warnings will only be output when the step valid flag is ON.)
Stop status in the step Md.35 Axis operation Cd.28 Step start
Step start results
operation status information
1: Step continue The next positioning data is executed.
1 step of positioning stopped
Step standing by A "step start information invalid warning"
normally 2: Restart
occurs.
Control stopped by a stop 1: Step continue A restart is carried out at the positioning data
Step stopped
signal 2: Restart where the control was stopped.
An error occurred, and the 1: Step continue A "step start information invalid warning"
Step error occurring
control stopped 2: Restart occurs.
The following warnings will occur if the " Md.35 Axis operation status" is not
appropriate when step start information is set.
Md.35 Axis operation status Step start results
Standing by
Stopped
Error occurring Step start information invalid warning
Servo has not been connected
In servo OFF
In interpolation
In JOG operation
In manual pulse generator operation
Analyzing
Waiting for special start
Start during operation warning
In zero point return
In position control
In speed control
In speed control of speed/position changeover control
In position control of speed/position changeover control
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(4) Using the step operation
The following shows the procedure for checking positioning data using the step
operation.
(a) Turn ON the step valid flag before starting the positioning data.
(Write "1" (carry out step operation) in " Cd.26 Step valid flag".)
(b) Set the step mode before starting the positioning data.
(Set in " Cd.27 Step mode".)
(c) Turn ON the positioning start signal, and check that the
positioning control starts normally.
(d) The control will stop for the following reasons.
1) One step of positioning stopped normally. (Go to step (f))
2) Control stopped by a stop signal (Take appropriate measures, go to
step (e))
3) An error occurred and the control stopped. (Take appropriate
measures, go to step (c))
(e) Write "2" (restart) to " Cd.28 Step start information", and check
that the positioning data where the control stopped operates
normally. (Go to (d)).
(f) Write "1" (step continue) to " Cd.28 Step start information", and
check that the next positioning data where the control stopped
operates normally.
1) One step of positioning stopped normally. (Go to step (f))
2) Control stopped by a stop signal (Take appropriate measures, go to
step (e))
3) An error occurred and the control stopped. (Take appropriate
measures, go to step (c))
4) All positioning data operated normally (Go to step (g))
(g) Turn OFF the step valid flag, and quit the "step function".
(Write "0" (do not carry out step operation) in " Cd.26 Step valid flag".)
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(5) Control details
(a) The following drawing shows a step operation during a "deceleration unit
step".
ON
Cd. 26 Step valid flag OFF
ON
Positioning start signal OFF
[Y10, Y11, Y12]
ON
BUSY signal [X4, X5, X6] OFF
Positioning complete signal OFF
[X7, X8, X9] V
Positioning
t
Positioning data No. No.10 No.11
Da. 1 Operation pattern 11 01
No positioning data No. unit, so operation pattern
becomes one step of unit for carrying out automatic
deceleration.
Fig. 12.35 Operation during step execution by deceleration unit step
(b) The following drawing shows a step operation during a "data No. unit step".
Cd. 26 Step valid flag ON
OFF
Positioning start signal ON
[RY(n+1)0, RY(n+1)1] OFF
ON
BUSY signal [RXn4, RXn5] OFF
ON
Positioning complete signal OFF
[RXn7, RXn8]
V
Positioning
t
Cd. 28 Step start information 00H 01H 00H
Positioning data No.
No.10 No.11
Da. 1 Operation pattern 11 01
Operation pattern becomes one step of positioning data No. unit,
regardless of continuous path control (11).
Fig. 12.36 Operation during step execution positioning data No. unit step
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12 CONTROL AUXILIARY FUNCTIONS
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(6) Precautions during control
(a) When step operation is carried out using interpolation control positioning
data, the step function settings are carried out for the reference axis.
(b) When the step valid flag is ON, the step operation will start from the
beginning if the positioning start signal is turned ON while " Md.35 Axis
operation status" is "step standing by", "step stopped", or "step error
occurring". (The step operation will be carried out from the positioning data
set in " Cd.11 Positioning start No.".)
(7) Step function settings
To use the "step function", write the data shown in the following table to the AD75
using the sequence program. Refer to section "(4) Using the step operation" for
the timing of the settings.
The set details are validated when written to the AD75.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Cd.26 Step valid flag 1 Set "1: Carry out step operation". 1172 1222 1272
Set "0: Deceleration unit step" or "1: Data No.
Cd.27 Step mode 1173 1223 1273
unit step".
Step start Set "1: Step continue" or "2: Restart",
Cd.28 1174 1224 1274
information depending on the stop status.
* Refer to section "5.7 List of control data" for details on the setting details.
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12.7.2 Skip function
The "skip function" is used to stop (deceleration stop) the control of the positioning data
being executed at the time of the skip signal input, and execute the next positioning
data.
A skip is executed by a skip command ( Cd.29 Skip command) or external start signal.
The "skip function" can be used during control in which positioning data is used.
The details shown below explain about the "skip function".
(1) Control details
(2) Precautions during control
(3) Setting the skip function from the PLC CPU
(4) Setting the skip function using an external start signal
(1) Control details
The following drawing shows the skip function operation.
ON
Positioning start signal OFF
[Y10, Y11, Y12]
ON
BUSYsignal OFF
[X4,X5,X6]
ON
Positioning complete signal OFF
[X7,X8,X9] V
Positioning
t
Deceleration by Start of the
skip signal next positioning
ON
Skip signal OFF
Fig. 12.37 Operation when a skip signal is input during positioning control
(2) Precautions during control
(a) If the skip signal is turned ON at the last of an operation, a deceleration stop
will occur and the operation will be terminated.
(b) When a control is skipped (when the skip signal is turned ON during a
control), the positioning complete signals (X7, X8, X9) will not turn ON.
(c) When the skip signal is turned ON during the dwell time, the remaining dwell
time will be ignored, and the next positioning data will be executed.
(d) When a control is skipped during interpolation control, the reference axis
skip signal is turned ON. When the reference axis skip signal is turned ON,
a deceleration stop will be carried out for both axes, and the next reference
axis positioning data will be executed.
(e) The M code ON signals (XD, XE, XF) will not turn ON when the M code
output is set to the AFTER mode (when "1: AFTER mode" is set in " Pr.19
M code ON signal output timing").
(In this case, the M code will not be stored in " Md.32 Valid M code".)
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(3) Setting the skip function from the PLC CPU
The following shows the settings and sequence program example for skipping
the control being executed in axis 1 with a command from the PLC CPU.
(a) Set the following data.
(The setting is carried out using the sequence program shown below in
section (2)).
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Cd.29 Skip command 1 Set "1: Skip request". 1175 1225 1275
* Refer to section "5.7 List of control data" for details on the setting details.
(b) Add the following sequence program to the control program, and write it to
the PLC CPU.
1) When the "skip command" is input, the value "1" (skip request) set in
" Cd.29 Skip command" is written to the AD75 buffer memory (1175).
Example
*
* No.19 Skip program
*
<Skip operation command pulse>
<Skip operation command ON storage>
<Skip operation command write>
<Skip complete read>
<Skip operation command storage OFF>
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(4) Setting the skip function using an external start signal
The skip function can also be executed using an "external start signal".
The following shows the settings and sequence program example for skipping
the control being executed in axis 1 using an "external start signal".
(a) Set the following data to execute the skip function using an external start
signal.
(The setting is carried out using the sequence program shown below in
section (2)).
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
External start
Pr.43 2 Set "2: Skip request". 62 212 362
function selection
Cd.25 External start valid 1 Set "1: Validate external start". 1171 1221 1271
* Refer to section "5.7 List of control data" for details on the setting details.
(b) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example
Skip function
selection command
TOP H0 K62 K2 K1 Select skip request
Skip request
TOP H0 K1171 K1 K1 Set external start valid
External start valid
Input external start signal
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12.7.3 M code output function
The "M code output function" is used to command auxiliary work (clamping, drill
rotation, tool replacement, etc.) related to the positioning data being executed.
When the M code ON signal (XD, XE, XF) is turned ON during positioning execution, a
No. called the M code is stored in " Md.32 Valid M code".
These " Md.32 Valid M code" are read from the PLC CPU, and used to command
auxiliary work. M codes can be set for each positioning data. (Set in setting item
" Da.9 M code" of the positioning data.)
The timing for outputting (storing) the M codes can also be set in the "M code output
function".
The details shown below explain about the "M code output function".
(1) M code ON signal output timing
(2) M code OFF request
(3) Precautions during control
(4) Setting the M code output function
(5) Reading M codes
(1) M code ON signal output timing
The timing for outputting (storing) the M codes can be set in the "M code output
function". (The M code is stored in " Md.32 Valid M code" when the M code ON
signal is turned ON.)
The following shows the two types of timing for outputting M codes: the "WITH"
mode and the "AFTER" mode.
(a) WITH mode
The M code ON signal (XD, XE, XF) is turned ON at the positioning start,
and the M code is stored in " Md.32 Valid M code".
ON
Positioning start signal OFF
[Y10, Y11, Y12]
ON
BUSY signal [X4,X5,X6] OFF
ON
M code ON signal [XD,XE,XF] OFF
Cd. 14 M code OFF request 0 1 0 0 1 0
Md. 32 Valid M code m1* m2*
V Dwell time
Positioning
t
Da. 1 Operation pattern 01 00
* m1 and m2 indicate set M codes.
Fig. 12.38 M code ON/OFF timing (WITH mode)
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(b) AFTER mode
The M code ON signal (XD, XE, XF) is turned ON at the positioning
completion, and the M code is stored in " Md.32 Valid M code".
ON
Positioning start signal OFF
[Y10, Y11, Y12]
ON
BUSY signal [X4,X5,X6] OFF
ON
M code ON signal [XD,XE,XF] OFF
Cd. 14 M code OFF request 0 1 0
Md. 32 Valid M code m1* m2*
V
Positioning
t
Da. 1 Operation pattern 01 00
* m1 and m2 indicate set M codes.
Fig. 12.39 M code ON/OFF timing (AFTER mode)
(2) M code OFF request
When the M code ON signal (XD, XE, XF) is ON, it must be turned OFF by the
sequence program.
To turn OFF the M code ON signal, set "1" (turn OFF the M code signal) in
" Cd.14 M code OFF request".
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
M code OFF
Cd.14 1 Set "1: Turn OFF the M code ON signal". 1153 1203 1253
request
* Refer to section "5.7 List of control data" for details on the setting details.
The next positioning data will be processed as follows if the M code ON signal is
not turned OFF. (The processing differs according to the " Da.1 Operation
pattern".)
Da.1 Operation pattern Processing
Independent positioning control
00 The next positioning data will not be executed until the M code ON
(Positioning complete)
signal is turned OFF.
01 Continuous positioning control
The next positioning data will be executed, but a warning "M code
11 Continuous path control
ON signal ON start" (warning code: 503) will occur.
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ON
Positioning start signal OFF
[Y10, Y11, Y12]
ON
BUSY signal [X4,X5,X6] OFF
ON
M code ON signal [XD,XE,XF] OFF
Cd. 14 M code OFF request 0 1 0 1 0
Md. 32 Valid M code m1 m2 m3
* * *
V
Positioning
t
Da. 1 Operation pattern 11 11 00
* : m1 and m3 indicate set M codes. Warning occurs at this timing.
Fig. 12.40 Warning due to an M code ON signal during continuous path control
POINT
If the M code output function is not required, set a "0" in setting item " Da.9 M
code" of the positioning data.
(3) Precautions during control
(a) During interpolation control, the reference axis M code ON signal is turned
ON.
(b) The M code ON signal will not turn ON if "0" is set in " Da.9 M code". (The
M code will not be output, and the previously output value will be held in
" Md.32 Valid M code".)
(c) If the M code ON signal is ON at the positioning start, an error "M code ON
signal ON start" (error code: 536) will occur, and the positioning will not start.
(e) If the PLC READY signal (Y1D) is turned OFF, the M code ON signal will
turn OFF and "0" will be stored in " Md.32 Valid M code".
(f) If the positioning operation time is short during continuous path control, there
will not be enough time to turn OFF the M code ON signal, and a warning
may occur. In this case, set a "0" in the " Da.9 M code" of that section's
positioning data.
(g) In the AFTER mode during speed control, the M code is not output and the
M code ON signal does not turn ON.
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(4) Setting the M code output function
The following shows the settings to use the "M code output function".
(a) Set the M code No. in the positioning data " Da.9 M code".
(b) Set the timing to output the M code ON signal (XD, XE, XF).
Set the required value in the following parameter, and write it to the AD75.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y1D).
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Set the timing to output the M code ON signal.
M code ON signal
Pr.19 0: WITH mode 25 175 325
output timing
1: AFTER mode
* Refer to section "5.2 List of parameters" for setting details.
(5) Reading M codes
"M codes" are stored in the following buffer memory when the M code ON signal
turns ON.
Monitor Buffer memory address
Monitor item Storage details
value Axis 1 Axis 2 Axis 3
The M code No. ( Da.9 M code) set in the
Md.32 Valid M code 806 906 1006
positioning data is stored.
* Refer to section "5.6 List of monitor data" for information on the storage details.
The following shows a sequence program example for reading the " Md.32 Valid
M code" to the PLC CPU data register (D110). (The read value is used to
command the auxiliary work.)
Read M codes not as "rising edge commands", but as "ON execution
commands".
Example
M code ON signal
FROM H0 K806 D110 K1
ON execution command
D110: valid M codes
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12.7.4 Teaching function
The "teaching function" is used to set addresses aligned using the manual control
(JOG operation, manual pulse generator operation) in the positioning data addresses
( Da.5 Positioning address/movement amount, Da.6 Arc address).
The details shown below explain about the "teaching function".
(1) Control details
(2) Precautions during control
(3) Data used in teaching
(4) Teaching procedure
(1) Control details
(a) Teaching timing
Teaching is executed using the sequence program when the BUSY signal
(X4, X5, X6) is OFF. (During manual control, teaching can be carried out as
long as the axis is not BUSY, even when an error or warning has occurred.)
(b) Addresses for which teaching is possible
The addresses for which teaching is possible are " Md.29 Current feed
value" having the zero point as a reference. The settings of the "movement
amount" used in increment system positioning cannot be used. In the
teaching function, these "current feed values" are set in the " Da.5
Positioning address/movement amount" or " Da.6 Arc address".
Positioning data
Positions aligned by manual
control
Da.5 Positioning address/movement
"Current feed value" A
amount
"Current feed value" B Da.6 Arc address
(c) Teaching target axis ( Cd.4 Target axis)
Teaching can be executed for the "designated axis only" or the "2 axes
carrying out interpolation control". When teaching is executed for the "2
axes carrying out interpolation control", the "current feed value" is set for
both the reference axis and the interpolation axis.
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(2) Precautions during control
(a) Before teaching, a "machine zero point return" must be carried out to
establish the zero point. (When a current value change function, etc., is
carried out, " Md.29 Current feed value" may not show absolute addresses
having the zero point as a reference.)
(b) Teaching cannot be carried out for positions to which movement cannot be
executed by manual control (positions to which the workpiece cannot
physically move). (During center point designation circular interpolation
control, etc., teaching of " Da.6 Arc address" cannot be carried out if the
center point of the arc is not within the moveable range of the workpiece.)
(c) Writing to the flash ROM can be executed up to 100,000 times.
Writing to the flash ROM will become impossible after 100,000 times.
(3) Data used in teaching
The following control data is used in teaching.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Set the writing destination axis.
1: Axis 1
2: Axis 2
Cd.4 Target axis 3: Axis 3 1103
4: Interpolation of axis 1 and axis 2
5: Interpolation of axis 2 and axis 3
6: Interpolation of axis 3 and axis 1
Positioning data Set the "positioning data No."(1 to 600) of the
Cd.5 1104
No. writing destination.
Set the address to which the "current feed
value" will be written.
Cd.6 Write pattern 5: Write to the " Da.5 Positioning 1105
address/movement amount"
6: Write to the " Da.6 Arc address".
Read/write
Cd.7 2 Request writing to the positioning data. 1106
request
Flash ROM write Write the set details to the flash ROM (backup
Cd.9 1 1138
request the changed data).
* Refer to section "5.7 List of control data" for details on the setting details.
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(4) Teaching procedure
The following shows the procedure for a teaching operation.
(a) When teaching to the " Da.5 Positioning address/movement amount"
Start
Carry out a machine zero point return.
Move the workpiece to the target position
• • • • • • • • Using a JOG operation or manual pulse generator.
using a manual operation.
Set the target axis. • • • • • • • • Set the target axis in the buffer memory address [1103].
Set the positioning data No. for
• • • • • • • • Set the positioning data No. in the buffer memory address [1104].
which the teaching will be carried out.
Select "Set the current feed
value to " Da.5 Positioning
address/movement amount"" • • • • • • • • Set 500H in the buffer memory address [1105].
in the write pattern.
Carry out a writing request. • • • • • • • • Set 2 in buffer memory address [1106]
Confirm the completion of the writing. • • • • • • • • Confirm that the buffer memory address [1106] has become 0.
NO End teaching?
YES
Turn OFF the PLC READY
signal [Y1D].
Carry out a writing request to
the flash ROM. • • • • • • • • Set 1 in the buffer memory address [1138].
Confirm the completion of the writing. • • • • • • • • Confirm that the buffer memory address [1138] has become 0.
End
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(b) When teaching to the " Da.6 Arc address", then teaching to the " Da.5
Positioning address/movement amount"
Start
Carry out a machine zero point return.
Move the workpiece to the circular
interpolation auxiliary point using a • • • • • • • • Using a JOG operation or manual pulse generator.
manual operation.
Set the target axis. • • • • • • • • Set the target axis in the buffer memory address [1103].
Set the positioning data No. for
which the teaching will be carried out.
• • • • • • • • Set the positioning data No. in the buffer memory address [1104].
Select "Set the current feed value to the
arc auxiliary point ( Da.6 Arc address)" • • • • • • • • Set 60FH in the buffer memory address [1105].
in the write pattern.
Carry out a writing request. • • • • • • • • Set 2 in buffer memory address [1106]
Confirm the completion of the writing. • • • • • • • • Confirm that the buffer memory address [1106] has become 0.
Move the workpiece to the circular
interpolation end point position • • • • • • • • Using a JOG operation or manual pulse generator.
using a manual operation.
Select "Set the current feed
value to the end point ( Da.5
Positioning address/movement • • • • • • • • Set 50FH in the buffer memory address [1105].
amount)" in the write pattern.
Carry out a writing request. • • • • • • • • Set 2 in buffer memory address [1106]
II I
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II I
Confirm the completion of the writing. • • • • • • • • Confirm that the buffer memory address [1106] has become 0.
NO
End teaching?
YES
Turn OFF the PLC READY • • • • • • • • Set 1 in the buffer memory address [1138].
signal [Y1D].
Carry out a writing request to
• • • • • • • • Confirm that the buffer memory address [1138] has become 0.
the flash ROM.
Confirm the completion of the writing.
End
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(5) Teaching program example
The following shows a sequence program example for setting (writing) the
positioning data obtained with the teaching function to the AD75.
(a) Setting conditions
• When setting the current feed value as the positioning address/arc
auxiliary point, write it when the BUSY signal is OFF.
(b) Program example 1
• The following example shows a program in which the " Md.29 Current
feed value" is written to the "positioning address" of the axis 1 positioning
data No. 1, and the positioning data stored in D40 to D45 is written to the
other positioning data.
AD75 buffer memory
800
(Address)
Md. 29 Current feed value
801
PLC CPU data register to to
D27 1 (Axis 1) 1103 Cd.4 Target axis
D28 1 (Data No. 1) 1104 Cd.5 Positioning data No.
D29 (Current feed value is the address) 1105
Cd.6 Write pattern
1280 (0500H) (Also write data other than the address)
D30 2 (Writing request) 1106 Cd.7 (Read/write request)
1107 (Open)
(Control method: axis 1 linear ABS)
D40 272 (0110H) (Deceleration time: Use No. 0) 1108 Positioning identifier
(Acceleration time: Use No. 1)
(Operation pattern: Positioning complete)
D41 10 (M code No.) 1109 M code
Positioning data D42 1000 (ms) 1110 Dwell time
(1 positioning
amount)
D43 0 1111 (Open)
D44 100000 (pulse/s) 1112
Command speed
D45 1113
0 (Address) 1114
Positioning address
1115
0 (Not used) 1116
Arc data
1117
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1) Move the workpiece to the target position using a JOG operation (or a
manual pulse generator operation).
Example
Target position
Forward run JOG start signal [Y16]
PLC READY signal [Y1D]
AD75 READY signal [X0]
BUSY signal [X4]
Error detection signal [XA]
Md.29 Current feed value n1 nx n2
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2) Carry out the teaching operation with the following program.
Example
*
* No.20 Teaching program
*
*
* • Positioning to the target position with manual operation.
* • Store the data other than the positioning data interface address
* in D40 to D45.
*
*
*
<Teaching command pulse>
<Teaching command hold>
<Positioning data write>
<Axis 1 setting>
<Positioning data No.1 setting>
<Teaching data setting>
<Write request setting>
<Teaching data write>
<Teaching result read>
<Teaching command storage OFF>
POINT
(1) Use the address 1103 to 1137 areas in the system control data area as the buffer memory
for the positioning data interface.
(2) Confirm the teaching function and teaching procedure before setting the positioning data.
(3) The positioning addresses that are written are absolute address (ABS) values.
(4) If the positioning operation is correctly completed with the written positioning data, it is
recommended that the positioning data be registered in the AD75 flash ROM.
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(c) Program example 2
• The following example shows a program in which the " Md.29 Current
feed value" is written to the "positioning address" and "arc address" of the
circular interpolation control positioning data No. 2 of axis 1 and axis 2.
AD75 buffer memory
Address 800
Md. 29 Current feed value (axis1)
801
PLC CPU data register 900
Md. 29 Current feed value (axis2)
D111 4 (Interpolation with axis 1 and axis 2) 901
D112 2 (Data No. 2)
1551(060FH) (When the arc auxiliary 1103 Cd.4 Target axis
/ point is set.)
D113 1104 Cd.5 Positioning data No.
1295(050FH) (When the positioning address is set.)
D114 2 (Writing request) 1105 Cd.6 Write pattern
1106 Cd.7 Read/write request
1) Move the workpiece to the target position using a JOG operation (or a
manual pulse generator operation).
Example
V
Arc auxiliary point End position
(The following drawing is
for the 1st axis only.) (Positioning address)
Forward run JOG start signal [Y16]
PLC READY signal [Y1D]
AD75 READY signal [X0]
BUSY signal [X4]
Error detection signal [XA]
Md.29 Current feed value n1 nx n2 ny n3
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2) Carry out the teaching operation with the following program.
Example
*
* Teaching program
*
*
* • Set the positioning data other than the positioning address and circle
* data of data No. 2.
*
*
*
* • Position the workpiece to the auxiliary point of the circular interpolation
using a manual operation.
• Store the data for the positioning data interface in D111 to D114.
(Write pattern: 060FH)
<Teaching command 1 pulse>
<Interface data setting>
<Teaching command 1 hold>
<Teaching result (auxiliary point) read>
<Teaching command 1 storage OFF>
*
*
* • Position the workpiece to the end (positioning address) of the circular
*
interpolation using a manual operation.
*
* • Store the data for the positioning data interface in D111 to D114.
* (Write pattern: 050FH)
*
*
*
<Teaching command 2 pulse>
<Interface data setting>
<Teaching command 2 hold>
<Teaching result (end point) read>
<Teaching command 2 storage OFF>
X4 : BUSY signal
X40, X41 : Teaching 1, 2 command
M105, M107 : Teaching command 1, 2 pulse
M106, M108 : Teaching command 1, 2 storage
D111 to D114 : Positioning data interface
D115, D116 : Teaching results
POINT
(1) Use the address 1103 to 1137 areas in the system control data area as the buffer memory
for the positioning data interface.
(2) Confirm the teaching function and teaching procedure before setting the positioning data.
(3) The positioning addresses that are written are absolute address (ABS) values.
(4) If the positioning operation is correctly completed with the written positioning data, it is
recommended that the positioning data be registered in the AD75 flash ROM.
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12.7.5 Command in-position function
The "command in-position function" checks the remaining distance to the stop position
during the automatic deceleration of positioning control, and set a flag. This flag is
called the "command in-position flag". The command in-position flag is used as a front-
loading signal indicating beforehand the completion of the position control.
The details shown below explain about the "command in-position function".
(1) Control details
(2) Precautions during control
(3) Setting the command in-position function
(4) Confirming the command in-position flag
(1) Control details
The following shows control details of the command in-position function.
(a) When the remaining distance to the stop position during the automatic
deceleration of positioning control becomes equal to or less than the value
set in " Pr.17 Command in-position width", "1" is stored in the command in-
position flag ( Md.40 Status: b2).
(Command in-position width check)
Remaining distance ≤ " Pr.17 Command in-position width" setting value
Positioning t
ON
Command in-position flag OFF
[ Md.40 Status : b2]
Command in-position
width setting value
Fig. 12.41 Command in-position operation
(b) A command in-position width check is carried out every 56.8ms.
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(2) Precautions during control
(a) The range check of the command in-position is not performed during speed
control and that of speed/position changeover control.
Command in-position
V width setting value Speed to position changeover
Speed/position
Positioning changeover Command in-position
control start control start width setting value
Command in-position flag ON
[ Md. 40 Status: b2] OFF
Execution of the command in-position width check Execution of the command in-position
width check
Fig. 12.42 Command in-position width check
(b) The command in-position flag will be turned OFF in the following cases.
("0" will be stored in " Md.40 Status: b2".)
• At the positioning control start
• At the speed control start
• At the zero point return control start
• At the JOG operation start
• When the manual pulse generator operation is enabled.
(c) The " Pr.17 Command in-position width" and command in-position flag
( Md.40 Status: b2) of the reference axis are used during interpolation
control.
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(3) Setting the command in-position function
To use the "command in-position function", set the required value in the
parameter shown in the following table, and write it to the AD75.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y1D).
Setting Factory-set
Setting item Setting details
value initial value
Turn ON the command in-position flag, and set the
Command in-
Pr.17 remaining distance to the stop position of the position 100
position width
control.
* Refer to secion "5.2 List of parameters" for setting details.
(4) Confirming the command in-position flag
The "command in-position flag" is stored in the following buffer memory.
Monitor Buffer memory address
Monitor item Storage details
value Axis 1 Axis 2 Axis 3
The command in-position flag is stored in the
Md.40 Status 817 917 1017
"b2" position.
* Refer to section "5.6 List of monitor data" for information on the storage details.
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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12.7.6 Acceleration/deceleration processing function
The "acceleration/deceleration processing function" adjusts the
acceleration/deceleration when each control is executed.
Adjusting the acceleration/deceleration processing to match the control enables more
precise control to be carried out.
There are three acceleration/deceleration adjustment items that can be set:
"Acceleration/deceleration time size selection", "acceleration/deceleration time 0 to 3",
and "acceleration/deceleration method setting".
The details shown below explain about the "acceleration/deceleration processing
function".
(1) "Acceleration/deceleration time size selection" control details and setting
(2) "Acceleration/deceleration time 0 to 3" control details and setting
(3) "Acceleration/deceleration method setting" control details and setting
(1) "Acceleration/deceleration time size selection" control details and
setting
In the "acceleration/deceleration time size selection", the sizes (setting ranges) of
the acceleration time, deceleration time, and sudden stop deceleration time are
selected and set.
• Acceleration time: The time from speed 0 until the " Pr.7 Speed limit value" is
reached.
• Deceleration time: The time from the " Pr.7 Speed limit value" until speed 0 is
reached.
• Sudden stop deceleration time: The time from " Pr.7 Speed limit value" until
speed 0 is reached.
Set the required values for the acceleration/deceleration time size in the
parameters shown in the following table, and write them to the AD75.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y1D).
Setting Factory-set
Setting item Setting details
value initial value
Select the acceleration/deceleration time size (setting
Size selection for range) from the following two sizes, and set the
Pr.25 acceleration/dece appropriate value. 0
leration time 0: 1 to 65535ms
1: 1 to 8388608ms
* Refer to section "5.2 List of parameters" for setting details.
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(2) "Acceleration/deceleration time 0 to 3" control details and setting
In the AD75, four types each of acceleration time and deceleration time can be
set. By using separate acceleration/deceleration times, control can be carried out
with different acceleration/deceleration times for positioning control, JOG
operation, zero point returns, etc.
Set the required values for the acceleration/deceleration time in the parameters
shown in the following table, and write them to the AD75.
The set details are validated when written to the AD75.
Setting Factory-set
Setting item Setting details
value initial value
Pr.8 Acceleration time 0 1000
Pr.26 Acceleration time 1 Set the acceleration time within the setting value 1000
range set in " Pr.25 Size selection for
Pr.27 Acceleration time 2 acceleration/deceler-ation time". 1000
Pr.28 Acceleration time 3 1000
Pr.9 Deceleration time 0 1000
Pr.29 Deceleration time 1 Set the deceleration time within the setting value 1000
range set in " Pr.25 Size selection for
Pr.30 Deceleration time 2 acceleration/deceler-ation time". 1000
Pr.31 Deceleration time 3 1000
* Refer to section "5.2 List of parameters" for setting details.
(3) "Acceleration/deceleration method setting" control details and
setting
In the "acceleration/deceleration method setting", the acceleration/deceleration
processing method is selected and set. The set acceleration/deceleration
processing is applied to all acceleration/deceleration.
The two types of "acceleration/deceleration method setting" are shown below.
(a) Automatic trapezoidal acceleration/deceleration processing
method
This is a method in which linear acceleration/deceleration is carried out
based on the acceleration time, deceleration time, and speed limit value set
by the user.
Velocity
Time
Fig. 12.43 Automatic trapezoidal acceleration/deceleration processing method
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(b) S-curve acceleration/deceleration processing method
In this method, the motor burden is reduced during starting and stopping.
This is a method in which acceleration/deceleration is carried out gradually,
based on the acceleration time, deceleration time, speed limit value, and
" Pr.36 S-curve ratio" (1 to 100%) set by the user.
Velocity
Time
Fig. 12.44 S-curve acceleration/deceleration processing method
When a speed change request is given during S-curve
acceleration/deceleration processing, S-curve acceleration/deceleration
processing begins at a speed change request start.
When speed change Speed change (acceleration)
request is not given
Command speed before speed change
Speed change request
Speed change (deceleration)
Fig. 12.45 Speed change during S-curve acceleration/deceleration processing
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Set the required values for the "acceleration/deceleration method setting" in
the parameters shown in the following table, and write them to the AD75.
The set details are validated when written to the AD75.
Setting Factory-set
Setting item Setting details
value initial value
Set the acceleration/deceleration method.
Acceleration/
0: Automatic trapezoidal acceleration/deceleration
Pr.35 deceleration 0
method
process selection
1: S-curve acceleration/deceleration processing
Set the acceleration/deceleration curve when "1" is set
Pr.36 S-curve ratio in " Pr.35 Acceleration/deceleration processing 100
selection".
* Refer to section "5.2 List of parameters" for setting details.
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the
AD75 software package. Execution by sequence program uses many
sequence programs and devices. The execution becomes complicated, and
the scan times will increase.
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12.7.7 Indirectly specification function
The "indirectly specification function" specifies indirectly and starts the positioning data
No.
The "indirectly specification function" is executed by setting the positioning data No. 1
to 600 desired to be started to the "indirectly specification data area" and starting that
"indirectly specification data".
The "indirectly specification data" can be set on an "indirectly specification No. (8001 to
8050)" basis and can be set to up to 50 pieces on an axis basis.
The following details will be explained about the "indirectly specification function".
(1) "Indirectly specification data" setting items and setting details
(2) "Indirectly specification data" configuration
(3) Control details and setting
(1) "Indirectly specification data" setting items and setting details
The following indicates the outline of the setting items and setting details of the
"indirectly specification data" to be stored into the AD75.
Setting item Setting details
Positioning data No. for Set the positioning data No. (1 to 600) whose execution will be
indirectly specification started when 8001 is set as the positioning start No. and
No. 8001 started.
Positioning data No. for Set the positioning data No. (1 to 600) whose execution will be
indirectly specification started when 8002 is set as the positioning start No. and
No. 8002 started.
Positioning data No. for Set the positioning data No. (1 to 600) whose execution will be
indirectly specification started when 8003 is set as the positioning start No. and
No. 8003 started.
Positioning data No. for Set the positioning data No. (1 to 600) whose execution will be
indirectly specification started when 8004 is set as the positioning start No. and
No. 8004 started.
Indirectly specification data
Positioning data No. for Set the positioning data No. (1 to 600) whose execution will be
indirectly specification started when 8005 is set as the positioning start No. and
No. 8005 started.
to to
Positioning data No. for Set the positioning data No. (1 to 600) whose execution will be
indirectly specification started when 8046 is set as the positioning start No. and
No. 8046 started.
Positioning data No. for Set the positioning data No. (1 to 600) whose execution will be
indirectly specification started when 8047 is set as the positioning start No. and
No. 8047 started.
Positioning data No. for Set the positioning data No. (1 to 600) whose execution will be
indirectly specification started when 8048 is set as the positioning start No. and
No. 8048 started.
Positioning data No. for Set the positioning data No. (1 to 600) whose execution will be
indirectly specification started when 8049 is set as the positioning start No. and
No. 8049 started.
Positioning data No. for Set the positioning data No. (1 to 600) whose execution will be
indirectly specification started when 8050 is set as the positioning start No. and
No. 8050 started.
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(2) "Indirectly specification data" configuration
The following AD75 buffer memory can store the "indirectly specification data
(positioning data No. 1 to 600)" corresponding to the "indirectly specification No.
(8001 to 8050)" on an axis basis.
Indirectly speccification
No.8050
Buffer memory
Setting item address
specification data
Axis 1 indirectly
Indirectly speccification
No.8002
Indirectly speccification
Buffer memory
No.8001 Setting item address
specification data
Buffer memory
Setting item Positioning data No.(1 to 600) 4549
Axis 1 indirectly
address
specification data
Axis 1 indirectly
Positioning data No.(1 to 600) 4501
Positioning data No.(1 to 600) 4500
Indirectly speccification
No.8050
Buffer memory
Setting item address
specification data
Axis 1 indirectly
Indirectly speccification
No.8002
Indirectly speccification
Buffer memory
No.8001 Setting item address
specification data
Buffer memory
Setting item Positioning data No.(1 to 600) 4799
Axis 1 indirectly
address
specification data
Axis 2 indirectly
Positioning data No.(1 to 600) 4751
Positioning data No.(1 to 600) 4750
Indirectly speccification
No.8050
Buffer memory
Setting item address
specification data
Axis 1 indirectly
Indirectly speccification
No.8002
Indirectly speccification
Buffer memory
No.8001 Setting item address
specification data
Buffer memory
Setting item Positioning data No.(1 to 600) 5049
Axis 1 indirectly
address
specification data
Axis 3 indirectly
Positioning data No.(1 to 600) 5001
Positioning data No.(1 to 600) 5000
* Set to the AD75 using a sequence program or the AD75 software package.
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(3) Control details and setting
The following shows the control details and setting when the indirectly
specification data set to the indirectly specification No. 8001 of axis 1 is started.
AD75
Buffer memory Servo amplifier
4
Controlled with
the specified
positioning data
1
8001
1150
2
1
4500
PLC CPU
3
ON
Input/output signal
Y10 : When making a positioning start at
the scan next to positioning completion,
provide X1 as an interlock to make
a start after Y10 is turned OFF and
X1 then turns OFF.
1) Set "8001" to " Cd.11 Positioning start No.".
2) Set the positioning data No. to the "indirectly specification data" to be started. (In this case, set "1".)
3) Turn ON the start signal.
4) The positioning data set to the "positioning data No. for indirectly specification No. 8001" is started.
Fig. 12.46 Indirectly specification function operating procedure (for axis 1)
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(a) Control data that requires setting
The following control data must be set to execute the indirectly specification
function. Make this setting using a sequence program.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Set "8001" that indicates the control
Cd.11 Positioning start No. 8001 1150 1200 1250
using the "indirectly specification data".
* For the setting details, refer to section "5.7 List of control data".
(b) Starting conditions
The following conditions must be satisfied to make a start. Also, the
required conditions must be incorporated into the sequence program, and
the data must be disabled from starting if the conditions are not satisfied.
Device
Signal name Signal state
Axis 1 Axis 2 Axis 3
All axes servo ON signal ON Servo operation possible Y15
PLC READY signal ON PLC CPU preparation completed Y1D
AD75 READY signal OFF AD75 preparation completed X0
Interface Axis stop signal OFF Axis stop signal is OFF Y13 Y14 Y1C
signal Start complete signal OFF Start complete signal is OFF X1 X2 X3
BUSY signal OFF BUSY signal is OFF X4 X5 X6
Error detection signal OFF There is no error XA XB XC
M code ON signal OFF M code ON signal is OFF XD XE XF
Stop signal OFF Stop signal is OFF
External
Upper limit (FLS) ON Within limit range
signal
Lower limit (RLS) ON Within limit range
Monitor
Servo ON On Servo On is ON Md.116 Servo status: b1
data
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(c) Start time chart
The following time chart assumes that the positioning data No. 1, 2, 3, 4
and 5 of axis 1 are executed consecutively by "indirectly specification" as
an example.
1) Indirectly specification data setting example
Positioning data No. for indirectly
Axis 1 indirectly specification No.
specification No. 8001 for axis 1
8001 1
2) Positioning data setting example
Axis 1 positioning data No. Da.1 Operation pattern
1 11: Continuous path control
2 01: Continuous positioning control
3 11: Continuous path control
4 11: Continuous path control
5 00: Positioning complete
3) Start time chart
V
Operation pattern Dwell time Dwell time
3(11)
Positioning data No. 1(11)
2(01) 4(11)
5(00)
t
Positioning start signal [Y10]
PLC READY signal [Y1D]
AD75 READY signal [X0]
Start complete signal [X1]
BUSY signal [X4]
Positioning complete signal [X7]
Error detection signal [XA]
Cd.11 Positioning start No. 8001
Positioning data No. for
1
indirectly specification No.8001
[Buffer memory address 4500]
Fig. 12.47 Start time chart for positioning control using indirectly specification function
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MEMO
12 - 104
Chapter 13
COMMON FUNCTIONS
The details and usage of the "common functions" executed according to the user's
requirements are explained in this chapter.
Common functions include functions required when using the AD75, such as parameter
initialization and execution data backup.
Read the setting and execution procedures for each common function thoroughly, and
execute the appropriate function where required.
13.1 Outline of common functions...................................................................................13- 2
13.2 Parameter initialization function ..............................................................................13- 3
13.3 Execution data backup function ..............................................................................13- 5
13.4 LED display function ................................................................................................13- 7
13.5 Clock data function .................................................................................................13- 11
13
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13.1 Outline of common functions
"Common functions" are executed according to the user's requirements, regardless of
the control method, etc.
Common functions include "parameter initialization", "execution data backup", "work
status and error code display", etc. These common functions are executed by
commands from the AD75 software package, common function sequence programs,
mode switches on the front panel of the main unit, etc.
The following table shows the functions included in the "common functions".
Common function Details
This function returns the "setting data" stored in the AD75 flash
ROM to the factory-set initial value.
Parameter initialization There are two methods for this function.
function
1) Method using the sequence program
2) Method using the AD75 software package
This function stores (backs up) the "setting data", currently being
executed, in the flash ROM.
Execution data backup There are two methods for this function.
function
1) Method using the sequence program
2) Method using the AD75 software package
This function displays the AD75 work status, signal status, error
details, etc., on the 17-segment LED on the front of the main unit.
LED display function
The display details are changed over using the mode switch on the
front of the main unit.
This function sets the PLC CPU clock data in the AD75.
Clock data function
This is used for various history data, etc.
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13.2 Parameter initialization function
"The parameter initialization function" is used to return the setting data set in the AD75
flash ROM and OS memory to their factory-set initial values.
This function is used when several parameter errors occur and the AD75 will not start.
In this case, resetting is carried out after the setting data are initialized. (If there is an
abnormality in the parameters set in the AD75 when the PLC READY signal (Y1D) is
turned ON, the AD75 READY signal (X0) will not turn OFF, and control will not be
possible.)
Parameter initialization is carried out using one of the following methods.
• Method using the sequence program.
• Method using the AD75 software package.
"The execution method using the sequence program" is explained in this section.
Refer to the AD75 Software Package Operating Manual for details on the execution
method using the AD75 software package.
The details shown below explain about the "parameter initialization function".
(1) Control details
(2) Precautions during control
(3) Initializing the parameters
(1) Control details
The following table shows the setting data initialized by the "parameter
initialization function".
(Initialized are "flash ROM" and "OS memory" following data.)
Setting data
Basic parameters ( Pr.1 to Pr.10 )
Detailed parameters ( Pr.12 to Pr.44 , Pr.150 )
Zero point return basic parameters ( Pr.45 to Pr.50 )
Zero point return detailed parameters ( Pr.52 to Pr.59 )
Servo basic parameters ( Pr.100 to Pr.109 )
Servo adjustment parameters ( Pr.112 to Pr.125 )
Servo extension parameters ( Pr.127 to Pr.138 , Pr.149 )
Positioning data
Start block data
Condition data
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(2) Precautions during control
(a) Parameter initialization is only executed when the PLC READY signal (Y1D)
is OFF.
(A warning “In PLC READY” (warning code: 111) will occur if executed when
the PLC READY signal (Y1D) is ON.)
(b) A "PLC CPU reset" or "PLC power restart" must be carried out after the
parameters are initialized. (Parameter initialization is carried out for the
AD75 "flash ROM" and "OS memory". Data stored in the "buffer memory"
will not be initialized.)
(c) The flash ROM can be written up to 100,000 times. The flash ROM cannot
be written after 100,000 writing cycles.
Important
Parameter initialization takes about 10 seconds. (Up to 30 seconds are sometimes
required.)
Do not turn the power ON/OFF; reset the PLC CPU, etc., during parameter
initialization. The flash ROM data may be corrupted.
(3) Initializing the parameters
To use the "parameter initialization function", set the data shown in the following
table, and write it to the AD75 using the sequence program.
Parameter initialization is carried out when the data is written to the AD75.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Parameter
Cd.10 1 Set "1" (parameter initialization request). 1139
initialization request
* Refer to section "5.7 List of control data" for details on the setting details.
When the initialization is complete, "0" will be set in " Cd.10 Parameter
initialization request" by the AD75.
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13.3 Execution data backup function
When the AD75 buffer memory data is rewritten from the PLC CPU, "the data backed
up in the AD75 flash ROM" may differ from "the data for which control is being
executed". In cases like these, the data being executed will be lost when the PLC
power is turned OFF. (Refer to Chapter 7.)
In cases like these, the "execution data backup function" backs up the data being
executed by writing it to the flash ROM. The data that was backed up is then written to
the buffer memory when the power is turned ON next.
The execution data is backed up (written to the flash ROM) using one of the following
methods.
• Method using the sequence program
• Method using the AD75 software package
"The execution method using the sequence program" is explained in this section.
Refer to the AD75 Software Package Operating Manual for details on the execution
method using the AD75 software package.
The details shown below explain about the "execution data backup function".
(1) Control details
(2) Precautions during control
(3) Backing up the execution data
(1) Control details
The following shows the data that can be written to the flash ROM using the
"execution data backup function".
Buffer memory Flash ROM
Parameters Parameters
Positioning data (No. 1 to No. 100) Positioning data (No. 1 to No. 100)
Positioning start information (No. 7000) Positioning start information (No. 7000)
OS memory
Positioning data (No. 101 to No. 600) Positioning data (No. 101 to No. 600)
Positioning start information Positioning start information
(No. 7000 to 7010) (No. 7000 to 7010)
(2) Precautions during control
(1) Data can only be written to the flash ROM when the PLC READY signal
(Y1D) is OFF.
(2) Writing to the flash ROM can be executed up to 100,000 times.
(Writing to the flash ROM will become impossible after 100,000 times.)
Important
Do not turn the power ON/OFF; reset the PLC CPU, etc., during parameter writing.
The flash ROM data may be corrupted.
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13 COMMON FUNCTIONS
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(3) Backing up the execution data
To use the "execution data backup function", set the data shown in the following
table, and write it to the AD75 using the sequence program.
The writing to the flash ROM is carried out when the data is written to the AD75.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Flash ROM write
Cd.9 1 Set "1" (flash ROM write request). 1138
request
* Refer to section "5.7 List of control data" for details on the setting details.
When the writing to the flash ROM is complete, "0" will be set in " Cd.9 Flash
ROM write request" by the AD75.
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13.4 LED display function
The AD75 status, control status of each axis, input signal status, etc., can be confirmed
using the LED display on the front of the AD75 main unit.
Monitor the operation condition as required when the AD75 is not operating normally,
etc. (Constant monitoring is possible.)
The details shown below explain about the "LED display function".
(1) LED display position
(2) Display details
(3) Changing the display details
(1) LED display position
The various types of information are displayed on the "17-segment LED" and
"axis display LED" on the front of the main unit.
The display is changed over by the "mode switch".
The following drawing shows the positions of the "17-segment LED", "axis
display LED", and "mode switch".
AD75M3 A1SD75M3
A D75M3 A1SD75M3
AX1
17-segment LED AX2
AX3
(17-seg LED)
AX1
Axis display LED MODE
AX1
AX2
AX3 RS-422
MODE Mode switch
RS-422
AX2 AX3
A1SD75M3
AX1
AX3 AX2
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(2) Display details
The details displayed in the LED display area are classified into several types of
information (called "modes"). The following types of information are displayed
according to the various modes on the "17-segment LED display" and "axis
display LED".
(The display is changed over by the "mode switch". Refer to section "(3)
Changing the display details" for more information.)
(a) List of display details
Mode 17-segment LED display Axis display LED
When there is no error
One of the following is displayed.
The display of the axis in
RUN (during operation)
operation is in operation blinks.
The displays of all axes are in
Operation monitor 1 TEST (during a test mode)
operation blinks.
IDL (standing by) OFF
When an error occurs
The following is displayed. The LED of the axis in which
Display: ERR the error occurred is flickering.
The operation status is displayed for The AXn display changes over
Operation monitor 2
the axis whose axis display LED is lit. every 0.5 seconds.
The OS type information is displayed.
Internal information 1 OFF
Display: S000
The OS version is displayed.
Internal information 2 OFF
Display: V
The signal name designated by the Lights when the selected signal is
Input information n
mode switch is displayed. ON.
REMARK
The "OS type" appears in the LED display area for 1 second after the PLC power is
turned ON, then the "operation monitor 1" display appears.
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(b) "Operation monitor 2" display details
The axis operation status is displayed in the "operation monitor 2" mode.
The status display of each axis changes over every 0.5 seconds.
< Display > < Details >
IDLE ............. Standing by
STOP ........... Stopped
JOG.............. In JOG operation
MANP .......... In manual pulse generator operation
OPR ............. In zero point return
POSI ............ In position control
VELO ........... In speed control
V- P .............. In speed control of speed/position changeover control
V -P .............. In position control of speed/position changeover control
BUSY ........... Waiting for conditions, etc.
E ......... When an error occurs
Error No. display
When an error occurs in an axis, that error No. is displayed for 0.5
seconds before the display changes over to the next axis.
(c) "Input information n" display details
The status of each signal is displayed in the "input information n" mode.
The displayed signal is changed over in the following order every time the
"mode switch" is pressed.
The "axis display LED" is lit when the displayed signal is ON.
< Display > < Details >
SVON........... Servo ON signal
ULMT ........... Upper limit signal
LLMT............ Lower limit signal
V-P ............... Speed/position changeover signal
DOG............. Near-point dog signal
(d) Other display details
The following details are displayed in the 17-segment LED as error
messages, regardless of the mode.
< Display > < Details >
FALT ............ This error message may be displayed if any of the
parameter values saved in the flash ROM becomes
illegal. In this case, perform operation in the following
procedure. This error is due to a hardware fault if "FALT"
is still displayed after the operation has been performed in
the following procedure or if "FALT" is displayed in Step
3) of the following procedure.
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13 COMMON FUNCTIONS
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(Procedure)
1) Power OFF the servo amplifier.
2) Set the key switch of the PLC CPU to STOP.
3) Power the PLC system OFF once, then ON again. If "FALT" is displayed when
the system is powered ON again, the hardware is faulty.
4) Then, correct the contents of the flash ROM.
Perform the parameter initialization function* to initialize the set data
(parameters, positioning data, start block data, condition data) saved in the
flash ROM to the factory settings. After parameter initialization, switch power
OFF once, then ON again.
5) Set the data, such as the parameters, positioning data, start block data and
condition data, to the buffer memory, and turn ON the PLC READY signal
(Y1D). At this time, make sure that the AD75 READY signal (X0) turns OFF. If
it does not turn OFF, any of the parameter settings is in error. Turn OFF the
PLC READY signal (Y1D), refer to the error code ( Md.33 Axis error No.), and
correct the parameter. Turn ON the PLC READY signal (Y1D) again, and
make sure that the AD75 READY signal (X0) turns OFF.
6) Turn OFF the PLC READY signal (Y1D) and execute write to flash ROM. (It
need not be executed when save to flash ROM is not necessary.)
* The parameter initialization function initializes all data saved in the flash ROM
to the factory settings. When it is not desired to initialize data other than the
parameters, back them up using the file register, etc., and then initialize the
parameters.
(3) Changing the display details
The details (mode) displayed in the LED display area change over in the
following order every time the "mode switch" is pressed.
Operation monitor 1
Operation monitor 2
Internal information 1
Internal information 2
Input information n SVON
ULMT
LLMT
V-P
DOG
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13.5 Clock data function
"The clock data function" utilizes the PLC CPU clock data in the AD75.
This clock data is used to monitor the various history data. The clock data is controlled
in 0.1 second units in the AD75 to simplify the measurement of cycle time, etc.
The details shown below explain about the "clock data setting function".
(1) Precautions during control
(2) Setting the clock data
(1) Precautions during control
(a) Set the clock data every time the PLC CPU is started. If the clock data is not
set, counting will begin as "00 hours 00 minute 00 seconds" when the AD75
starts.
(b) The AD75 clock data count value is less accurate that the PLC CPU clock
data. Therefore, synchronize it with the PLC CPU clock data about once a
day.
(c) Data indicating the "date" in the PLC CPU clock data will be ignored.
(2) Setting the clock data
The following shows the setting data and sequence program example for reading
the PLC CPU clock data and setting it in the AD75.
(a) Set the following data.
(The setting is carried out using the sequence program shown in section (b)
on the next page.)
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Clock data setting
Cd.1 Set the PLC CPU clock data (hours). 1100
(hour)
Clock data setting Set the PLC CPU clock data
Cd.2 1101
(minute, second) (minutes, seconds).
Cd.3 Clock data writing 1 Set "1" (clock data write request). 1102
* Refer to section "5.7 List of control data" for details on the setting details.
13 - 11
13 COMMON FUNCTIONS
MELSEC-A
(b) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example
*
* No.6 Clock data setting program
*
<CPU clock data read command ON>
<Clock data write command ON>
<Date, hour, minute second data
transmission>
<Clock data writing set>
<Clock data write>
<Clock data wirite command hold>
<Clock data wiriting complete read>
<Clock data wirite command storage
OFF>
13 - 12
Chapter 14
TROUBLESHOOTING
The "errors" and "warnings" detected by the AD75 and servo amplifier are explained in
this chapter.
Errors and warnings can be confirmed with the AD75 LED display and peripheral devices.
When an "error" or "warning" is detected, confirm the detection details and carry out the
required measures.
14.1 Error and warning details.........................................................................................14- 2
14.2 List of errors .............................................................................................................14- 6
14.2.1 Errors detected by AD75 ...........................................................................14- 6
14.2.2 Errors detected by MR-H-B (MR-H-BN)...................................................14- 26
14.2.3 Errors detected by MR-J-B .......................................................................14- 34
14.2.4 Errors detected by MR-J2-B .....................................................................14- 42
14.2.5 Errors detected by MR-J2S-B...................................................................14- 50
14.2.6 Errors detected by MR-J2-03B5...............................................................14- 58
14.3 List of warnings .......................................................................................................14- 64
14.3.1 Warnings detected by AD75.....................................................................14- 64
14.3.2 Warnings detected by MR-H-B (MR-H-BN) .............................................14- 70
14.3.3 Warnings detected by MR-J-B..................................................................14- 72
14.3.4 Warnings detected by MR-J2-B................................................................14- 74
14.3.5 Warnings detected by MR-J2S-B .............................................................14- 76
14.3.6 Warnings detected by MR-J2-03B5 .........................................................14- 78
14.4 Start during error history.........................................................................................14- 80
14
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14 TROUBLESHOOTING
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14.1 Error and warning details
(1) Errors
Types of errors
Errors include AD75-detected parameter setting range errors and errors at
operation start/during operation, and servo amplifier-detected errors.
(1) Parameter setting range errors detected by AD75
The parameters are checked at the rising edge (OFF ON) of the PLC
READY signal [Y1D]. An error will occur if there is a mistake in the parameter
setting details at that time.
When this kind of error occurs, the AD75 READY signal does not turn OFF.
To cancel this kind of error, set the correct value in the parameter for which
the error occurred, and then turn ON the PLC READY signal [Y1D].
POINT
If the AD75 does not start up due to occurrence of many errors 900 to 997, initialize
the parameters (refer to section 13.2) and then set them again.
(2) Errors detected by AD75 at operation start/during operation
These are errors that occur at the operation start or during operation when
using positioning control, JOG operation, manual pulse generator operation,
etc. If an axis error occurs during interpolation operation, the error No. will be
stored in both the reference axis and the interpolation axis.
Note that in the following cases (a) and (b), the axis error No. will only be
stored in the reference axis during analysis of the positioning data set in each
point of the positioning start data table.
(a) When the interpolation axis is BUSY
(b) When the error occurred in positioning data or parameters unrelated to
interpolation control.
If the error occurred at the simultaneous start of a positioning operation, the
axis error storage details will differ depending on whether the error occurred
before or after the simultaneous start.
• If the error occurred before the simultaneous start (illegal axis No., other axis
BUSY, etc.), an "error before simultaneous start" will occur.
• If the error occurred after the simultaneous start (positioning data error,
software stroke limit error, etc.), an error code corresponding to the axis in
which the error occurred will be stored. Because a simultaneous start cannot
be carried out due to this, a "simultaneous start not possible error" error code
will be stored in all axes in which an error has not occurred.
The axis operation status will be displayed as "error occurring" for axes in
which an error occurred.
If an error occurs during operation, any moving axes will deceleration stop,
and their operation status will be displayed as "error occurring".
Both axes will decelerate to a stop during interpolation operations, even if the
error occurs in only one axis.
(3) Errors detected by servo amplifier
These are errors that occur due to a hardware fault of the servo amplifier,
servomotor, etc. or due to a servo parameter error.
At error occurrence, the servo switches OFF and the axis stops.
After removing the error factor, reset the servo amplifier.
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14 TROUBLESHOOTING
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(4) Types of error codes
Error code Error type
001 to 019 Fatal error
100 to 199 Common error
200 to 299 Error at zero point return
300 to 399 Error during JOG operation
401 System error
500 to 599 Error during positioning operation
900 to 999 Error during parameter setting range check
Error detected by servo amplifier
2000 to 2999 (Error definition changes depending on the servo
amplifier model.)
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14 TROUBLESHOOTING
MELSEC-A
Error storage
When an error occurs, the error detection signal turns ON, and the error code
corresponding to the error details is stored in the following buffer memory address
( Md.33 Axis error No.) for axis error No. storage. Note that there is a delay of up
to 56.8ms after the error detection signal turns ON until the error code is stored.
Axis No. Error detection signal Buffer memory address
1 XA 807
2 XB 907
3 XC 1007
A new error code is stored in the buffer memory ( Md.33 Axis error No.) for axis
error storage every time an error occurs.
(2) Warnings
Types of warnings
Warnings include system warnings and axis warnings detected by the AD75 and
warnings detected by the servo amplifier.
(1) System warnings are as follows.
• System control data setting warning ... Axis warning of axis 1.
• Positioning data setting warning ......... Axis warning of the corresponding axis.
Axis warning of the reference axis in
the case of a setting warning for
interpolation control.
(2) Axis warnings are as follows.
• Warning that occurred at operation start/during operation such as positioning
operation, JOG operation or manual pulse generator operation.
• Warning that occurred due to the system warning.
If the axis warning occurs, the axis operation status does not change.
(3) Warnings detected by servo amplifier
These warnings occur due to a hardware fault of the servo amplifier,
servomotor, etc. or when any servo parameter is inadequate.
The servo does not switch OFF depending on the warning, but if it is left as-is,
an error will occur or normal operation will be disabled.
After removing the warning factor, reset the servo amplifier.
(4) Types of warning codes
Warning code Error type
100 to 199 Common warning
300 to 399 Warning during JOG operation
400 to 499 Warning during manual pulse generator operation
500 to 599 Warning during positioning operation
900 to 999 Warning during system control data range check
Warning detected by servo amplifier
2090 to 2999 (Warning definition changes depending on the servo
amplifier model.)
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14 TROUBLESHOOTING
MELSEC-A
Warning storage
(1) When an axis warning occurs, the warning code corresponding to the warning
details is stored in the following buffer memory ( Md.34 Axis warning No.) for
axis warning No. storage.
Axis No. Buffer memory address
1 808
2 908
3 1008
(2) When an axis warning occurs, "1" is set in bit 9 (b9) of the following buffer
memory ( Md.40 Status) for axis status storage.
Axis No. Buffer memory address
1 817
2 917
3 1017
(3) Resetting errors and warnings
An error state is canceled after the following processing has been carried out by
setting a "1" in the buffer memory for axis error resetting ( Cd.12 Axis error
reset) [1151 (for axis 1)], [1201 (for axis 2)], and [1251 (for axis 3)].
•Axis error detection signal turned OFF
•" Md.33 Axis error No." cleared
• " Md.40 Axis warning detection (b9)" turned OFF
• " Md.34 Axis warning No." cleared
• Changing of the operation status from "error occurring" to "standing by".
• Changing of the operation status from "step error occurring" to "standing by".
Some errors/warnings cannot be canceled unless their factors are removed.
(4) Invalid operations
For the following operations, the setting details will be invalidated, and an error or
warning will not occur.
• Speed change before operation (Speed override change, skip command,
continuous operation interruption request)
• Axis stop during axis stop
• Axis sudden stop during axis stop
• Axis stop before axis operation
• Axis sudden stop before axis operation
(5) Checking the Error or Warning Number
Use the following methods to check the error or warning number.
(1) “17-segment LED display function” on the front panel of main body of AD75
(Refer to section 13.4.)
(2) “Buffer memory batch monitor function” of GPP function software package
(3) “Monitor function” of software package for AD75
For details of (2) and (3), refer to the GPP Function Software Package Operating
Manual or AD75 Software Package Operating Manual.
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14 TROUBLESHOOTING
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14.2 List of errors
14.2.1 Errors detected by AD75
Description of the errors and remedies are shown below.
Division of Error
Error name Description Action at occurrence of error
error code
000 (Normal)
• Hardware error
001 Fault • Any of the parameters saved in the flash
ROM is illegal.
The system is stopped.
003 Division by zero
004 Overflow Hardware error
005 Underflow
FeRAM count FeRAM access count exceeded 9.9999 109
10
Fatal error over times.
The system is stopped.
Illegal zero point • The backed up zero point data are illegal.
11
data • Write of zero point data to the FeRAM failed.
Stopping according to the sudden stop
Peripheral device (stopping group 2) setting (deceleration and
A stop command is supplied during operation
100 stop during stop/sudden stop) selected in detail parameter
from a peripheral device.
operation 2 (However, deceleration and stop only during
manual pulse generator operation)
Stopping according to sudden stop (stopping
PLC READY group 2) setting (deceleration and stop/sudden
The “PLC READY” signal (Y1D) is turned OFF
101 OFF during stop) selected in detail parameter 2
during operation.
operation (However, deceleration and stop only during
manual pulse generator operation)
Common
Servo alarm
Servo alarm ( Md.116 Servo status: b13)
102 occurrence Immediate stop.
turned ON during operation.
during operation
Stopping according to sudden stop (stopping
group 3) setting (deceleration and stop/sudden
Test mode fault Communication between the personal
103 stop) selected in detail parameter 2 (However,
during operation computer and AD75 is interrupted in test mode.
deceleration and stop only during manual pulse
generator operation)
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14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory address Setting range
Remedy
Axis 1 Axis 2 Axis 3 (Setting given in sequence program)
• Correct the flash ROM data (refer to [2] (4) in
section 13.4).
• Check if there are effects of noise or the like.
• Check for hardware errors.
880 980 1080
to to to Replace the module.
883 983 1083
Continuous operation can be performed if the
machine zero point return executed after an
error reset is completed normally. However,
since the FeRAM access count is erased at
occurrence of error 11, normal service life
judgment cannot be made. Therefore, replace
the module.
Remove the cause of stopping and perform axis
error resetting (refer to [3] in section 14.1) to
remove the error.
• Examine the sequence program in which the
"PLC READY" signal (Y1D) is turned ON or
OFF.
• Perform axis error resetting (refer to [3] in
section 14.1) to remove the error.
• Confirm the error definition of the servo
amplifier, and perform axis error resetting
(refer to [3] in Section 14.1) to remove the
error.
873 973 1073
• Check the power supply status of the servo
amplifier, wiring to the servo amplifier, and the
connector connection status, and check for
influence of noise.
Check the I/F on the PC side of cable
connection for errors.
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14 TROUBLESHOOTING
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Division of Error
Error name Description Action at occurrence of error
error code
Hardware stroke An upper hardware stroke limit signal (FLS) is
104 Stopping according to sudden stop (stopping
limit (+) turned OFF.
group 1) setting (deceleration and stop/sudden
stop) selected in detail parameter 2 (However,
deceleration and stop only during manual pulse
Hardware stroke A lower hardware stroke limit signal (RLS) is
105 generator operation)
limit (-) turned OFF.
Stop signal ON A start request is issued while the stop signal is
106 Positioning start is not carried out.
at start turned ON.
Common
PLC READY
The “PLC READY” signal is turned OFF while The AD75 READY signal (X0) is not turned
107 OFF --> ON in
the busy signal is turned ON. OFF.
busy
A start request was made with " Md. 35 Axis
operation status" in the status of other than
108 Start not possible Positioning start is not carried out.
"Standby", "Stop", "Step standby" and "Step
stop".
Near-point dog method machine zero point
Start at zero return is started with an invalidated zero point
201
point return retry setting when the zero point return
completion flag is ON.
Machine zero point return start is not carried
The “setting for the movement amount after
out.
near-point dog ON” zero point return detail
Count method
parameter is smaller than the distance
206 movement
necessary for deceleration and stop from the
amount fault
Zero point zero point return speed in count method 1), 2),
return 3) machine zero point return.
The zero point return request flag is set at the
Zero point return High-speed zero point return start is not carried
207 start of high-speed zero point return
request ON out.
(positioning start No. 9002).
The value specified as a creep speed exceeds
Outside creep Machine zero point return start is not carried
208 the value specified as a zero point return
speed range out.
speed.
Zero point return The restart command is turned ON after the
209 restart not machine zero point return is stopped using a The restart is not carried out.
possible stop signal.
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14 TROUBLESHOOTING
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Relevant buffer memory address Setting range
Remedy
Axis 1 Axis 2 Axis 3 (Setting given in sequence program)
After making an axis error reset (refer to [3] in Section
14.1), perform manual control operation (refer to Chapter
11) to move the axis to the position where the upper limit
signal (FLS) will not be turned OFF.
After making an axis error reset (refer to [3] in Section
14.1), perform manual control operation (refer to Chapter
11) to move the axis to the position where the lower limit
signal (RLS) will not be turned OFF.
Check the ON/OFF statuses of the stop command (output
signal/external input issued to AD75) and turn OFF the
active stop commands.
• Output signals issued to AD75 ... Axis 1: Y13, Axis 2:
Y14, Axis 3: Y1C
• External inputs ... External device connection connector:
Stop signal (STOP)
After checking the status of the stop command, perform
axis error resetting (refer to [3] in section 14.1) to remove
the error, then turn ON the start signal.
Turn ON the PLC READY signal (Y1D) with the BUSY
signals of all axes OFF.
• Reset the axis error (refer to [3] in section 14.1) to cancel
the error.
• Reexamine the sequence program that has turned ON
809 909 1009 the positioning start signal [Y10, Y11, Y12], forward run
JOG start signal [Y16, Y18, Y1A], reverse run JOG start
signal [Y17, Y19, Y1B] or " Cd. 22 Manual pulse
generator enable flag".
• The zero point return retry function (refer to section
12.2.1) is validated (setting: 1).
<Zero point return retry>
78 228 378 • Using manual control operation (refer to Chapter 11) to
0, 1
move from the current position (zero point) and perform
machine zero point return.
• Calculate the distance of travel according to the speed
<Setting for the movement amount after limit, zero point return speed and deceleration speed,
80 230 380
near-point dog ON> and determine the movement amount after activation at
81 231 381
0 to 2147483647 the near-point dog so that the distance of travel is larger
than the deceleration distance.
• Set a smaller zero point return speed.
<Zero point return speed>
74 224 374 • Adjust the near-point dog position so that the movement
1 to 1000000 [pulse/s]
75 225 375 amount after activation at the near-point dog becomes
1 to 600000000 [mm/min, etc.]
longer. (Refer to sections 8.2.5 to 8.2.7)
<Positioning start No.>
Execute mechanical zero point return (positioning start No.
1150 1200 1250 1 to 600, 7000 to 7010
9001). (Refer to section 8.2)
8001 to 8050, 9001 to 9003
<Creep speed>
76 226 376 Correct the creep speed to within the zero point return
1 to 1000000 [pulse/s]
77 227 377 speed. (Refer to section 5.2.5)
1 to 600000000 [mm/min, etc.]
<Positioning start No.>
Execute mechanical zero point return (positioning start No.
1150 1200 1250 1 to 600, 7000 to 7010
9001). (Refer to section 8.2)
8001 to 8050, 9001 to 9003
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14 TROUBLESHOOTING
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Division of Error
Error name Description Action at occurrence of error
error code
In the near-point dog method or count method
1), the zero point is not passed between a
machine zero point return start and machine
Zero point not
zero point return completion. The machine zero point return is not
210 pass at zero
After power-on, data setting method machine completed.
point return
zero point return control was performed without
the servo motor being rotated more than one
Zero point turn.
return
The machine zero point return is not
211 ZCT read error
completed.
A time-out occurred when the data used for
machine zero point return control were read
ABS reference from the servo amplifier. The machine zero point return is not
212
point read error completed.
If the setting is out of th0.e range at the start of
Outside JOG The JOG speed is out of the setting range at
JOG 300 JOG operation, JOG operation is not carried
speed range the start of JOG operation.
out.
Value other than 0 was set in the buffer
System 401 System error The operation is stopped.
memory address 1146.
The condition data number specified in the
parameter of special positioning start data is
out of the setting range at the block start in the
Illegal condition special starting method when the conditional
500 Operation is terminated.
data No. start, wait start, simultaneous start or FOR
(condition) requiring condition data is
commanded.
(1 ≤ Condition data No. ≤ 10)
• The target axis of simultaneous start is busy.
Simultaneous • No axis designation is given in condition data. At start: Operation does not start.
501
start fault • The axis designated in condition data is the During operation: Operation is terminated.
own axis.
• The positioning data number to be executed
Illegal start data
502 is other than 1 to 600, 7000 to 7010, or 9001 Positioning data is not executed.
No.
to 9003.
The current speed (“-1”) is specified as a
No command
503 command speed of the positioning data to be Operation at the start is not carried out.
Positioning speed
executed first in positioning start.
operation
• The movement amount in each axis for each
30
piece of data exceeds 1073741824 (2 )
during linear interpolation with “synthetic
speed” specified as an “interpolation speed
Outside linear designation method” parameter.
At start: Operation does not start.
504 movement • The positioning address of the INC command
During operation: Immediate stop
amount range is equal to or smaller than -360.00000 or
equal to or larger than 360.00000 with the
“degree” unit setting and inequality between
the upper and the lower software stroke
limits.
The difference between the radius from the
start point to the center point and the radius At start: The arc interpolation control with
Large arc error from the end point to the center point exceeds center point designation is not
506
deviation the “allowable range of arc interpolation error” executed.
during arc interpolation with center point During operation: Immediate stop
designation.
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14 TROUBLESHOOTING
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Relevant buffer memory address Setting range
Remedy
Axis 1 Axis 2 Axis 3 (Setting given in sequence program)
• Use the near-point dog method 2) or count method 3) as
the zero point return method. (Refer to section 8.2.)
<Zero point return method>
• When performing data setting method machine zero
70 220 370 Near-point dog method 2), count
point return control, rotate the servomotor more than one
method 3), Data setting method turn and then perform data setting method machine zero
point return control again.
Reset the axis error (refer to [3] in section 14.1) and start a
machine zero point return again.
Check whether "Absolute position detection valid" is set to
<Amplifier setting> the servo basic parameter "Amplifier setting" for start of
101 251 401
0, 1 communication with the servo amplifier. (Refer to (11) in
section 7.2.)
<JOG speed>
1160 1210 1260 Correct the JOG speed to within the setting range. (Refer
1 to 1000000 [pulse/s]
1161 1211 1261 to section 11.2)
1 to 600000000 [mm/min, etc.]
In the sequence program, remove the part relevant to the
1146 0 setting in the buffer memory address 1146. Then, power
up the system again or reset the PLC CPU.
Refer to section “5.4 List of start <Condition data No.> Examine the condition data number. (Refer to Da. 13 in
block data.” 1 to 10 section 5.4)
<Condition operator>
Refer to section “5.5 List of Correct the condition operator.
Axis designation: 09H, 0AH, 0BH, 0CH,
condition data.” (Refer to section 5.5 Da. 15 )
0DH, 0EH
<Positioning start No.>
1150 1200 1250 Correct the positioning start number.
1 to 600, 7000 to 7010, 9001 to 9003
<Command speed>
1 to 1000000 [pulse/s] Correct the positioning data.
1 to 600000000 [mm/min, etc.]
<Positioning address/movement
amount>
Refer to section “5.3 List of
• [mm] [inch] [pulse] [degree (INC)]
positioning data.” Examine the positioning address.
-2147483648 to 2147483647
• [degree (ABS)] 0 to 35999999
• Speed/position changeover
0 to 2147483647
<Arc address>
-2147483648 to 2147483647
• Correct the center point address (positioning address).
• Correct the end point address (arc address).
<Allowable circular interpolation error
60 210 360 Correct the allowable range value of the arc interpolation
width>
61 211 361 error.
0 to 1000000
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14 TROUBLESHOOTING
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Division of Error
Error name Description Action at occurrence of error
error code
Start outside Positioning is started at a position outside the
507
stroke limit (+) upper software stroke limit.
Start outside Positioning is started at a position outside the
508
stroke limit (-) lower software stroke limit.
Movement Operation at the start is not carried out.
Positioning start is made to a position beyond
509 outside stroke
the upper software stroke limit.
limit (+)
Movement
Positioning start is made to a position beyond
510 outside stroke
the lower software stroke limit.
limit (-)
Movement The address of the positioning data to be
511 outside stroke executed next exceeds the upper software
limit (+) stroke limit.
Immediate stop after completion of preceding
positioning data during continuous path control
Movement The address of the positioning data to be
512 outside stroke executed next exceeds the lower software
limit (-) stroke limit.
Outside current The address of current value change is outside
514 value change the range between 0 and 359.99999 in the
range degree unit.
• The “continuous path control” operation
pattern is specified in the positioning data of
The current value is not changed.
Current value the current value change control method.
Positioning 515 change not • The “current value change” control method is
operation possible specified in the data following the positioning
data of the “continuous path control”
operation pattern.
• Continuous path control is designated with
the speed control, speed/position
changeover, sizing feed or other control
method where continuous path control is
Continuous path
impossible.
516 control not Operation at the start is not carried out.
• The data preceding speed control,
possible
speed/position changeover or sizing feed is
continuous path control.
• The continuous positioning control is
designated for speed control.
Outside
518 operation pattern The operation pattern setting is “2.”
range
At start: Operation does not start.
Interpolation
Interpolation is started during operation in the During operation:
519 while target axis
target axis. Stopping according to sudden stop
is BUSY
(stopping group 3) setting
Unit group The unit group of the target axis of interpolation
520 (deceleration and stop/sudden
disagreement is different.
stop) selected in detail parameter 2
Illegal • Interpolation data is specified with 1-axis (However, deceleration and stop only during
interpolation module. manual pulse generator operation)
521
description • Interpolation data is specified for axis 2 with
command 2-axis module.
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Relevant buffer memory address Setting range
Remedy
Axis 1 Axis 2 Axis 3 (Setting given in sequence program)
Software stroke limit upper limit
value
16 166 316
<Software stroke limit upper/lower limit
17 167 317
value> Change the current feed to within the range of the
Software stroke limit lower limit • [mm] [inch] [pulse] software stroke limit, using manual control operation (refer
value -2147483648 to 2147483647 to Chapter 11).
• [degree] 0 to 35999999
18 168 318
19 169 319
• Correct the positioning address to within the range of the
software stroke limit.
<Positioning address/movement • Change the current feed to within the range of the
amount> software stroke limit, using manual control operation
Refer to section “5.3 List of
• [mm] [inch] [pulse] (refer to Chapter 11).
positioning data.”
-2147483648 to 2147483647 Correct the positioning address/movement amount of the
• [degree] 0 to 35999999 positioning data to within the range of the software stroke
limit.
(Refer to section 5.3 Da. 5 )
1154 1204 1254 <New current value> Change the new current value to within the setting range.
1155 1205 1255 [degree] 0 to 35999999 (Refer to section 9.2.10)
Do not designate the current value change in the
positioning data following continuous path control.
<Control method> 01H to 11H, 20H
(Refer to section 9.2.10)
• 03H, 06H: 1 to 2 axis fixed-dimension
control
• 0DH, 0EH: Speed control
Refer to section “5.3 List of • 11H: Current value change
• Do not designate speed control, sizing feed, or
positioning data.” • Speed/position changeover control:
speed/position changeover control in the positioning data
0FH, 10H
following continuous path control.
<Operation pattern> 00, 01, 11
• Do not perform sizing feed, speed control, or
• 01: Continuous positioning control
speed/position changeover control in the operation
• 11: Continuous path control
pattern of continuous path control.
• Do not perform speed control in the operation pattern of
continuous positioning control. (Refer to Chapter 9)
Correct the operation pattern.
<Operation pattern>00, 01, 11
(Refer to section 5.3 Da. 1 )
• 00: Positioning complete
• 01: Continuous positioning control
• 11: Continuous path control Correct the control method. (Refer to section 5.3 Da. 2 )
<Unit setting> Correct the positioning data or the “unit setting” parameter.
0 150 300
0, 1, 2, 3 (Refer to section 9.1.6)
<Control method> 01H to 11H, 20H
• 03H, 06H: 1 to 2 axis fixed-dimension control
Correct the control method.
• 0DH, 0EH: Speed control
(Refer to section 5.3 Da. 2 )
• 11H: Current value change
• Speed/position changeover control: 0FH, 10H
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Division of Error
Error name Description Action at occurrence of error
error code
Command speed
522 The command speed is set at “0.”
setting error
• The control method setting is out of the
range.
At start: Operation does not start.
• When the absolute position restoration mode During operation:
is the "infinite length mode", any of the Stopping according to sudden stop
following control methods has been set. (stopping group 3) setting
1, 2-axis fixed-dimension feed control (deceleration and stop/sudden
Control method Speed/position changeover control stop) selected in detail parameter 2
524
setting error Current value change (However, deceleration and stop only during
• When the absolute position restoration mode
manual pulse generator operation)
is the "infinite length mode", speed control
has been executed with the detailed
parameter 1 "Current feed value during
speed control" set to other than "1: Update
current feed value".
One of the following cases is applicable with
auxiliary point-designated arc interpolation.
• Start point = Auxiliary point
• End point = Auxiliary point
Auxiliary point
525 • The start point, end point and auxiliary point
setting error
Positioning are in a line.
• The auxiliary point address or center point
operation
address is out of the range
between -2147483648 and 2147483647.
• The start point is the end point with the
At start: Operation does not start.
auxiliary point-designated arc interpolation.
During operation: Immediate stop
End point setting • The end point address is outside the scope of
526
error -2147483648 to 2147483647 in the circular
interpolation with auxiliary point designation
and center point designation.
Circular interpolation with center point
designation applicable to one of the following
Center point • Start point = Center point
527
setting error • End point = Center point
• The center point address is out of the range
between -2147483648 and 2147483647
• The positioning address setting is a negative
At start: Operation does not start.
value in the speed/position changeover
Outside address control mode. During operation: Stopping according to
530
range • The positioning address setting of ABS1 or sudden stop (stopping group 3) setting
ABS2 is out of the range between 0 and (deceleration and stop/sudden stop) selected in
359.99999 [degrees].
detail parameter 2
Simultaneous An error other than this one is developed to a (However, deceleration and stop only during
532 manual pulse generator operation)
start not possible target axis of simultaneous start.
14 - 14
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory address Setting range
Remedy
Axis 1 Axis 2 Axis 3 (Setting given in sequence program)
Address storing the command <Command speed>
Correct the command speed.
speed of each of positioning data 1 to 1000000 [pulse/s]
(Refer to section 5.3 Da. 7 )
No. 1 to 600 1 to 600000000 [mm/min, etc.]
<Control method> 01H to 11H, 20H
• 03H, 06H: 1 to 2 axis fixed-dimension control
Correct the control method or parameter. (Refer to section
• 0DH, 0EH: Speed control
9.1.6)
• 11H: Current value change
• Speed/position changeover control: 0FH, 10H
Correct the address of the auxiliary point (arc address).
<Positioning address/movement
(Refer to section 9.2.6)
amount>
• [mm] [inch] [pulse]
-2147483648 to 2147483647
(Unit [degree] cannot be set.)
<Arc address>
-2147483648 to 2147483647
Correct the end point address (positioning address).
(Refer to section 9.2.6)
Refer to section “5.3 List of
positioning data.”
Correct the center point address (arc address).
<Positioning address/movement
(Refer to section 9.2.7)
amount>
• [mm] [inch] [pulse] [degree (INC)]
-2147483648 to 2147483647
• [degree (ABS)] 0 to 35999999
<Arc address>
Correct the positioning address.
-2147483648 to 2147483647
(Refer to section 9.2.9)
Refer to section "5.3 List of Refer to the error history to search for axes developing
positioning data" and section "5.4 errors other than this one and remove the causes of the
Start block data." errors. Correct the start block data and positioning data.
14 - 15
14 TROUBLESHOOTING
MELSEC-A
Division of Error
Error name Description Action at occurrence of error
error code
One of the following is applicable when
condition data is referred to for a conditional
start, wait start or JUMP command.
• The target condition setting is out of the
Condition data
533 setting range.
error
• The condition operator setting is out of the Operation is terminated.
setting range.
• The conditional operator has been [parameter
1 parameter 2] with 05H(P1 ** P2).
Special start The command code of the special start
534
command error command is out of the setting range.
M code ON Positioning start is performed when the “M
536
signal ON start code ON” signal (XD, XE, XF) is turned ON.
Positioning PLC READY Positioning start is performed when “PLC
operation 537
OFF start READY” (Y1D) is turned OFF.
Positioning start is performed when AD75
538 READY ON start
READY (X0) is turned ON.
Operation does not start at the start.
• The “positioning start number” setting is other
than 1 to 600, 7000 to 7010, 8001 to 8050, or
9000 to 9003 at positioning start.
Outside start
543 • When the absolute position restoration mode
number range
is the "infinite length mode", the "positioning
start No." setting in the axis control data is
9002 or 9003 at a positioning start.
• The arc radius exceeds 536870912.
• The address of auxiliary point, center point
Outside radius At start: Operation does not start.
544 and end point are outside the scope of
range During operation: Immediate stop
-2147483648 to 2147483647 with circular
interpolation."
• The setting range of “unit setting” in basic
parameter 1 is out of the setting range.
• When the zero point return detailed
parameter "absolute position restoration
Outside unit
900 selection" is "1: infinite length mode" and the
setting range
axis monitor data "absolute position
restoration mode" is "1: infinite length mode",
the basic parameter 1 "unit setting" setting is
other than "2: degree".
At start: Operation does not start.
Parameter No. of pulses per
The setting range of “No. of pulses per rotation” During operation: Immediate stop
901 rotation setting
in basic parameter 1 is out of the setting range.
error
Movement
The setting range of “movement amount per
amount per
902 rotation” in basic parameter 1 is out of the
rotation setting
setting range.
error
Unit
The setting range of “unit magnification” in
903 magnification
basic parameter 1 is out of the setting range.
setting error
14 - 16
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory address Setting range
Remedy
Axis 1 Axis 2 Axis 3 (Setting given in sequence program)
Correct the start block data.
Refer to section "5.4 Start block
data."
<Special command> Correct the special start data.
00H to 07H (Refer to section 5.4 Da. 12 )
<M code OFF request> Turn the “M code ON” signal OFF then start.
1153 1203 1253
1: The M code ON signal is turned OFF. (Refer to section 12.7.3)
Check the sequence program in which the PLC READY
signal (Y1D) is turned ON or OFF. Turn PLC READY ON
then start.
Check AD75 READY OFF then start.
(Refer to section 3.4.2)
<Positioning start No.>
1150 1200 1250 1 to 600, 7000 to 7010, Correct the positioning start No.
8001 to 8050, 9001 to 9003
Refer to section “5.3 List of <Max. radius> Correct the positioning data.
positioning data.” 536870912 (Refer to sections 9.2.6 and 9.2.7)
0 150 300 0, 1, 2, 3
Change the setting to within the setting range and turn
OFF then ON the PLC READY signal (Y1D).
1 151 301 1 to 65535
2 152 302 1 to 65535
3 153 303 1, 10, 100, 1000
14 - 17
14 TROUBLESHOOTING
MELSEC-A
Division of Error
Error name Description Action at occurrence of error
error code
Outside speed The setting range of “speed limit value” in basic
910
limit value range parameter 2 is out of the setting range.
Outside
The setting range of “acceleration time 0” in
911 acceleration time At power-on or when the PLC READY signal
basic parameter 2 is out of the setting range.
range (Y1D) is turned ON: The AD75 READY signal
Outside (X0) is not turned ON.
The setting range of “deceleration time 0” in
912 deceleration time At start: Operation does not start.
basic parameter 2 is out of the setting range.
range
Outside bias The setting range of “bias speed at start” in
913
speed range basic parameter 2 is out of the setting range.
• The “software stroke limit upper limit value”
setting in detail parameter 1 is out of the
setting range with “degree” unit.
• The software stroke limit upper limit value is
smaller than the software stroke limit lower
limit value with a unit other than “degree”.
Software stroke • When the zero point return detailed
921
limit upper limit parameter "absolute position restoration
selection" is "1: infinite length mode" and the
axis monitor data "absolute position
restoration mode" is "1: infinite length mode",
the software stroke limit function is valid
(software stroke limit upper limit value
software stroke limit lower limit value).
• The “software stroke limit lower limit value”
setting in detail parameter 1 is out of the
Parameter setting range with “degree” unit.
• The software stroke limit upper limit value is
smaller than the software stroke limit lower
limit value with a unit other than “degree.”
Software stroke • When the zero point return detailed
922 The AD75 READY signal (X0) is not turned
limit lower limit parameter "absolute position restoration
OFF.
selection" is "1: infinite length mode" and the
axis monitor data "absolute position
restoration mode" is "1: infinite length mode",
the software stroke limit function is valid
(software stroke limit upper limit value
software stroke limit lower limit value).
The setting range of “software stroke limit
Software stroke
923 selection” in detail parameter 1 is out of the
limit selection
setting range.
Software stroke The setting range of the “software stroke limit
924 limit valid/invalid valid/invalid setting” in detail parameter 1 is out
setting of the setting range.
The setting range of the “torque limit setting
Illegal torque limit
925 value” in detail parameter 1 is out of the setting
setting value
range.
The setting range of the “command in-position
Command in-
926 range” in detail parameter 1 is out of the setting
position range
range.
The setting range of the “M code ON signal
M code ON
927 output timing” in detail parameter 1 is out of the
timing error
setting range.
14 - 18
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory address Setting range
Remedy
Axis 1 Axis 2 Axis 3 (Setting given in sequence program)
6 156 306 1 to 1000000 [pulse/s]
7 157 307 1 to 600000000 [mm/min, etc.]
8 158 308 (One-word type) 1 to 65535
9 159 309 (Two-word type) 1 to 8388608
Change the setting to within the setting range and turn
OFF then ON the PLC READY signal (Y1D).
10 160 310 (One-word type) 1 to 65535
11 161 311 (Two-word type) 1 to 8388608
12 162 312 1 to 1000000 [pulse/s]
13 163 313 1 to 600000000 [mm/min, etc.]
• Change the setting to within the setting range.
• In case of a unit other than “degree,” change the settings
• [mm] [inch] [pulse] so that the lower limit value is smaller than the upper limit
16 166 316 value.
-2147483648 to 2147483647 • When the absolute position restoration mode is the
17 167 317
• [degree] 0 to 35999999 "infinite length mode", make the software stroke limit
function invalid.
(Refer to section 12.4.3, section 12.6.2.)
• Change the setting to within the setting range.
• Change the settings so that the lower limit value is
smaller than the upper limit value with a unit other than
• [mm] [inch] [pulse]
18 168 318 “degree.”
-2147483648 to 2147483647
19 169 319 • When the absolute position restoration mode is the
• [degree] 0 to 35999999
"infinite length mode", make the software stroke limit
function invalid.
(Refer to section 12.4.3, section 12.6.2.)
20 170 320 0, 1
21 171 321 0, 1
• [mm] [inch] [pulse]
22 172 322 Change the setting to within the setting range and turn
1 to 32767000
23 173 323 OFF then ON the PLC READY signal (Y1D).
• [degree] 1 to 32767
24 174 324 1 to 500
25 175 325 0, 1
14 - 19
14 TROUBLESHOOTING
MELSEC-A
Division of Error
Error name Description Action at occurrence of error
error code
Speed The setting range of the “speed changeover
928 changeover mode” in detail parameter 1 is out of the setting
mode error range.
Interpolation
The setting range of the “interpolation speed
speed
929 designation method” in detail parameter 1 is
designation
out of the setting range.
method
Current value The setting range of the “current feed value
930 update request during speed control” in detail parameter 1 is
error out of the setting range.
The AD75 READY signal (X0) is not turned
OFF.
Manual pulse
The “manual pulse generator selection” setting
931 generator
in detail parameter 1 is out of the setting range.
selection error
Acceleration/dec The “size selection for
933 eleration time acceleration/deceleration time” setting in detail
size error parameter 1 is out of the setting range.
Backlash
The movement amount per pulse converted to
938 compensation
the pulse count exceeds 256 pulses.
amount error 2
Acceleration time The setting range of “acceleration time 1” in
950
Parameter 1 setting error detail parameter 2 is out of the setting range.
Acceleration time The setting range of “acceleration time 2” in
951
2 setting error detail parameter 2 is out of the setting range.
Acceleration time The setting range of “acceleration time 3” in
952
3 setting error detail parameter 2 is out of the setting range.
At start: Failure to start
During operation:
Stopping according to sudden stop
Deceleration time The setting range of “deceleration time 1” in
953 (stopping group 3) setting
1 setting error detail parameter 2 is out of the setting range.
(deceleration and stop/sudden
stop) selected in detail parameter 2
(However, deceleration and stop only during
Deceleration time The setting range of “deceleration time 2” in
954 manual pulse generator operation)
2 setting error detail parameter 2 is out of the setting range.
Deceleration time The setting range of “deceleration time 3” in
955
3 setting error detail parameter 2 is out of the setting range.
• The setting range of the “JOG speed limit
value” in detail parameter 2 is out of the
JOG speed limit
956 setting range.
value error
• The “JOG speed limit value” setting in detail
parameter 2 exceeds the speed limit value.
14 - 20
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory address Setting range
Remedy
Axis 1 Axis 2 Axis 3 (Setting given in sequence program)
26 176 326 0, 1
27 177 327 0, 1
28 178 328 0, 1, 2
Change the setting to within the setting range and turn
0: Manual pulse generator operation OFF then ON the PLC READY signal (Y1D).
ignored
1: Manual pulse generator connected to
axis 1 is used.
29 179 329
2: Manual pulse generator connected to
axis 2 is used.
3: Manual pulse generator connected to
axis 3 is used.
0: One-word type
31 181 331
1: Two-word type
Change the setting so that the movement per pulse
15 165 315 0 to 255 converted to the pulse count becomes fewer than 256
pulses. (Refer to section 12.3.1)
(One-word type)
36 186 336 1 to 65535
37 187 337 (Two-word type)
1 to 8388608
(One-word type)
38 188 338 1 to 65535
39 189 339 (Two-word type)
1 to 8388608
(One-word type)
40 190 340 1 to 65535
41 191 341 (Two-word type)
1 to 8388608 Change the setting to within the setting range and turn
(One-word type) OFF then ON the PLC READY signal (Y1D).
42 192 342 1 to 65535
43 193 343 (Two-word type)
1 to 8388608
(One-word type)
44 194 344 1 to 65535
45 195 345 (Two-word type)
1 to 8388608
(One-word type)
46 196 346 1 to 65535
47 197 347 (Two-word type)
1 to 8388608
• Change the setting to within the setting range and turn
48 198 348 1 to 1000000 [pulse/s]
OFF then ON the PLC READY signal (Y1D).
49 199 349 1 to 600000000 [mm/min, etc.]
• Change the setting to within the speed limit value.
14 - 21
14 TROUBLESHOOTING
MELSEC-A
Division of Error
Error name Description Action at occurrence of error
error code
JOG acceleration The setting range of “JOG acceleration time
957 selection setting selection” in detail parameter 2 is out of the
error setting range.
JOG deceleration The setting range of “JOG deceleration time
958 selection setting selection” in detail parameter 2 is out of the
error setting range.
Acceleration/dec
The setting range of “acceleration/deceleration
eleration
959 process selection” in detail parameter 2 is out
selection setting
of the setting range.
error
S-pattern
The setting range of the “S-pattern proportion”
960 proportion setting
in detail parameter 2 is out of the setting range.
error
At start: Failure to start
Illegal sudden The setting range of the “sudden stop During operation:
962 stop deceleration deceleration time” in detail parameter 2 is out Stopping according to sudden stop
time of the setting range. (stopping group 3) setting
(deceleration and stop/sudden
Stop group 1 The setting range of “stop group 1 sudden stop stop) selected in detail parameter 2
963 sudden stop selection” in detail parameter 2 is out of the
(However, deceleration and stop only during
selection error setting range.
manual pulse generator operation)
Stop group 2 The setting range of “stop group 2 sudden stop
964 sudden stop selection” in detail parameter 2 is out of the
selection error setting range.
Stop group 3 The setting range of “stop group 3 sudden stop
Parameter
965 sudden stop selection” in detail parameter 2 is out of the
selection error setting range.
Outside
The setting range of the “allowable circular
allowable circular
966 interpolation error width range” in detail
interpolation error
parameter 2 is out of the setting range.
width range
The setting range of “external start function
External start
967 selection” in detail parameter 2 is out of the
selection error
setting range.
The detailed parameter 2 "setting for the restart
Restart allowable
970 allowable range when servo OFF to ON"
range error
setting is outside the setting range.
The “near pass mode selection for path control”
Path control
971 setting in detail parameter 2 is out of the setting
mode error
range.
The setting range of the “zero point return
Zero point return The AD75 READY signal (X0) is not turned
980 method” zero point return basic parameter is
method error OFF.
out of the setting range.
The setting range of the “zero point return
Zero point return
981 direction” zero point return basic parameter is
direction error
out of the setting range.
Zero point The setting range of the “zero point address”
982 address setting zero point return basic parameter is out of the
error setting range.
14 - 22
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory address Setting range
Remedy
Axis 1 Axis 2 Axis 3 (Setting given in sequence program)
50 200 350 0, 1, 2 ,3
51 201 351 0, 1, 2 ,3
52 202 352 0, 1
53 203 353 1 to 100
(One-word type)
54 204 354 1 to 65535
55 205 355 (Two-word type)
1 to 8388608
56 206 356 0, 1
57 207 357 0, 1
Change the setting to within the setting range and turn
58 208 358 0, 1 OFF then ON the PLC READY signal (Y1D).
60 210 360
1 to 100000
61 211 361
62 212 362 0, 1, 2
0 : Restart not allowed
64 214 364
1 to 163840 : Restart allowable range
65 215 365
(pulse)
0: Positioning address pass mode
66 216 366
1: Near pass mode
70 220 370 0, 1, 2, 3, 4, 5
71 221 371 0, 1
• [mm] [inch] [pulse]
72 222 372
-2147483648 to 2147483647
73 223 373
• [degree] 0 to 35999999
14 - 23
14 TROUBLESHOOTING
MELSEC-A
Division of Error
Error name Description Action at occurrence of error
error code
The setting range of the “zero point return
Zero point return
983 speed” zero point return basic parameter is out
speed error
of the setting range.
The setting range of the “creep speed” zero
Creep speed
984 point return basic parameter is out of the
error
setting range.
The setting range of the “zero point return retry”
Zero point return
985 zero point return basic parameter is out of the
retry error
setting range.
The setting range of the “zero point return
Zero point return
991 torque limit value” zero point return detail
torque limit value
parameter is out of the setting range.
Setting for the
The setting range of the “setting for the
movement
movement amount after near-point dog ON”
992 amount after
zero point return detail parameter is out of the
near-point dog
setting range.
ON error The AD75 READY signal (X0) is not turned
Parameter
Zero point return The setting range of the “zero point return OFF.
993 acceleration acceleration time selection” zero point return
selection error detail parameter is out of the setting range.
Zero point return The setting range of the “zero point return
994 deceleration deceleration time selection” zero point return
selection error detail parameter is out of the setting range.
Speed selection The setting range of the “speed designation
997 at zero point shift during zero point shift” zero point return detail
error parameter is out of the setting range.
In the hardware version that does not support
the absolute position restoration mode
Absolute position
switching function (refer to Appendix 4), the
998 restoration
zero point return detailed parameter "absolute
selection error
position restoration selection" is set to "1:
infinite length mode".
Flash ROM sum
999 Flash ROM writing is terminated erroneously.
check error
If a reserved error code is displayed, unnecessary data is stored in the buffer memory not described in the
manual.
If a reserved error occurs, write the following data to the designated buffer memory.
Relevant buffer memory address
Error code Setting data
Axis 1 Axis 2 Axis 3
934 0 32 182 332
935 1 33 183 333
936 3 34 184 334
937 0 35 185 335
996 1 87 237 387
14 - 24
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory address Setting range
Remedy
Axis 1 Axis 2 Axis 3 (Setting given in sequence program)
74 224 374 1 to 1000000 [pulse/s]
75 225 375 1 to 600000000 [mm/min, etc.]
76 226 376 1 to 1000000 [pulse/s]
77 227 377 1 to 600000000 [mm/min, etc.]
78 228 378 0, 1
86 236 386 1 to 300
Change the setting to within the setting range and turn
OFF then ON the PLC READY signal (Y1D).
80 230 380
0 to 2147483647
81 231 381
82 232 382 0, 1, 2 ,3
83 233 383 0, 1, 2 ,3
88 238 388 0, 1
Change the setting to "0: standard mode" and turn the
91 241 391 0, 1
PLC READY signal (Y1D) OFF, then ON.
• Write the flash ROM again.
• If the same error persists, replace the module.
14 - 25
14 TROUBLESHOOTING
MELSEC-A
14.2.2 Errors detected by MR-H-B (MR-H-BN)
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. Power supply voltage is low.
2. Power failed instantaneously.
In case of MR-H700BN or less: 15ms or more
Power supply voltage In case of MR-H11KBN or less: 10ms or more
2010 10 Undervoltage dropped. 3. Shortage of power supply capacity caused the power supply
160VAC or less voltage to drop at start, etc.
4. Power switched ON within 5s after it had switched OFF.
5. Faulty parts in the servo amplifier.
RAM, ROM memory
2012 12 Memory error 1
fault
2013 13 Clock error Printed board fault Faulty parts in the servo amplifier.
2014 14 Watchdog CPU part fault
2015 15 Memory error 2 E2PROM fault
Communication error 1. Encoder connector disconnected.
occurred between
2016 16 Encoder error 1 2. Servomotor encoder faulty.
encoder and servo
amplifier. 3. Encoder cable faulty (open cable or short circuit)
2017 17 Board error CPU/parts fault
Faulty parts in the servo amplifier
2019 19 Memory error 3 Flash memory fault
Motor
When using HC-MF, HA-FF, HC-SF or HC-UF series servomotor,
2020 1A combination Motor combination error
improper motor was connected with servo amplifier.
error
Communication error
1. Encoder connector disconnected.
occurred between
2020 20 Encoder error 2
encoder and servo
2. Encoder cable faulty (open cable or short circuit)
amplifier.
Ground fault occurred at 1. Power input cable and servomotor output cable are making
the servomotor outputs contact at the main circuit terminal block (TE1).
2024 24 Ground fault
(U, V and W phases) of
2. Servomotor power cable insulation deteriorated.
the servo amplifier.
1. Reduced voltage of super capacitor in encoder
Absolute Absolute position data in
2025 25
position erase error
2. Battery voltage low
3. Battery cable or battery is faulty.
14 - 26
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
Review the power supply.
Error code 2010 occurs if power is switched
Change the servo amplifier.
on after all connectors are disconnected.
Any of error codes 2012 to 2015 occurs if
power is switched ON after all connectors are Change the servo amplifier.
disconnected.
Connect correctly.
Change the servomotor.
Repair or change the cable.
Either of error codes 2017 and 2019 occurs if
power is switched ON after all connectors are Change the servo amplifier.
disconnected.
Use correct combination.
Connect correctly.
Repair or change the cable.
Connect correctly.
Change the cable.
After error has occurred, hold power ON for a few
minutes, and switch it OFF once, then ON again (make
zero point return again).
Change battery (make home position return again).
14 - 27
14 TROUBLESHOOTING
MELSEC-A
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. Wrong setting of " Pr.102 Regenerative brake resistor"
Permissible regenerative 2. Built-in regenerative brake resistor or regenerative brake option is
power of the built-in not connected.
regenerative brake 3. High-duty operation or continuous regenerative operation caused
resistor or regenerative the permissible regenerative power of the regenerative brake
brake option is option to be exceeded.
exceeded. 4. Power supply voltage is abnormal.
260V or more
Regenerative
2030 30
error
5. Regenerative transistor faulty.
Regenerative transistor
fault
6. Built-in regenerative brake resistor or regenerative brake option
faulty.
Cooling fan stop 7. Unusual overheat due to cooling fan stop.
1. Input command pulse frequency exceeded the permissible
instantaneous speed frequency.
2. Small acceleration/deceleration time constant caused overshoot
to be large.
Speed has exceeded the
3. Servo system is instable to cause overshoot.
2031 31 Overspeed instantaneous
permissible speed.
4. " Pr.103 Motor type" or " Pr.105 Motor speed" setting error
5. Encoder faulty.
1. Short occurred in servo amplifier output phases U, V and W.
Current that flew is 2. Transistor (IPM) of the servo amplifier faulty.
higher than the
2032 32 Overcurrent 3. Ground fault occurred in servo amplifier output phases U, V and
permissible current of
W.
the servo amplifier.
4. External noise caused the overcurrent detection circuit to
misoperate.
1. Lead of built-in regenerative brake resistor or regenerative brake
option is open or disconnected.
2. Regenerative transistor faulty.
Servo amplifier bus 3. Wire breakage of built-in regenerative brake resistor or
2033 33 Overvoltage
voltage exceeded 400V. regenerative brake option
4. Capacity of built-in regenerative brake resistor or regenerative
brake option is insufficient.
5. Power supply voltage high.
14 - 28
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
102 252 402 Set correctly.
Connect correctly.
1. Reduce the frequency of positioning.
Call the status display and check the
2. Use the regenerative brake option of larger capacity.
regenerative load ratio.
3. Reduce the load.
Review the power supply.
1) The regenerative brake option has
overheated abnormally.
2) Error occurs even after removal of the built- Change the servo amplifier.
in regenerative brake resistor or
regenerative brake option.
Change the servo amplifier or regenerative brake option.
1. Change the servo amplifier or cooling fan.
2. Reduce ambient temperature.
Set command pulses correctly.
Increase acceleration/deceleration time constant.
1. Re-set servo gain to proper value.
2. If servo gain cannot be set to proper value:
112 252 402 1) Reduce " Pr.112 Load inertia ratio" (load inertia
moment ratio); or
2) Reexamine acceleration/deceleration time constant.
Motor type
103 253 403
Set correctly.
Motor speed
105 255 405
Change the servomotor.
Correct the wiring.
Error code 2032 occurs if power is switched
Change the servo amplifier.
ON after U, V and W are disconnected.
Correct the wiring.
Take noise suppression measures.
1. Change lead.
2. Connect correctly.
Change the servo amplifier.
1. For wire breakage of built-in regenerative brake
resistor, change servo amplifier.
2. For wire breakage of regenerative brake option, change
regenerative brake option.
Add regenerative brake option or increase capacity.
Review the power supply.
14 - 29
14 TROUBLESHOOTING
MELSEC-A
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. SSCNET cable is disconnected.
SSCNET cable 2. SSCNET cable fault.
2034 34 CRC error
communication error 3. Noise entered the SSCNET cable.
4. The terminal connector is disconnected.
Command pulse Input command pulse is 1. Command pulse frequency too high.
2035 35
frequency alarm too high. 2. Noise entered the command pulse.
1. SSCNET cable is disconnected.
SSCNET cable or 2. SSCNET cable fault.
2036 36 Transfer error
printed board fault 3. Printed board H-C10 fault.
4. The terminal connector is disconnected.
1. Servo amplifier fault caused the parameter setting to be rewritten.
2037 37 Parameter error Parameter setting error
2. Mis-setting of servo amplifier parameter data
2042 42 Feedback alarm Encoder signal is faulty. Encoder faulty.
1. Servo amplifier faulty.
Main circuit Main circuit overheated 2. The power supply was turned ON and OFF continuously by
2045 45
device overheat abnormally. overloaded status.
3. Air cooling fan of servo amplifier stopped.
1. Ambient temperature of servomotor is over 40°C.
Servomotor temperature
Servomotor
2046 46 rise actuated the thermal 2. Servomotor is overloaded.
overheat
protector.
3. Thermal protector in encoder is faulty.
4. Air cooling fan of servomotor stopped.
1. Servo amplifier is used in excess of its continuous output current.
2. Servo system is instable and hunting.
Load exceeded overload
protection characteristic
of servo amplifier.
2050 50 Overload 1 Load ratio 300%: 3. Machine struck something.
2.5s or more
4. Wrong connection of servomotor.
Load ratio 200%:
Servo amplifier's output terminals U, V, W do not match
100s or more
servomotor's input terminals U, V, W.
5. Encoder faulty.
14 - 30
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
Checking method Remedy
address
Axis 1 Axis 2 Axis 3
Connect correctly.
Change the cable.
Take noise suppression measures.
Connect correctly.
Change the command pulse frequency to a proper value.
Take noise suppression measures.
Connect correctly.
Change the cable.
Change the servo amplifier.
Connect correctly.
Change the servo amplifier.
Refer to section "5.2.7
Servo parameters for MR- Set correctly.
H-B (MR-H-BN)".
Change the servo amplifier.
Change the servo amplifier.
Review the operation method.
Review the cooling method.
Review environment so that ambient temperature is 0 to
40°C.
1. Reduce load.
2. Review operation pattern.
3. Use servomotor that provides larger output.
Change servomotor.
Change servomotor.
1. Reduce load.
2. Review operation pattern.
3. Use servomotor that provides larger output.
1. Repeat acceleration/deceleration to execute auto
Servo response setting
tuning.
2. Change " Pr.109 Servo response setting".
109 259 409 3. Set auto tuning to OFF and make gain adjustment
manually.
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
When the servomotor shaft is rotated slowly
with the servo OFF, the cumulative feedback
pulses should vary in proportion to the rotary Change the servomotor.
angle. (If the indication skips or returns
midway, the encoder is faulty.)
14 - 31
14 TROUBLESHOOTING
MELSEC-A
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. Machine struck something.
2. Wrong connection of servomotor.
Servo amplifier's output terminals U, V, W do not match
servomotor's input terminals U, V, W.
Machine collision or like
caused max. output
current to flow
3. Servo system is instable and hunting.
2051 51 Overload 2 successively for several
seconds.
Servomotor locked:
4. The bus voltage of the unit has decreased.
1s or more
5. Encoder faulty.
1. Acceleration/deceleration time constant is small.
2. Motor cannot be started due to torque shortage caused by power
supply voltage drop.
3. " Pr.113 Position loop gain 1" value is small.
4. Bus voltage of the unit dropped due to failure.
Droop pulse value of the
2052 52 Error excessive deviation counter 5. Servomotor shaft was rotated by external force.
exceeded 80kpulses.
6. Machine struck something.
7. Encoder faulty.
8. Wrong connection of servomotor.
Servo amplifier's output terminals U, V, W do not match
servomotor's input terminals U, V, W.
Serial communication
error occurred between 1. Communication cable faulty (open cable or short circuit).
servo amplifier and
2086 8E RS-232 alarm telecommunication
equipment (parameter
2. Telecommunication equipment faulty.
unit, personal computer
or similar device).
14 - 32
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
Checking method Remedy
address
Axis 1 Axis 2 Axis 3
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
1. Repeat acceleration/deceleration to execute auto
Servo response setting
tuning.
2. Change " Pr.109 Servo response setting".
109 259 409 3. Set auto tuning to OFF and make gain adjustment
manually.
Change the servo amplifier.
When the servomotor shaft is rotated slowly
with the servo OFF, the cumulative feedback
pulses should vary in proportion to the rotary Change the servomotor.
angle. (If the indication skips or returns
midway, the encoder is faulty.)
Increase the acceleration/deceleration time constant.
1. Review the power supply capacity.
2. Use servomotor that provides larger output.
Increase the setting and adjust to ensure proper
113 263 413
operation.
Change the servo amplifier.
Torque limit setting value
24 174 324
Zero point return torque 1. When torque is limited, increase the limit value.
limit value 2. Reduce load.
86 236 386 3. Use servomotor that provides larger output.
Torque output setting value
1180 1230 1280
1. Review operation pattern.
2. Install limit switches.
Change the servomotor.
Connect correctly.
Repair or change the cable.
Change the telecommunication equipment.
14 - 33
14 TROUBLESHOOTING
MELSEC-A
14.2.3 Errors detected by MR-J-B
Servo
Error
amplifier Name and definition Occurrence factor
code
LED display
1. Power supply voltage is 160VAC or less.
Undervoltage
The power supply voltage (R, S, T)
2010 10 2. An instantaneous power failure occurred for 15ms or longer.
dropped to or below the given level
(160VAC).
3. Shortage of power supply capacity caused the power supply
voltage to drop at start, etc.
Memory error 1
2012 12 J-C21 printed board fault
ROM, RAM
2013 13 Clock error J-C21 printed board fault
Memory error 2
2015 15 J-C21 printed board fault
E2PROM
1. Encoder connector disconnected.
2016 16 Encoder error 1 2. Servomotor encoder faulty.
3. Encoder cable faulty (open cable or short circuit)
2017 17 Board error J-P4 printed board fault
1. Excessive noise generated.
2020 20 Encoder error 2
2. Encoder cable fault (open cable or short circuit)
1. Voltage low in the super capacitor in the detector (set-up start)
2025 25 Absolute position erase
2. Battery voltage low
3. Battery cable or battery is faulty.
1. " Pr.102 Regenerative brake resistor" setting error
2. Regenerative brake resistor not connected.
3. Max. regenerative load exceeded.
(1) High-duty operation caused the maximum load capacity of the
regenerative brake resistor to be exceeded.
2030 30 Regenerative error
(2) Continuous regenerative operation caused the maximum load
capacity of the regenerative brake resistor to be exceeded.
4. Regenerative power transistor damaged (short circuit).
5. Regenerative brake resistor faulty.
14 - 34
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
Measure the input voltage (R, S, T) with a
Review the power supply capacity.
voltmeter.
Check if an instantaneous power failure
occurred.
Observe the input voltage with an
oscilloscope.
Measure the input voltage (R, S, T) with a
Review the power supply capacity.
voltmeter.
Change the unit. Change the unit.
Change the unit. Change the unit.
Change the unit. Change the unit.
Make visual check (to see if the connector is
Connect correctly.
disconnected or almost disconnected).
Change the servomotor. Change the servomotor.
Repair or change the cable (do not apply external force to
Check the cable (change the cable).
the cable).
Change the unit. Change the unit.
Check if the MC, etc. are operated at error
Take noise suppression measures.
occurrence timing.
Repair or change the cable (do not apply external force to
Check the cable (change the cable).
the cable).
Keep the power ON for a few minutes in the Keep the power ON for a few minutes to charge the super
error state and switch the power OFF, then capacitor, and switch the power OFF, then ON.
ON. Perform initial setting of the zero point.
After switching the power OFF, measure the
voltage across the battery.
If the error still persists after the above
Change the battery.
remedy.
Check the setting of " Pr.102 Regenerative
102 252 402 Set correctly.
brake resistor".
Check the connection. Connect correctly.
1. Reconsider the regenerative brake torque
1. Reduce the frequency of use of positioning.
and the frequency of use of regenerative
2. Add the regenerative brake option.
braking.
3. Increase the servomotor capacity.
2. Check the regenerative load factor in the
4. Reduce the load.
monitor mode.
Check the resistance of the regenerative
Change the unit.
power transistor using a tester.
Check the resistance of the regenerative brake
Change the regenerative brake resistor.
resistor.
14 - 35
14 TROUBLESHOOTING
MELSEC-A
Servo
Error
amplifier Name and definition Occurrence factor
code
LED display
1. The command speed exceeded the permissible speed.
2. The acceleration/deceleration time constant is so small that
overshoot occurs.
Overspeed
2031 31 Motor speed reached or exceeded the
permissible speed. 3. The servo system is instable to cause overshoot.
4. " Pr.103 Motor type" or " Pr.105 Motor speed" setting error
5. Encoder faulty.
1. Output phases U, V and W of the servo amplifier were connected
with each other.
2. Servo amplifier transistor damaged.
Overcurrent
2032 32 Current not less than the permissible value
3. Ground fault occurred in the servo amplifier output phases U, V,
flew in the servo amplifier bus.
W.
4. Noise entered the overcurrent detection circuit.
1. Regenerative brake resistor connection fault.
2. Regenerative power transistor damaged.
Overvoltage
2033 33 Converter bus voltage reached or
exceeded 400V. 3. Regenerative brake resistor in the servo amplifier switched OFF.
4. Power supply voltage high.
SSCNET cable is disconnected.
SSCNET cable fault.
CRC error
2034 34
Command cable fault Noise entered the SSCNET cable .
The terminal connector is disconnected.
1. Command pulse frequency too high.
2035 35 Command pulse frequency alarm
2. Noise entered the command pulse.
14 - 36
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
1. Check the speed command (pulse train
frequency).
2. Check if the motor speed determined by the Set the speed correctly. (600kpps or less)
set speed of the AD75 has exceeded the
rated speed of the servomotor.
1. Increase acceleration/deceleration time
constant. Reconsider the acceleration/deceleration time constant.
2. Reduce the speed.
1. Adjust the servo gain. 1. Re-set servo gain to proper value.
2. Check " Pr.112 Load inertia ratio" (load 2. If setting cannot be made by the servo gain:
inertia moment ratio). 1) Reduce " Pr.112 Load inertia ratio" (load inertia
112 262 412
3. Increase the acceleration/deceleration time moment ratio); or
constant. 2) Reexamine the acceleration/deceleration time
4. Reduce the speed. constant.
Motor type
103 253 403 Check the servo parameters " Pr.103 Motor
Set correctly.
Motor speed type" and " Pr.105 Motor speed".
105 255 405
1. Change the cable. Change the cable.
2. Change the servomotor. Change the servomotor.
Check if the U, V, W cables have been
Correct the wiring.
connected using a tester.
Measure the resistance across transistor
Change the transistor module or unit.
module terminals using a tester.
1. Check across terminal block U, V, W
phases and case using a tester. Correct the ground fault.
2. Check across servomotor U, V, W phases Change the unit or servomotor.
and core using a tester and megger.
Check if the relay or valve has operated in the
Take noise suppression measures.
periphery.
Check the connection across terminal block C-
Connect correctly.
P.
Check the resistance of the regenerative
Change the unit.
power transistor using a tester.
Measure across terminal block C-P using a
tester (measure about 3 minutes after the Change the unit.
charge lamp goes OFF).
Measure the input voltage (R, S, T) with a
Reconsider the power supply capacity.
voltmeter.
Check for disconnection of the cable
Connect correctly.
connector.
Check for an open cable, etc. Change the cable.
The relay or valve has operated in the
Take noise suppression measures.
periphery.
Check for disconnection of the terminal
Connect correctly.
connector.
Check if the input pulse is faulty. Change the AD75.
Check if the relay or valve has operated in the
Take noise suppression measures.
periphery.
14 - 37
14 TROUBLESHOOTING
MELSEC-A
Servo
Error
amplifier Name and definition Occurrence factor
code
LED display
SSCNET cable is disconnected.
Transfer error SSCNET cable fault.
2036 36
Command cable fault Printed board fault
The terminal connector is disconnected.
1. Parameter data corrupted.
2037 37 Parameter error
2. Parameter data mis-setting
1. Servo amplifier faulty (rated output exceeded).
2. Power ON/OFF repeated in overload state.
2045 45 Main circuit device overheat
3. Cooling fault.
1. Servomotor overloaded.
2046 46 Servomotor overheat
2. Servomotor ambient temperature exceeded the operating
temperature of 40°C.
3. Thermal protector built in the encoder is faulty.
4. Cooling fan faulty.
1. Current exceeded the continuous output current of the servo
amplifier.
2. Servo system is instable to cause hunting.
Overload 1 3. Machine struck something.
2050 50 About 200% of overload current flew
continuously. 4. Servomotor mis-wiring.
Servo amplifier terminals U, V, W do not match servomotor
terminals U, V, W.
5. Encoder faulty.
1. Machine struck something.
2. Servomotor mis-wiring.
Servo amplifier terminals U, V, W do not match servomotor
Overload 2
2051 51 terminals U, V, W.
Max. current flew for several seconds.
3. Servo system is instable to cause hunting.
4. Bus voltage in the servo amplifier low.
5. Encoder faulty.
14 - 38
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
Check for disconnection of the cable
Connect correctly.
connector.
Check for an open cable, etc. Change the cable.
Change the unit. Change the unit.
Check for disconnection of the terminal
Connect correctly.
connector.
Refer to section "5.2.8
1. Check if dirt, etc. stuck on the card. 1. Remove the dirt on the card and re-set.
Servo parameters for MR-
2. Re-set the parameters. 2. Change the card and re-set.
J-B".
Change the unit.
Check if the servomotor is operated by
Reconsider the operating method.
switching the power ON/OFF.
1. Check if the servo amplifier fan is at a stop
(MR-H150B or more).
2. Check if ventilation is inhibited.
3. Check if temperature in panel is too high (0 Improve cooling.
to +55°C).
4. Check the effective load factor in the
monitor mode.
1. Check the effective load factor in the
monitor mode.
1. Reduce the load.
2. Measure the motor input current.
2. Increase the capacity.
3. Measure a motor temperature rise.
4. Reduce the load.
• Check the ambient temperature of the
servomotor (0 to +40°C).
Operate at the ambient temperature of 0 to +40°C.
• Check if the servomotor is overheated by a
nearby furnace or like.
Change the servomotor. Change the servomotor.
Check if the motor cooling fan is rotating. Change the servomotor.
Refer to the error code 2046-1.
Refer to the error code 2031-3.
1. Check if the machine struck something.
1. Reconsider the operation pattern.
2. Check if the stroke end limit switch is
2. Change the limit switch.
actuated properly.
Check the connection of U, V, W. Connect correctly.
1. Change the cable. 1. Change the cable.
2. Change the servomotor. 2. Change the servomotor.
Refer to the error code 2050-2.
Refer to the error code 2050-4.
Refer to the error code 2031-3.
Check if the charge lamp is ON. Change the unit.
Refer to the error code 2050-5.
14 - 39
14 TROUBLESHOOTING
MELSEC-A
Servo
Error
amplifier Name and definition Occurrence factor
code
LED display
1. Acceleration/deceleration time constant is too small.
2. Start disabled due to torque shortage.
3. Servo gain (PG1) setting too low.
4. Bus voltage in the unit low.
Error excessive
2052 52 Droop pulse value of the deviation counter
exceeded 80kpulses.
5. Servomotor rotated one turn by external force.
6. Machine struck something.
7. Encoder faulty.
14 - 40
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
Increase the acceleration/deceleration time
Increase the acceleration/deceleration time constant.
constant.
Increase the setting of " Pr.113 Position loop
113 263 413 Set a proper value.
gain 1".
Refer to the error code 2051-3.
Torque limit setting value 1. Check the droop pulse value and
24 174 324 cumulative regenerative load factor value in
Zero point return torque the monitor mode.
1. Change the torque limit value.
limit value Check if the values have changed at the
2. Reduce the load.
86 236 386 time of motor stop.
3. Increase the capacity.
Torque output setting value 2. Check the torque limit value.
Check if the servo torque setting is smaller
1180 1230 1280 than external force.
Check if the machine struck something. Reconsider the operation pattern.
Refer to the error code 2050-5.
14 - 41
14 TROUBLESHOOTING
MELSEC-A
14.2.4 Errors detected by MR-J2-B
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. Power supply voltage is low.
2. An instantaneous power failure occurred for 100ms or longer.
3. Shortage of power supply capacity caused the power supply
Power supply voltage voltage to drop at start, etc.
2010 10 Undervoltage dropped to 160VAC or
4. Power was restored after the bus voltage dropped to 200VDC.
less.
(Main circuit power switched ON within 5s after it had switched
OFF.)
5. Faulty parts in the servo amplifier.
2011 11 Board error 1 Printed board fault
RAM, ROM memory
2012 12 Memory error 1
fault Faulty parts in the servo amplifier.
2013 13 Clock error Printed board fault
2015 15 Memory error 2 E2PROM fault
Communication error 1. Encoder connector disconnected.
occurred between 2. Servomotor encoder faulty.
2016 16 Encoder error 1
encoder and servo 3. Encoder cable faulty (open cable or short circuit)
amplifier.
4. Incorrect combination of servo amplifier and servomotor
2017 17 Board error 2 CPU/parts fault
Faulty parts in the servo amplifier.
2018 18 Board error 3
Communication error
1. Encoder connector disconnected.
occurred between
2020 20 Encoder error 2
encoder and servo
2. Encoder cable faulty (open cable or short circuit)
amplifier.
Ground fault occurred at 1. Ground fault occurred at U, V and W phases of servo amplifier
2024 24 Ground fault
U, V and W. output.
1. Reduced voltage of super capacitor in encoder
Absolute position data in
error
2. Battery voltage low
Absolute
2025 25 3. Battery cable or battery is faulty.
position erase
Power was switched ON
for the first time in 4. The super capacitor of the absolute position detector is not
absolute position charged.
detection system.
14 - 42
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
Review the power supply.
Error code 2010 occurs if power is switched
Change the servo amplifier.
ON after all connectors are disconnected.
Any of error codes 2011 to 2013 and 2015
occurs if power is switched ON after all Change the servo amplifier.
connectors are disconnected.
Connect correctly.
Change the servomotor.
Repair or change the cable.
Use correct combination.
Any of error codes 2017 and 2018 occurs if
power is switched ON after all connectors are Change the servo amplifier.
disconnected.
Connect correctly.
Repair or change the cable.
Correct the wiring.
After error has occurred, hold power ON for a few
minutes, and switch it OFF once, then ON again (make
zero point return again).
Change battery (make zero point return again).
After error has occurred, hold power ON for a few
minutes, and switch it OFF once, then ON again (make
zero point return again).
14 - 43
14 TROUBLESHOOTING
MELSEC-A
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. " Pr.102 Regenerative brake resistor" setting error
Permissible regenerative
2. Built-in regenerative brake resistor or regenerative brake option is
power of the built-in
not connected.
regenerative brake
3. High-duty operation or continuous regenerative operation caused
resistor or regenerative
the permissible regenerative power of the regenerative brake
brake option is
option to be exceeded.
exceeded.
Regenerative 4. Power supply voltage increased to 260V or more.
2030 30
error
5. Regenerative transistor faulty.
Regenerative transistor
fault
6. Built-in regenerative brake resistor or regenerative brake option
faulty.
1. Small acceleration/deceleration time constant caused overshoot
to be large.
Speed has exceeded the
2031 31 Overspeed instantaneous
2. Servo system is instable to cause overshoot.
permissible speed.
3. Encoder faulty.
1. Short occurred in servo amplifier output phases U, V and W.
Current that flew is 2. Transistor (IPM) of the servo amplifier faulty.
higher than the
2032 32 Overcurrent 3. Ground fault occurred in servo amplifier output phases U, V and
permissible current of
W.
the servo amplifier.
4. External noise caused the overcurrent detection circuit to
misoperate.
1. Lead of built-in regenerative brake resistor or regenerative brake
option is open or disconnected.
2. Regenerative transistor faulty.
Converter bus voltage
2033 33 Overvoltage 3. Wire breakage of built-in regenerative brake resistor or
exceeded 400V.
regenerative brake option
4. Capacity of built-in regenerative brake resistor or regenerative
brake option is insufficient.
1. SSCNET cable is disconnected.
SSCNET cable 2. SSCNET cable fault (open cable or short circuit).
2034 34 CRC error
communication error 3. Noise entered the SSCNET cable.
4. The terminal connector is disconnected.
Input command pulse 1. Command pulse frequency exceeded 2.5Mpps.
Command
2035 35 frequency exceeded 2. Noise entered the SSCNET cable.
speed error
2.5Mpps. 3. AD75 fault
1. SSCNET cable is disconnected.
SSCNET cable fault 2. SSCNET cable fault (open cable or short circuit).
2036 36 Transfer error
3. The terminal connector is disconnected.
Printed board fault Faulty parts in servo amplifier
14 - 44
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
102 252 402 Set correctly.
Connect correctly.
1. Reduce the frequency of positioning.
Call the status display and check the
2. Use the regenerative brake option of larger capacity.
regenerative load ratio.
3. Reduce the load.
Review the power supply.
1) The regenerative brake option has
overheated abnormally.
2) Error occurs even after removal of the built- Change the servo amplifier.
in regenerative brake resistor or
regenerative brake option.
Change the servo amplifier or regenerative brake option.
Increase acceleration/deceleration time constant.
1. Re-set servo gain to proper value.
2. If servo gain cannot be set to proper value:
1) Reduce " Pr.112 Load inertia ratio" (load inertia
moment ratio); or
2) Reexamine acceleration/deceleration time constant.
Change the servomotor.
Correct the wiring.
Error code 2032 occurs if power is switched
Change the servo amplifier.
ON after U, V and W are disconnected.
Correct the wiring.
Take noise suppression measures.
1. Change lead.
2. Connect correctly.
Change the servo amplifier.
1. For wire breakage of built-in regenerative brake
resistor, change servo amplifier.
2. For wire breakage of regenerative brake option, change
regenerative brake option.
Add regenerative brake option or increase capacity.
Connect correctly.
Repair or change the cable.
Take noise suppression measures.
Connect correctly.
Review the operation program.
Take noise suppression measures.
Change the AD75.
Connect correctly.
Repair or change the cable.
Connect correctly.
Change the servo amplifier.
14 - 45
14 TROUBLESHOOTING
MELSEC-A
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. Servo amplifier fault caused the parameter setting to be rewritten.
2037 37 Parameter error Parameter setting error 2. Regenerative brake option not combined with used servo
amplifier was selected in " Pr.102 Regenerative brake resistor".
1. Ambient temperature of servomotor is over 40°C.
Servomotor temperature
Servomotor
2046 46 rise actuated the thermal
overheat 2. Servomotor is overloaded.
protector.
3. Thermal protector in encoder is faulty.
1. Servo amplifier is used in excess of its continuous output current.
2. Servo system is instable and hunting.
Load exceeded overload
protection characteristic
of servo amplifier.
2050 50 Overload 1 Load ratio 300%: 3. Machine struck something.
2.5s or more
4. Wrong connection of servomotor.
Load ratio 200%:
Servo amplifier's output terminals U, V, W do not match
100s or more
servomotor's input terminals U, V, W.
5. Encoder faulty.
1. Machine struck something.
2. Wrong connection of servomotor.
Servo amplifier's output terminals U, V, W do not match
Machine collision or like servomotor's input terminals U, V, W.
caused max. output
current to flow
2051 51 Overload 2 successively for several 3. Servo system is instable and hunting.
seconds.
Servomotor locked:
1s or more
4. Encoder faulty.
14 - 46
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
Change the servo amplifier.
102 252 402 Set " Pr.102 Regenerative brake resistor" correctly.
Review environment so that ambient temperature is 0 to
40°C.
1. Reduce load.
2. Review operation pattern.
3. Use servomotor that provides larger output.
Change servomotor.
1. Reduce load.
2. Review operation pattern.
3. Use servomotor that provides larger output.
1. Repeat acceleration/deceleration to execute auto
Servo response setting
tuning.
2. Change " Pr.109 Servo response setting".
109 259 409 3. Set auto tuning to OFF and make gain adjustment
manually.
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
When the servomotor shaft is rotated slowly
with the servo OFF, the cumulative feedback
pulses should vary in proportion to the rotary Change the servomotor.
angle. (If the indication skips or returns
midway, the encoder is faulty.)
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
1. Repeat acceleration/deceleration to execute auto
Servo response setting
tuning.
2. Change " Pr.109 Servo response setting".
109 259 409 3. Set auto tuning to OFF and make gain adjustment
manually.
When the servomotor shaft is rotated slowly
with the servo OFF, the cumulative feedback
pulses should vary in proportion to the rotary Change the servomotor.
angle. (If the indication skips or returns
midway, the encoder is faulty.)
14 - 47
14 TROUBLESHOOTING
MELSEC-A
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. Acceleration/deceleration time constant is small.
2. Motor cannot be started due to torque shortage caused by power
supply voltage drop.
3. " Pr.113 Position loop gain 1" value is small.
Droop pulse value of the
deviation counter
exceeded the 4. Servomotor shaft was rotated by external force.
2052 52 Error excessive
" Pr.131 Error excessive
alarm level" (initial value:
80kpulses).
5. Machine struck something.
6. Encoder faulty.
7. Wrong connection of servomotor.
Servo amplifier's output terminals U, V, W do not match
servomotor's input terminals U, V, W.
Serial communication
1. Communication connector disconnected.
error occurred between
servo amplifier and
2. Communication cable faulty (open cable or short circuit).
2086 8E RS-232 alarm telecommunication
equipment (personal
3. Telecommunication equipment (personal computer or similar
computer or similar
device) faulty.
device).
14 - 48
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
Increase the acceleration/deceleration time constant.
1. Review the power supply capacity.
2. Use servomotor that provides larger output.
Increase the setting and adjust to ensure proper
113 263 413
operation.
Torque limit setting value
24 174 324
Zero point return torque 1. When torque is limited, increase the limit value.
limit value 2. Reduce load.
86 236 386 3. Use servomotor that provides larger output.
Torque output setting value
1180 1230 1280
1. Review operation pattern.
2. Install limit switches.
Change the servomotor.
Connect correctly.
Connect correctly.
Repair or change the cable.
Change the telecommunication equipment (personal
computer or similar device).
14 - 49
14 TROUBLESHOOTING
MELSEC-A
14.2.5 Errors detected by MR-J2S-B
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. Power supply voltage is low.
2. An instantaneous power failure occurred for 60ms or longer.
Power supply voltage 3. Shortage of power supply capacity caused the power supply
dropped. voltage to drop at start, etc.
MR-J2S- B: 4. Power was restored after the bus voltage dropped to 200VDC.
2010 10 Undervoltage
160VAC or less (Main circuit power switched ON within 5s after it had switched
MR-J2S- B1: OFF.)
83VAC or less
5. Faulty parts in the servo amplifier.
2012 12 Memory error 1 RAM memory fault
2013 13 Clock error Printed board fault Faulty parts in the servo amplifier.
2015 15 Memory error 2 E2PROM fault
Communication error 1. CN2 connector disconnected.
occurred between 2. Encoder faulty.
2016 16 Encoder error 1
encoder and servo
3. Encoder cable faulty (open cable or short circuit)
amplifier.
2017 17 Board error 2 CPU/parts fault
Faulty parts in the servo amplifier.
2019 19 Memory error 3 ROM memory fault
Motor Servo amplifier and
Servo amplifier and servomotor were connected in incorrect
2020 1A combination servomotor combined
combination.
error incorrectly.
Communication error
1. Encoder connector (CN2) disconnected.
occurred between
2020 20 Encoder error 2
encoder and servo
2. Encoder cable faulty (open cable or short circuit)
amplifier.
Ground fault occurred at 1. Power input cable and servomotor output cable are making
the servomotor outputs contact at the main circuit terminal block (TE1).
2024 24 Ground fault
(U, V and W phases) of
2. Servomotor power cable insulation deteriorated.
the servo amplifier.
1. Reduced voltage of super capacitor in encoder
Absolute position data in
error
2. Battery voltage low
Absolute
2025 25 3. Battery cable or battery is faulty.
position erase
Power was switched ON
for the first time in 4. The super capacitor of the absolute position detector is not
absolute position charged.
detection system.
14 - 50
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
Review the power supply.
Error code 2010 occurs if power is switched
ON after CN1A, CN1B and CN3 connectors Change the servo amplifier.
are disconnected.
Any of error codes 2011 to 2015 occurs if
power is switched ON after CN1A, CN1B and Change the servo amplifier.
CN3 connectors are disconnected.
Connect correctly.
Change the servomotor.
Repair or change the cable.
Any of error codes 2017 and 2019 occurs if
power is switched ON after CN1A, CN1B and Change the servo amplifier.
CN3 connectors are disconnected.
Use correct combination.
Connect correctly.
Repair or change the cable.
Change the cable.
After error has occurred, hold power ON for a few
minutes, and switch it OFF once, then ON again (make
zero point return again).
Change battery (make zero point return again).
After error has occurred, hold power ON for a few
minutes, and switch it OFF once, then ON again (make
zero point return again).
14 - 51
14 TROUBLESHOOTING
MELSEC-A
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. " Pr.102 Regenerative brake resistor" setting error
2. Built-in regenerative brake resistor or regenerative brake option is
Permissible regenerative
not connected.
power of the built-in
3. High-duty operation or continuous regenerative operation caused
regenerative brake
the permissible regenerative power of the regenerative brake
resistor or regenerative
option to be exceeded.
brake option is
4. Power supply voltage is abnormal.
exceeded.
Regenerative MR-J2S- B: 260V or more
2030 30
error MR-J2S- B1: 135V or more
5. Regenerative transistor faulty.
Regenerative transistor
fault
6. Built-in regenerative brake resistor or regenerative brake option
faulty.
1. Small acceleration/deceleration time constant caused overshoot
to be large.
Speed has exceeded the
2031 31 Overspeed instantaneous
2. Servo system is instable to cause overshoot.
permissible speed.
3. Encoder faulty.
1. Short occurred in servo amplifier output phases U, V and W.
Current that flew is 2. Servo amplifier transistor faulty.
higher than the
2032 32 Overcurrent 3. Ground fault occurred in servo amplifier output phases U, V and
permissible current of
W.
the servo amplifier.
4. External noise caused the overcurrent detection circuit to
misoperate.
1. Lead of built-in regenerative brake resistor or regenerative brake
option is open or disconnected.
2. Regenerative transistor faulty.
Input value of converter
3. Wire breakage of built-in regenerative brake resistor or
2033 33 Overvoltage bus voltage exceeded
regenerative brake option
400V.
4. Capacity of built-in regenerative brake resistor or regenerative
brake option is insufficient.
5. Power supply voltage high.
1. SSCNET cable is disconnected.
2. SSCNET cable fault.
SSCNET cable
2034 34 CRC error 3. Noise entered the SSCNET cable.
communication error
4. The terminal connector is disconnected.
5. The same No. exists in the servo amplifier side axis setting.
1. Command of higher than servomotor maximum speed was given.
Command pulse Input command
2035 35 2. Noise entered the SSCNET cable.
frequency alarm frequency is too high.
3. AD75 faulty
14 - 52
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
addresses Checking method Remedy
Axis 1 Axis 2 Axis 3
102 252 402 Set correctly.
Connect correctly.
1. Reduce the frequency of positioning.
Call the status display and check the
2. Use the regenerative brake option of larger capacity.
regenerative load ratio.
3. Reduce the load.
Review the power supply.
1) The regenerative brake option has
overheated abnormally.
2) Error occurs even after removal of the built- Change the servo amplifier.
in regenerative brake resistor or
regenerative brake option.
Change the servo amplifier or regenerative brake option.
Increase acceleration/deceleration time constant.
1. Re-set servo gain to proper value.
2. If servo gain cannot be set to proper value:
112 262 412 1) Reduce " Pr.112 Load inertia ratio" (load inertia
moment ratio); or
2) Reexamine acceleration/deceleration time constant.
Change the servomotor.
Correct the wiring.
Error code 2032 occurs if power is switched
Change the servo amplifier.
ON after U, V and W are disconnected.
Correct the wiring.
Take noise suppression measures.
1. Change lead.
2. Connect correctly.
Change the servo amplifier.
1. For wire breakage of built-in regenerative brake
resistor, change servo amplifier.
2. For wire breakage of regenerative brake option, change
regenerative brake option.
Add regenerative brake option or increase capacity.
Review the power supply.
Connect correctly.
Change the cable.
Take noise suppression measures.
Connect correctly.
Set correctly.
Review the operation program.
Take noise suppression measures.
Change the AD75.
14 - 53
14 TROUBLESHOOTING
MELSEC-A
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. SSCNET cable is disconnected.
SSCNET cable or
2036 36 Transfer error 2. SSCNET cable fault.
printed board fault
3. The terminal connector is disconnected.
1. Servo amplifier fault caused the parameter setting to be rewritten.
2037 37 Parameter error Parameter setting error
2. There is parameter set to outside setting range by AD75.
1. Servo amplifier faulty.
2. The power supply was turned ON and OFF continuously by
Main circuit Main circuit overheated
2045 45 overloaded status.
device overheat abnormally.
3. Air cooling fan of servo amplifier stopped.
1. Ambient temperature of servomotor is over 40°C.
Servomotor temperature
Servomotor
2046 46 rise actuated the thermal
overheat 2. Servomotor is overloaded.
protector.
3. Thermal protector in encoder is faulty.
1. Servo amplifier is used in excess of its continuous output current.
2. Servo system is instable and hunting.
Load exceeded overload
protection characteristic
of servo amplifier.
2050 50 Overload 1 Load ratio 300%: 3. Machine struck something.
2.5s or more
4. Wrong connection of servomotor.
Load ratio 200%:
Servo amplifier's output terminals U, V, W do not match
100s or more
servomotor's input terminals U, V, W.
5. Encoder faulty.
1. Machine struck something.
2. Wrong connection of servomotor.
Servo amplifier's output terminals U, V, W do not match
Machine collision or like servomotor's input terminals U, V, W.
caused max. output
current to flow
2051 51 Overload 2 successively for several 3. Servo system is instable and hunting.
seconds.
Servomotor locked:
1s or more
4. Encoder faulty.
14 - 54
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
Connect correctly.
Change the cable.
Connect correctly.
Change the servo amplifier.
Refer to section "5.2.10
Servo parameters for MR- Set the parameter value to within the setting range.
J2S-B".
Change the servo amplifier.
Review the operation method.
1. Change the servo amplifier or cooling fan.
2. Reduce the ambient temperature.
Review environment so that ambient temperature is 0 to
40°C.
1. Reduce load.
2. Review operation pattern.
3. Use servomotor that provides larger output.
Change servomotor.
1. Reduce load.
2. Review operation pattern.
3. Use servomotor that provides larger output.
1. Repeat acceleration/deceleration to execute auto
Servo response setting
tuning.
2. Change " Pr.109 Servo response setting".
109 259 409 3. Set auto tuning to OFF and make gain adjustment
manually.
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
When the servomotor shaft is rotated slowly
with the servo OFF, the cumulative feedback
pulses should vary in proportion to the rotary Change the servomotor.
angle. (If the indication skips or returns
midway, the encoder is faulty.)
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
1. Repeat acceleration/deceleration to execute auto
Servo response setting
tuning.
2. Change " Pr.109 Servo response setting".
109 259 409 3. Set auto tuning to OFF and make gain adjustment
manually.
When the servomotor shaft is rotated slowly
with the servo OFF, the cumulative feedback
pulses should vary in proportion to the rotary Change the servomotor.
angle. (If the indication skips or returns
midway, the encoder is faulty.)
14 - 55
14 TROUBLESHOOTING
MELSEC-A
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. Acceleration/deceleration time constant is small.
2. Torque limit value is small.
3. Motor cannot be started due to torque shortage caused by power
supply voltage drop.
Droop pulse value of the
deviation counter 4. " Pr.113 Position loop gain 1" value is small.
exceeded the
2052 52 Error excessive
" Pr.131 Error excessive
alarm level" value (initial
value: 2 revolutions).
5. Servomotor shaft was rotated by external force.
6. Machine struck something.
7. Encoder faulty.
8. Wrong connection of servomotor.
Servo amplifier's output terminals U, V, W do not match
servomotor's input terminals U, V, W.
Serial communication
error occurred between 1. Communication cable faulty (open cable or short circuit).
servo amplifier and
2086 8E RS-232 alarm telecommunication
equipment (personal 2. Telecommunication equipment (personal computer or similar
computer or similar device) faulty.
device).
14 - 56
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
Increase the acceleration/deceleration time constant.
Torque limit setting value
24 174 324
Zero point return torque
limit value Increase the torque limit value.
86 236 386
Torque output setting value
1180 1230 1280
1. Review the power supply capacity.
2. Use servomotor that provides larger output.
Increase the setting and adjust to ensure proper
operation.
Torque limit setting value
24 174 324
Zero point return torque 1. When torque is limited, increase the limit value.
limit value 2. Reduce load.
86 236 386 3. Use servomotor that provides larger output.
Torque output setting value
1180 1230 1280
1. Review operation pattern.
2. Install limit switches.
Change the servomotor.
Connect correctly.
Repair or change the cable.
Change the telecommunication equipment (personal
computer or similar device).
14 - 57
14 TROUBLESHOOTING
MELSEC-A
14.2.6 Errors detected by MR-J2-03B5
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. Power supply voltage is low.
2. An instantaneous power failure occurred for 40ms or longer.
3. Shortage of power supply capacity caused the power supply
voltage to drop at start, etc.
Power supply voltage
4. Power was restored after the bus voltage dropped to 15VDC.
2010 10 Undervoltage dropped to 20VDC or
(Main circuit power switched ON within 5s after it had switched
less.
OFF.)
5. Faulty parts in the servo amplifier.
2011 11 Board error 1 Printed board fault
RAM, ROM memory
2012 12 Memory error 1
fault Faulty parts in the servo amplifier.
2013 13 Clock error Printed board fault
2015 15 Memory error 2 E2PROM fault
Communication error 1. CNP2 connector disconnected.
occurred between 2. Encoder faulty.
2016 16 Encoder error 1
encoder and servo
3. Encoder cable faulty (open cable or short circuit)
amplifier.
2017 17 Board error 2 CPU/parts fault Faulty parts in the servo amplifier
Communication error 1. CNP2 connector disconnected.
occurred between 2. Encoder faulty
2020 20 Encoder error 2
encoder and servo 3. Servomotor cable faulty
amplifier. (Encoder wiring is open or shorted)
Ground fault occurred at 1. Servomotor power cable insulation deteriorated, resulting in
the servomotor output U, ground fault.
2024 24 Main circuit error
V and W phases of the
2. Main circuit of servo amplifier faulty.
servo amplifier.
1. Small acceleration/deceleration time constant caused overshoot
to be large.
Speed has exceeded the
2031 31 Overspeed instantaneous
2. Servo system is instable to cause overshoot.
permissible speed.
3. Encoder faulty.
1. Short occurred in servo amplifier output phases U, V and W.
Current that flew is 2. Servo amplifier transistor faulty
higher than the
2032 32 Overcurrent 3. Ground fault occurred in servo amplifier output phases U, V and
permissible current of
W.
the servo amplifier.
4. External noise caused the overcurrent detection circuit to
malfunction.
Input value of converter
2033 33 Overvoltage bus voltage exceeded Power supply voltage is higher than permissible voltage range.
35V.
14 - 58
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
Review the power supply.
Error code 2010 occurs if power is switched
ON after CN1A, CN1B, CNP2 and CNP3 Change the servo amplifier.
connectors are disconnected.
Any of error codes 2011 to 2013 and 2015
occurs if power is switched ON after CN1A,
Change the servo amplifier.
CN1B, CNP2 and CNP3 connectors are
disconnected.
Connect correctly.
Change the servomotor.
Repair or change the cable.
Error code 2017 occurs if power is switched
ON after CN1A, CN1B, CNP2 and CNP3 Change the servo amplifier.
connectors are disconnected.
Connect correctly.
Change the servomotor.
Repair or change the cable.
Change the cable.
Error code 2024 occurs if power is switched
Change the servo amplifier.
ON after CNP2 connector is disconnected.
Increase acceleration/deceleration time constant.
1. Re-set servo gain to proper value.
2. If servo gain cannot be set to proper value:
1) Reduce " Pr.112 Load inertia ratio" (load inertia
moment ratio); or
2) Reexamine acceleration/deceleration time constant.
Change the servomotor.
Correct the wiring.
Error code 2032 occurs if power is switched
Change the servoamplifier.
ON after CNP2 connector is disconnected.
Correct the wiring.
Take noise suppression measures.
Change the power supply.
14 - 59
14 TROUBLESHOOTING
MELSEC-A
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. SSCNET cable is disconnected.
2. SSCNET cable fault (open cable or short circuit).
SSCNET cable
2034 34 CRC error 3. Noise entered the SSCNET cable.
communication error
4. The terminal connector is disconnected.
5. The same No. exists in the servo amplifier side axis setting.
1. Command of higher than servomotor maximum speed was given.
Command pulse Input command pulse is
2035 35 2. Noise entered the SSCNET cable.
frequency alarm too high.
3. AD75 faulty
1. SSCNET cable is disconnected.
2. SSCNET cable fault.
2036 36 Transfer error SSCNET cable fault
3. Printed board faulty
4. The terminal connector is disconnected.
1. Servo amplifier fault caused the parameter setting to be rewritten.
2037 37 Parameter error Parameter setting error
2. There is parameter set to outside setting range by AD75.
1. Servo amplifier is used in excess of its continuous output current.
2. Servo system is instable and hunting.
Load exceeded overload
protection characteristic
2050 50 Overload 1 of servo amplifier. 3. Machine struck something.
Load ratio 200%:
85s or more 4. Wrong connection of servomotor.
Servo amplifier's output terminals U, V, W do not match
servomotor's input terminals U, V, W.
5. Encoder faulty.
1. Machine struck something.
2. Wrong connection of servomotor.
Servo amplifier's output terminals U, V, W do not match
Machine collision or like servomotor's input terminals U, V, W.
caused max. output
current to flow
2051 51 Overload 2 successively for several 3. Servo system is instable and hunting.
seconds.
Servomotor locked:
1s or more
4. Encoder faulty.
14 - 60
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
Connect correctly.
Change the cable.
Take noise suppression measures.
Connect correctly.
Set correctly.
Review the operation program.
Take noise suppression measures.
Change the AD75.
Connect correctly.
Change the cable.
Change the servo amplifier.
Connect correctly.
Change the servo amplifier.
Refer to section "5.2.11
Servo parameters for MR- Set the parameter value to within the setting range.
J2-03B5".
1. Reduce load.
2. Review operation pattern.
3. Use servomotor that provides larger output.
1. Repeat acceleration/deceleration to execute auto
Servo response setting
tuning.
2. Change " Pr.109 Servo response setting".
109 259 409 3. Set auto tuning to OFF and make gain adjustment
manually.
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
When the servomotor shaft is rotated slowly
with the servo OFF, the cumulative feedback
pulses should vary in proportion to the rotary Change the servomotor.
angle. (If the indication skips or returns
midway, the encoder is faulty.)
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
1. Repeat acceleration/deceleration to execute auto
Servo response setting
tuning.
2. Change " Pr.109 Servo response setting".
109 259 409 3. Set auto tuning to OFF and make gain adjustment
manually.
When the servomotor shaft is rotated slowly
with the servo OFF, the cumulative feedback
pulses should vary in proportion to the rotary Change the servomotor.
angle. (If the indication skips or returns
midway, the encoder is faulty.)
14 - 61
14 TROUBLESHOOTING
MELSEC-A
Servo
Error
amplifier Name Definition Occurrence factor
code
LED display
1. Acceleration/deceleration time constant is small.
2. Torque limit value is small.
3. Motor cannot be started due to torque shortage caused by power
supply voltage drop.
Droop pulse value of the
deviation counter 4. " Pr.113 Position loop gain 1" value is small.
exceeded the
2052 52 Error excessive
" Pr.131 Error excessive
alarm level" value (initial
value: 80kpulses).
5. Servomotor shaft was rotated by external force.
6. Machine struck something.
7. Encoder faulty.
8. Wrong connection of servomotor.
Servo amplifier's output terminals U, V, W do not match
servomotor's input terminals U, V, W.
Serial communication
error occurred between 1. Communication cable faulty (open cable or short circuit).
servo amplifier and
2086 8E RS-232 alarm telecommunication
equipment (personal 2. Telecommunication equipment (personal computer or similar
computer or similar device) faulty.
device).
14 - 62
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
address Checking method Remedy
Axis 1 Axis 2 Axis 3
Increase the acceleration/deceleration time constant.
Torque limit setting value
24 174 324
Zero point return torque
limit value Increase the torque limit value.
86 236 386
Torque output setting value
1180 1230 1280
1. Review the power supply capacity.
2. Use servomotor that provides larger output.
Increase the setting and adjust to ensure proper
113 263 413
operation.
Torque limit setting value
24 174 324
Zero point return torque 1. When torque is limited, increase the limit value.
limit value 2. Reduce load.
86 236 386 3. Use servomotor that provides larger output.
Torque output setting value
1180 1230 1280
1. Review operation pattern.
2. Install limit switches.
Change the servomotor.
Connect correctly.
Repair or change the cable.
Change the telecommunication equipment (personal
computer or similar device).
14 - 63
14 TROUBLESHOOTING
MELSEC-A
14.3 List of warnings
14.3.1 Warnings detected by AD75
The following table shows the warning details and remedies when warnings occur.
Division of Warning
Warning name Description Action at occurrence of warning
warning code
000 (Normal)
FeRAM count FeRAM access count exceeded
10
warning 9 109 times.
When the absolute position of the zero point is
Automatic automatically updated in the infinite length
11 update count positioning control of control unit "degree", the
9
over FeRAM access count exceed 9.9999 10 Operation continues.
times.
When the absolute position of the zero point is
Automatic automatically updated in the infinite length
12
update failure positioning control of control unit "degree",
write to FeRAM is not completed normally.
Start during
100 A start request is issued when the axis is busy. Operation continues.
operation
Current value
The current value is changed when the axis is
101 change when The current value change request is ignored.
busy.
BUSY
Restart not A restart command is issued in other than the
104 Operation continues.
possible “stopped” axis status.
Common
Illegal target The target axis of reading/writing is out of the • The warning is for the reference axis.
105
axis setting range. • Reading/writing is not made.
Illegal
The positioning data number to be read/written • The warning is for the target axis.
106 positioning data
is out of the setting range. • Reading/writing is not made.
No.
Illegal writing The writing pattern to be read/written is out of • The warning is for the target axis.
107
pattern the setting range. • Reading/writing is not made.
Illegal flash A flash ROM writing request is issued when • The warning is for axis 1.
108
ROM writing AD75 READY (X0) is OFF. • The flash ROM is not written.
Writing when The warning is for the target axis of the writing
109 A request is issued when the axis is busy.
BUSY request.
A request to write the flash ROM is issued
111 In PLC READY when PLC READY is ON (during request to The warning is for axis 1.
teach).
14 - 64
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory address Setting range
Remedy
Axis 1 Axis 2 Axis 3 (Setting given in sequence program)
Prepare a new module until the error "FeRAM count
over" (error code: 10) occurs.
880 980 1080
to to to
883 983 1083 Replace the module.
Correct the start request issuance timing.
Do not change the current value during operation of the
<Positioning start No.>
1150 1200 1250 axis.
9003: Current value change
(Refer to section 9.2.10)
Correct the start request issuance timing. (Refer to
<Restart command> section 6.5.5)
1152 1202 1252
1: Restart (Do not issue a restart command in other than the
“stopped” axis operation status.)
<Target axis>
1: Axis 1, 2: Axis 2, 3: Axis 3,
1103 4: Interpolation in axis 1 and axis 2, Set a value within the setting range.
5: Interpolation in axis 2 and axis 3,
6: Interpolation in axis 3 and axis 1.
<Positioning data No.>
1104 Set a value within the setting range.
1 to 600
<Write pattern> <Write pattern>
<Upper order> <Lower order>
1105 00H to 07H 00H to 0FH Set a value within the setting range.
Refer to section “5.7.1 System control
data.”
<Flash ROM write request>
1138
1: Flash ROM write request
Target axis <Target axis>
1103 1, 2, 3, 4, 5, 6 A write request is issued when the axis is not busy.
Read/write request <Read/write request> (Refer to section 12.6.4)
1106 2: Write request
None (The write request issued in the teach mode is
Same as warning code 109 responded as soon as the PLC READY signal (Y1D) is
turned OFF.)
14 - 65
14 TROUBLESHOOTING
MELSEC-A
Division of Warning
Warning name Description Action at occurrence of warning
warning code
Illegal override A value outside the range from 1 to 300 is • Setting “0”: Controlled to 100.
112
value specified as an override value. • “301” or larger setting: Controlled to 300.
Outside new
A value outside the range from 1 to 500 is
113 torque value Torque change is not carried out.
specified as a new torque value.
range
Below bias The command speed is smaller than the
Common 114 Operation is made at the bias speed at start.
speed starting bias speed.
The No. of read/write data of positioning data
Illegal No. of • The warning is for the target axis.
115 No. 101 to 600 is outside the range from 1 to
read/write data • Reading/writing is not made.
100.
Parameter When the PLC READY signal [Y1D] turned
116 transmission from OFF to ON, parameter transmission to the The warning is for the target axis.
failure servo amplifier failed.
Speed change A speed change request is issued during
300 during deceleration and stop caused by turned OFF of Speed change is not made.
deceleration the JOG start signal.
• If the JOG speed limit value is exceeded,
JOG
JOG operation continues at the JOG speed
JOG speed limit The new speed value in JOG operation
301 limit value.
value exceeds the JOG speed limit value.
• The “in speed limit flag” is turned ON while
the JOG speed limit is active.
Outside manual
The manual pulse generator 1 pulse input
pulse generator • Input magnification ≥ 101: 100
401 magnification is “0” or equal to or larger than
input • Input magnification “0”: 1
“101.”
magnification
Manual
pulse
generator Manual pulse The manual pulse generator enable flag is set
Failure to start manual pulse generator
402 generator when “manual pulse generator selection” in
operation
selection 0 detail parameter 1 is set at “0.”
14 - 66
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory address Setting range
Remedy
Axis 1 Axis 2 Axis 3 (Setting given in sequence program)
<Positioning operation speed override>
1159 1209 1259
1 to 300
<New torque value>
1176 1226 1276 Set a value within the setting range.
1 to [torque limit setting value]
<Torque limit setting>
24 174 324
1 to 500
Refer to section “5.3 List of positioning
data” for the command speed.
Bias speed at start <Command speed, bias speed at start> Change the command speed and bias speed at start so
0 to 1000000 [pulse/s] that the command speed is equal to or larger than the
0 to 600000000 [mm/min, etc.] bias speed at start.
12, 13 162, 163 312, 313
<No. of read/write data> Change the setting to within the setting range and issue
5102
1 to 100 a read/write request. (Refer to section 7.2)
Turn the PLC READY signal [Y1D] OFF, then ON
again.
<Speed change request> Do not change the JOG speed during deceleration
1158 1208 1258
1: Speed change request caused by turned OFF of the JOG start signal.
New speed value
<New speed value or JOG speed limit
1156 1206 1256
value>
1157 1207 1257 Change the setting to within the setting range.
0 to 1000000 [pulse/s]
JOG speed limit value
0 to 600000000 [mm/min, etc.]
48, 49 198, 199 348, 349
<Manual pulse generator 1 pulse input
1168 1218 1268 Change the manual pulse generator 1 pulse input
magnification>
1169 1219 1269 magnification to within the setting range.
1 to 100
Manual pulse generator enable flag <Manual pulse generator enable flag>
1167 1217 1267 0: Operation using the manual pulse
Manual pulse generator selection generator is not enabled.
1: Operation using the manual pulse
generator is enabled.
<Manual pulse generator selection> • Change the manual pulse generator enable flag to
0: Manual pulse generator operation prohibition.
ignored • Change the manual pulse generator selection setting
29 179 329 1: Manual pulse generator connected to to a value between 1 and 3.
axis 1 is used.
2: Manual pulse generator connected to
axis 2 is used.
3: Manual pulse generator connected to
axis 3 is used.
14 - 67
14 TROUBLESHOOTING
MELSEC-A
Division of Warning
Warning name Description Action at occurrence of warning
warning code
Deceleration and
A speed change request is issued during
500 stop speed Speed change is not carried out.
deceleration and stop.
change
• The speed is controlled to the “speed limit
Speed limit value The new speed value given during operation
501 value.”
over exceeds the speed limit value.
• The “in speed limit flag” is turned ON.
M code ON The M code ON signal is turned ON during
503 Execution of positioning data continues.
signal ON start execution of positioning data.
In the block start positioning operation, the
No operation end
505 setting at 50th point in the positioning start Operation is terminated.
setting
data indicates continuation.
FOR to NEXT
506 There is a nested set of FOR and NEXT.
nesting structure
Speed/position
The changeover signal is turned ON during Operation continues.
changeover
508 acceleration under speed/position changeover
signal ON during
control.
Positioning acceleration
operation Insufficient A speed change occurs at the nearest value.
The deceleration distance for a speed change
509 remaining (However, the request is ignored if the
request is insufficient.
distance operation pattern is continuous path control.)
“2: Restart” is specified for the step start
information in the “in step wait” axis operation
status.
Invalid step start "1: Step continue" or "2: Restart" is set to the
511 Step operation does not start.
information step start information in the axis operation
status of "step error occurring", "error
occurring", "waiting", "stopped", "servo has not
been connected" or "in servo OFF".
Illegal external The “external start function selection” setting in Nothing occurs in response to the external start
512
start function detail parameter 2 exceeds the setting range. signal.
Insufficient
There is no movement amount necessary for Immediate stop after the positioning address is
513 movement
automatic deceleration. reached
amount
Outside • The command speed is controlled to the
The command speed exceeds the speed limit
514 command speed “speed limit value.”
value.
range • The “in speed limit flag” is set.
14 - 68
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory address Setting range
Remedy
Axis 1 Axis 2 Axis 3 (Setting given in sequence program)
Do not change the speed during deceleration or
<Speed change request>
1158 1208 1258 stoppage caused by a stop command or during
1: Speed change request
automatic deceleration under position control.
New speed value
1156 1206 1256 <New speed value, speed limit value>
Change the new speed to a value within the range from
1157 1207 1257 1 to 1000000 [pulse/s]
0 to the “speed limit value.”
Speed limit value 1 to 600000000 [mm/min, etc.]
6, 7 156, 157 306, 307
<M code OFF request> Correct the ON/OFF timing of the “M code OFF
1153 1203 1253
1: The M code ON signal is turned OFF. request.” (Refer to section 12.6.3)
<Operation pattern>
Refer to section “5.3 List of positioning 00: Positioning complete Specify the end of operation at the 50th point. (Refer to
data.” 01: Continuous positioning control Chapter 10)
11: Continuous path control
Reduce the FOR to NEXT nesting structure to one.
(Refer to section 10.3.9)
Do not turn ON the speed/position changeover signal
during acceleration.
(Refer to section 9.2.9)
Issue a speed change request at a position where the
sufficient remaining distance is left.
Do not specify “1: Step continue” in the “step waiting”
axis status.
<Step start information>
0: End of reception of step start
1174 1224 1274 Do not set "1: Step continue" or "2: Restart" in the axis
1: Step continue
operation status of "step error occurring", "error
2: Restart
occurring", "waiting", "stopped", "servo has not been
connected" or "in servo OFF".
<External start function selection> Change “external start function selection” in detail
62 212 362
0, 1, 2 parameter 2 to within the setting range.
Refer to section “5.3 List of positioning Change the positioning data to an address or
data.” movement amount sufficient for deceleration.
Refer to section “5.3 List of positioning
<Command speed, speed limit value>
data” for the command speed. Change the command speed to within the setting
1 to 1000000 [pulse/s]
Speed limit value range.
1 to 600000000 [mm/min, etc.]
6, 7 156, 157 306, 307
14 - 69
14 TROUBLESHOOTING
MELSEC-A
14.3.2 Warnings detected by MR-H-B (MR-H-BN)
Servo
Warning
amplifier Name Definition Occurrence factor
code
LED display
Open battery cable Absolute position detection system 1. Battery cable is open.
2092 92
warning battery voltage is low. 2. Battery voltage dropped to 2.8V or less.
1. In incremental system:
Zero point return could not be
made.
Zero point setting Droop pulses remaining are greater than the in-
2096 96 2. In absolute position detection
warning position range setting.
system:
Zero point setting could not be
made.
Voltage of battery for absolute
2102 9F Battery warning Battery voltage dropped to 3.2V or less.
position detection system reduced.
There is a possibility that
Regenerative power increased to 85% of
regenerative power may exceed
Excessive permissible regenerative power of built-in
2140 E0 permissible regenerative power of
regenerative warning regenerative brake resistor or regenerative brake
built-in regenerative brake resistor
option.
or regenerative brake option.
There is a possibility that overload Load increased to 85% or more of overload 1 (error
2141 E1 Overload warning 1 (error code: 2050) or overload 2 code: 2050) or overload 2 (error code: 2051)
(error code: 2051) may occur. occurrence level.
Parameter is outside the setting Parameter was set from AD75 to value outside
2144 E4 Parameter warning
range. setting range.
Servo emergency External emergency stop was made valid.
2146 E6 EM1-EM2 open.
stop (EM1-EM2 opened)
1. EMG (pin 6) or EMG* (pin 16) in SSCNET cable
is open.
2. Servo amplifier connector faulty
Servo system controller
2147 E7 PC emergency stop 3. AD75 connector faulty
emergency stop was input.
4. AD75 has WDT error.
Main circuit OFF Servo ON (SON) signal was turned
2149 E9
warning ON with main circuit power OFF.
14 - 70
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
Servo status at
address Checking method Remedy
warning occurrence
Axis 1 Axis 2 Axis 3
Repair cable or change battery.
Servo ON continued
Change battery.
Remove the cause of droop pulse
120 270 420 Servo ON continued
occurrence.
Servo ON continued Change battery.
1. Reduce frequency of positioning.
Call the status display and check 2. Change regenerative brake option for
Servo ON continued
regenerative load ratio. the one with larger capacity.
3. Reduce load.
Refer to overload 1 (error code: 2050) Refer to overload 1 (error code: 2050) or
or overload 2 (error code: 2051) in overload 2 (error code: 2051) in section
Servo ON continued
section "14.2.2 Errors detected by MR- "14.2.2 Errors detected by MR-H-B (MR-H-
H-B (MR-H-BN)". BN)".
Servo ON continued Set correctly.
Ensure safety and deactivate emergency
Servo OFF
stop.
SSCNET cable continuity check Repair or change the cable.
Servo OFF
Change the servo amplifier.
Change the AD75.
AD75 may have a hardware fault.
Please contact your local Mitsubishi
representative.
Servo OFF Switch ON main circuit power.
14 - 71
14 TROUBLESHOOTING
MELSEC-A
14.3.3 Warnings detected by MR-J-B
Servo
Warning
amplifier Name Definition Occurrence factor
code
LED display
Open battery cable Absolute position detection system 1. Battery cable is open.
2092 92
warning battery voltage is low. 2. Battery voltage dropped to 2.8V or less.
1. In incremental system:
Zero point return could not be
made.
Zero point setting Droop pulses remaining are greater than the in-
2096 96 2. In absolute position detection
warning position range setting.
system:
Zero point setting could not be
made.
Parameter is outside the setting Parameter was set from AD75 to value outside
2144 E4 Parameter warning
range. setting range.
1. EMG (pin 6) or EMG* (pin 16) in SSCNET cable
is open.
2. Servo amplifier connector faulty
Servo system controller
2147 E7 PC emergency stop 3. AD75 connector faulty
emergency stop was input.
4. AD75 has WDT error.
14 - 72
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
Servo status at
address Checking method Remedy
warning occurrence
Axis 1 Axis 2 Axis 3
Repair cable or change battery.
Servo ON continued
Change battery.
Remove the cause of droop pulse
120 270 420 Servo ON continued
occurrence.
Servo ON continued Set correctly
SSCNET cable continuity check Repair or change the cable.
Servo OFF
Change the servo amplifier.
Change the AD75.
AD75 may have a hardware fault.
Please contact your local Mitsubishi
representative.
14 - 73
14 TROUBLESHOOTING
MELSEC-A
14.3.4 Warnings detected by MR-J2-B
Servo
Warning
amplifier Name Definition Occurrence factor
code
LED display
Open battery cable Absolute position detection system 1. Battery cable is open.
2092 92
warning battery voltage is low. 2. Battery voltage dropped to 2.8V or less.
1. In incremental system:
Zero point return could not be
made.
Zero point setting Droop pulses remaining are greater than the in-
2096 96 2. In absolute position detection
warning position range setting.
system:
Zero point setting could not be
made.
There is a possibility that
Regenerative power increased to 85% of
regenerative power may exceed
Excessive permissible regenerative power of built-in
2140 E0 permissible regenerative power of
regenerative warning regenerative brake resistor or regenerative brake
built-in regenerative brake resistor
option.
or regenerative brake option.
There is a possibility that overload Load increased to 85% or more of overload 1 (error
2141 E1 Overload warning 1 (error code: 2050) or overload 2 code: 2050) or overload 2 (error code: 2051)
(error code: 2051) may occur. occurrence level.
Absolute position Absolute position encoder pulses 1. Noise entered the encoder.
2143 E3
counter warning faulty. 2. Encoder faulty.
Parameter is outside the setting Parameter was set from AD75 to value outside
2144 E4 Parameter warning
range. setting range.
Servo emergency External emergency stop was made valid.
2146 E6 EM1-SG open.
stop (EM1-SG opened)
1. EMG (pin 6) or EMG* (pin 16) in SSCNET cable
is open.
2. Servo amplifier connector faulty
Controller Servo system controller
2147 E7
emergency stop emergency stop was input. 3. AD75 connector faulty
4. AD75 has WDT error.
Main circuit OFF Servo turned ON with main circuit
2149 E9 Servo turned ON with main circuit power OFF.
warning power OFF.
14 - 74
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
Servo status at
address Checking method Remedy
warning occurrence
Axis 1 Axis 2 Axis 3
Repair cable or change battery.
Servo ON continued
Change battery.
Remove the cause of droop pulse
120 270 420 Servo ON continued
occurrence.
1. Reduce frequency of positioning.
Call the status display and check 2. Change regenerative brake option for the
Servo ON continued
regenerative load ratio. one with larger capacity.
3. Reduce load.
Refer to overload 1 (error code: 2050)
Refer to overload 1 (error code: 2050) or
or overload 2 (error code: 2051) in
Servo ON continued overload 2 (error code: 2051) in section
section "14.2.4 Errors detected by MR-
"14.2.4 Errors detected by MR-J2-B".
J2-B".
Take noise suppression measures.
Servo ON continued
Change the servomotor.
Refer to section "5.2.9
Servo parameters for MR- Servo ON continued Set correctly.
J2-B".
Ensure safety and deactivate emergency
123 273 423 Servo OFF
stop.
SSCNET cable continuity check Repair or change the cable.
Servo OFF
Change the servo amplifier.
Change the AD75.
AD75 may have a hardware fault.
Please contact your local Mitsubishi
representative.
Servo OFF Switch ON main circuit power.
14 - 75
14 TROUBLESHOOTING
MELSEC-A
14.3.5 Warnings detected by MR-J2S-B
Servo
Warning
amplifier Name Definition Occurrence factor
code
LED display
Open battery cable Absolute position detection system 1. Battery cable is open.
2092 92
warning battery voltage is low. 2. Battery voltage dropped to 2.8V or less.
1. Droop pulses remaining are greater than the in-
position range setting.
Zero point setting Zero point return could not be 2. Zero point return was executed during operation
2096 96
warning made to the accurate position. command.
3. Creep speed high.
Voltage of battery for absolute Battery voltage dropped to 3.2V or less.
2102 9F Battery warning position detection system reduced. (Detected with the servo amplifier)
There is a possibility that
Regenerative power increased to 85% of
regenerative power may exceed
Excessive permissible regenerative power of built-in
2140 E0 permissible regenerative power of
regenerative warning regenerative brake resistor or regenerative brake
built-in regenerative brake resistor
option.
or regenerative brake option.
There is a possibility that overload Load increased to 85% or more of overload 1 (error
2141 E1 Overload warning 1 (error code: 2050) or overload 2 code: 2050) or overload 2 (error code: 2051)
(error code: 2051) may occur. occurrence level.
Absolute position Absolute position encoder pulses 1. Noise entered the encoder.
2143 E3
counter warning faulty. 2. Encoder faulty.
Parameter is outside the setting Parameter was set from AD75 to value outside
2144 E4 Parameter warning
range. setting range.
Forced stop was made valid.
2146 E6 Servo forced stop EM1-SG open.
(EM1-SG opened)
1. EMG (pin 6) or EMG* (pin 16) in SSCNET cable
is open.
2. Servo amplifier connector faulty
Controller Servo system controller
2147 E7
emergency stop emergency stop was input. 3. AD75 connector faulty
4. AD75 has WDT error.
Main circuit OFF Servo turned ON with main circuit
2149 E9 Servo turned ON with main circuit power OFF.
warning power OFF.
14 - 76
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
Servo status at
address Checking method Remedy
warning occurrence
Axis 1 Axis 2 Axis 3
Repair cable or change battery.
Servo ON continued
Change battery.
Remove the cause of droop pulse
120 270 420
occurrence.
Servo ON continued
76 226 476
Reduce creep speed.
77 227 477
Servo ON continued Change battery.
1. Reduce frequency of positioning.
Call the status display and check 2. Change regenerative brake option for
Servo ON continued
regenerative load ratio. the one with larger capacity.
3. Reduce load.
Refer to error code: 2050, 2051 Refer to error code: 2050, 2051 (Section
Servo ON continued
(Section 14.2.4). 14.2.4).
Take noise suppression measures.
Servo ON continued
Change the servomotor.
Refer to section "5.2.10
Servo parameters for MR- Servo ON continued Set correctly.
J2S-B".
Ensure safety and deactivate emergency
123 273 423 Servo OFF
stop.
SSCNET cable continuity check Repair or change the cable.
Servo OFF
Change the servo amplifier.
Change the AD75.
AD75 may have a hardware fault.
Please contact your local Mitsubishi
representative.
Servo OFF Switch ON main circuit power.
14 - 77
14 TROUBLESHOOTING
MELSEC-A
14.3.6 Warnings detected by MR-J2-03B5
Servo
Warning
amplifier Name Definition Occurrence factor
code
LED display
There is a possibility that overload Load increased to 85% or more of overload 1 (error
2141 E1 Overload warning 1 (error code: 2050) or overload 2 code: 2050) or overload 2 (error code: 2051)
(error code: 2051) may occur. occurrence level.
Parameter is outside the setting Parameter was set from AD75 to value outside
2144 E4 Parameter warning
range. setting range.
Forced stop was made valid.
2146 E6 Servo forced stop EM1-P24G open.
(EM1-P24G opened)
1. EMG (pin 6) or EMG* (pin 16) in SSCNET cable
is open.
2. Servo amplifier connector faulty
Controller Servo system controller
2147 E7
emergency stop emergency stop was input. 3. AD75 connector faulty
4. AD75 has WDT error.
Main circuit OFF Servo turned ON with main circuit
2149 E9 Servo turned ON with main circuit power OFF.
warning power OFF.
14 - 78
14 TROUBLESHOOTING
MELSEC-A
Relevant buffer memory
Servo status at
address Checking method Remedy
warning occurrence
Axis 1 Axis 2 Axis 3
Refer to overload 1 (error code: 2050)
Refer to overload 1 (error code: 2050) or
or overload 2 (error code: 2051) in
Servo ON continued overload 2 (error code: 2051) in section
section "14.2.6 Errors detected by MR-
"14.2.6 Errors detected by MR-J2-03B5".
J2-03B5".
Refer to section "5.2.11
Servo parameters for MR- Servo ON continued Set correctly.
J2-03B5".
Ensure safety and deactivate emergency
123 273 423 Servo OFF
stop.
SSCNET cable continuity check Repair or change the cable.
Change the servo amplifier.
Servo OFF
Change the AD75.
AD75 may have a hardware fault.
Please contact your local Mitsubishi
representative.
Servo OFF Switch ON main circuit power.
14 - 79
14 TROUBLESHOOTING
MELSEC-A
14.4 Start during error history
If an error occurs when starting, all the data in the buffer memory start history area
(address: 462 to 541) is copied to the start during error history area (addresses: 543 to
622).
The data stored in the start during error history area is lost when the power is turned
OFF.
(When the power is turned ON, a "0" is stored in the start during error history.)
Up to 16 start history items from turning the power ON can be stored in the start during
error history area.
(The previous history items are cleared in order from No. 1 when the No. of history
items is exceeded.)
The start during error history can be monitored with a peripheral device.
Refer to the AD75 Software Package Operating Manual for details on operation of the
peripheral device.
< Example of display on the peripheral device >
No. Axis Start Type Time Judgment
1 1 External 100 21:34:56.7 OK
2 2 PC Manual pulse generator 21:43:12.3 OK
3 2 PC JOG 21:43:34.4 201
4 1 External Restart 100 21:43:54.8 OK
5 3 Peripheral 101 10:18:03.7 201
14 - 80
APPENDICES
Appendix 1 External dimension drawing ...............................................................................Appendix- 2
Appendix 2 Format sheets .....................................................................................................Appendix- 4
Appendix 2.1 Positioning module operation chart.........................................................Appendix- 4
Appendix 2.2 Parameter setting value entry table ........................................................Appendix- 6
Appendix 2.3 Positioning data setting value entry table [data No. to ] ................Appendix- 26
Appendix 3 Positioning data (No. 1 to 100), List of buffer memory addresses ...................Appendix- 27
Appendix 4 Comparisons with old versions of A1SD75M1 / A1SD75M2 / A1SD75M3,
and AD75M1 / AD75M2 / AD75M3 models......................................................Appendix- 30
Appendix 5 MELSEC Explanation of positioning terms .......................................................Appendix- 32
Appendix 6 Positioning control troubleshooting ...................................................................Appendix- 48
Appendix 7 List of buffer memory addresses .......................................................................Appendix- 54
APPEN-
DICES
Appendix - 1
APPENDICES
MELSEC-A
Appendix 1 External dimension drawing
(1) AD75M1/AD75M2/AD75M3
4.2
A D75M3
2
AX1
AX2
AX3
MODE
RS-422
250
PCB
AX1
AX3 AX2
38
4.2 106 52 37.5
(Unit: mm)
Appendix - 2
APPENDICES
MELSEC-A
(2) A1SD75M1/A1SD75M2/A1SD75M3
A1SD75M3
AX1
AX2
AX3
AX1
MODE
RS-422
130
PCB
AX2 AX3
A1SD75M3
38
6.5 93.6 52 34.5
(Unit: mm)
Appendix - 3
APPENDICES
MELSEC-A
Appendix 2 Format sheets
Appendix 2.1 Positioning module operation chart
mm, inch, degree, pulse
Axis address
Axis address
mm, inch, degree, pulse
Appendix - 4
APPENDICES
MELSEC-A
mm, inch, degree, pulse
Axis address
Axis address
mm, inch, degree, pulse
Appendix - 5
APPENDICES
MELSEC-A
Appendix 2.2 Parameter setting value entry table
[1] Parameters
Setting range
Item
mm inch degree pulse
Pr.1 Unit setting 0 1 2 3
parameters 1
Pr.2 No. of pulses per rotation (Ap) 1 to 65535 pulse
Basic
Movement amount per rotation 1 to 65535 1 to 65535 1 to 65535 1 to 65535
Pr.3 × 10-1µm × 10-5inch × 10-5degree
(Al) pulse
Pr.4 Unit magnification (Am) 1: 1-fold, 10: 10-fold, 100: 100-fold, 1000: 1000-fold
1 to 600000000 1 to 600000000 1 to 600000000 1 to 600000000
Pr.7 Speed limit value × 10-2mm/min × 10-3mm/min × 10-3degree/min pulse
parameters 2
Basic
Pr.8 Acceleration time 0
1 to 65535ms/1 to 8388608ms
Pr.9 Deceleration time 0
0 to 600000000 0 to 600000000 0 to 600000000 0 to 1000000
Pr.10 Bias speed at start × 10-2mm/min × 10-3inch/min × 10-3degree/min pulse/s
1 to 65535 1 to 65535 1 to 65535 1 to 65535
Pr.12 Backlash compensation amount × 10-1µm × 10-5inch × 10-5degree pulse
Software stroke limit upper limit
Pr.13 –2147483648 to –2147483648 to
value 0 to 35999999 –2147483648 to
2147483647 2147483647
× 10-5degree 2147483647
Software stroke limit lower limit × 10-1µm × 10-5inch pulse
Pr.14
value
0: Apply software stroke limit on current feed value
Pr.15 Software stroke limit selection
1: Apply software stroke limit on machine feed value
Detailed parameters 1
0: Software stroke limit invalid during JOG operation and manual
Software stroke limit valid/invalid pulse generator operation
Pr.16
setting 1: Software stroke limit valid during JOG operation and manual pulse
generator operation
1 to 32767000 1 to 32767000 1 to 32767000 1 to 32767
Pr.17 Command in-position width × 10-1µm × 10-5inch × 10-5degree pulse
Pr.18 Torque limit setting value 1 to 500%
Pr.19 M code ON signal output timing 0: WITH mode, 1: AFTER mode
0: Standard speed changeover mode
Pr.20 Speed changeover mode
1: Front-loading speed changeover mode
Interpolation speed designation
Pr.21 0: Composite speed, 1: Reference axis speed
method
Current feed value during speed 0: Do not update current feed value, 1: Update current feed value
Pr.22
control 2: Clear current feed value to zero
Appendix - 6
APPENDICES
MELSEC-A
Initial value Axis 1 Axis 2 Axis 3 Remarks
3
20000
20000
200000
1000
1000
2147483647
–2147483648
100
300
0
Appendix - 7
APPENDICES
MELSEC-A
Setting range
Item
mm inch degree pulse
0: Ignore manual pulse generator operation
Detailed parameters 1
1: Use manual pulse generator 1
(control using manual pulse generator connected to axis 1)
Pr.23 Manual pulse generator selection 2: Use manual pulse generator 2
(control using manual pulse generator connected to axis 2)
3: Use manual pulse generator 3
(control using manual pulse generator connected to axis 3)
Size selection for acceleration/
Pr.25 0: 1-word type (1 to 65535ms), 1: 2-word type (1 to 8388608ms)
deceleration time
Pr.26 Acceleration time 1
Pr.27 Acceleration time 2
Pr.28 Acceleration time 3
0 to 65535ms/1 to 8388608ms
Pr.29 Deceleration time 1
Pr.30 Deceleration time 2
Pr.31 Deceleration time 3
1 to 600000000 1 to 600000000 1 to 600000000 1 to 600000000
Pr.32 JOG speed limit value × 10-2mm/min × 10-3inch/min × 10-3degree/min pulse
JOG operation acceleration time
Pr.33
selection
0 to 3
JOG operation deceleration time
Pr.34
selection
Acceleration/deceleration process 0: Automatic trapezoidal acceleration/deceleration process
Pr.35
Detailed parameters 2
selection 1: S-pattern acceleration/deceleration process
Pr.36 S-pattern proportion 1 to 100%
Pr.37 Sudden stop deceleration time 1 to 65535ms/1 to 8388608ms
Stop group 1 sudden stop
Pr.38
selection
Stop group 2 sudden stop
Pr.39 0: Normal deceleration stop, 1: Sudden stop
selection
Stop group 3 sudden stop
Pr.40
selection
Positioning complete signal output
Pr.41 0 to 65535ms
time
Allowable circular interpolation 1 to 100000 1 to 100000 1 to 100000 1 to 100000
Pr.42 × 10-1µm × 10-5inch × 10-5degree
error width pulse
0: External speed change request, 1: External speed change request,
Pr.43 External start function selection
2: Skip request
Near pass mode selection for path
Pr.44 0: Positioning address pass mode, 1: Near pass mode
control
Setting for the restart allowable 0 : Restart not allowed when servo switches from OFF to ON
Pr.150
range when servo OFF to ON 1 to 16384: Restart allowable range (pulse)
Appendix - 8
APPENDICES
MELSEC-A
Initial value Axis 1 Axis 2 Axis 3 Remarks
Axis 1: 1, Axis 2: 2,
Axis 3: 3
1000
1000
1000
1000
1000
1000
20000
100
1000
300
100
Appendix - 9
APPENDICES
MELSEC-A
Setting range
Item
mm inch degree pulse
0: Near-point dog method, 4: Count method 1)
Pr.45 Zero point return method 5: Count method 2), 6: Data setting method
Zero pint return basic parameters
7: Near-point dog method 2), 8: Count method 3)
0: Positive direction (address increment direction)
Pr.46 Zero point return direction
1: Negative direction (address decrement direction)
–2147483648 to –2147483648 to
0 to 35999999 –2147483648 to
2147483647 2147483647
Pr.47 Zero point address × 10-5degree 2147483647
× 10-1µm × 10-5inch pulse/s
Pr.48 Zero point return speed 1 to 600000000 1 to 600000000 1 to 600000000 1 to 1000000
Pr.49 Creep speed × 10-2mm/min × 10-3inch/min × 10-3degree/min pulse/s
0: Do not retry zero point return with limit switch
Pr.50 Zero point return retry
1: Retry zero point return with limit switch
Setting for the movement amount 0 to 2147483647 0 to 2147483647 0 to 2147483647 0 to 2147483647
Pr.52 × 10-1µm × 10-5inch × 10-5degree
after near-point dog ON pulse
Zero point return acceleration time
Pr.53
Zero point return detailed parameters
selection
0 to 3
Zero point return deceleration time
Pr.54
selection
–2147483648 to –2147483648 to
0 to 35999999 –2147483648 to
Pr.55 Zero point shift amount 2147483647 2147483647
× 10-5degree 2147483647
× 10-1µm × 10-5inch pulse/s
Pr.56 Zero point return torque limit value 0 to 300%
Speed designation during zero
Pr.57 0: Zero point return speed, 1: Creep speed
point shift
Dwell time during zero point return
Pr.58 0 to 65535ms
retry
Absolute position restoration 0: Standard mode
Pr.59
selection 1: Infinite length mode
Appendix - 10
APPENDICES
MELSEC-A
Initial value Axis 1 Axis 2 Axis 3 Remarks
1
1
300
Appendix - 11
APPENDICES
MELSEC-A
[2] Servo parameters
(1) Servo parameters for MR-H-B (MR-H-BN)
Item Setting range
Pr.100 Servo series 0: MR-H-B (MR-H-BN), 1: MR-J-B, 2: MR-J2-B, 1E: Other
0: Absolute position detection invalid
Pr.101 Amplifier setting
1: Absolute position detection valid
00: External regenerative brake option not used, 01: FR-RC, FR-BU,
Regenerative 02: MR-RB013, 03: MR-RB033, 05: MR-RB32, 06: MR-RB34,
Regenerative brake option 07: MR-RB54, 08: MR-RB30, 09: MR-RB50, 0B: MR-RB31,
Pr.102 0C: MR-RB51, 0E: Standard + fan
brake resistor
External dynamic
0: External dynamic brake invalid, 1: External dynamic brake valid
brake selection
0000H: HA-SH Standard, 0001H: HA-LH Low inertia,
Servo basic parameters
0002H: HA-UH Flat, 0003H: HA-FH/HA-FF, 0005H: HA-MH,
Pr.103 Motor type
0007H: HC-SF, 0008H: HC-RF, 0009H: HC-UF, 000AH: HC-FF,
000BH: HC-MF, 0080H: Automatic setting
Pr.104 Motor capacity 0000H to 9999H
Pr.105 Motor speed 1 to 3
Pr.106 Feedback pulse 0: 16384pulse, 1: 8192pulse
0: Forward run with positioning address increment
Pr.107 Rotation direction
1: Reverse run with positioning address increment
0: Auto tuning selected for use of interpolation axis control in position
Pr.108 Auto tuning
control , 1: Auto tuning for ordinary operation, 2: Invalid
1: Normal (low response), 2: Normal (low/middle response),
3: Normal (middle response), 4: Normal (middle/high response),
5: Normal (high response), 8: Large friction (low response),
Pr.109 Servo response setting 9: Large friction (low/middle response),
A: Large friction (middle response),
B: Large friction (middle/high response),
C: Large friction (high response)
Pr.112 Load inertia ratio 0.0 to 100.0%
Pr.113 Position loop gain 1 4 to 1000rad/s
Pr.114 Speed loop gain 1 20 to 5000rad/s
Pr.115 Position loop gain 2 1 to 500rad/s
Pr.116 Speed loop gain 2 20 to 8000rad/s
Pr.117 Speed integral compensation 1 to 1000 ms
Pr.118 Notch filter selection 0: Not used, 1: 1125, 2: 563, 3: 375, 4: 282, 5: 225, 6: 1881, 7: 161
Servo adjustment parameters
Pr.119 Feed forward gain 0 to 100%
Pr.120 In-position range 0 to 50000pulse
Pr.121 Solenoid brake output 0 to 1000ms
0: Servomotor speed, 1: Torque, 2: Servomotor speed (+),
3: Torque (+), 4: Current command, 5: Command speed,
Pr.122 Monitor output mode selection
6: Droop pulse 1/1, 7: Droop pulse 1/4, 8: Droop pulse 1/16,
9: Droop pulse 1/32, A: Droop pulse 1/64
Carrier frequency
0: 2.25KHz (Standard), 3: 9.0KHz (Low noise)
Option selection
Pr.123
function 1 Serial encoder
0: 2-wire, 1: 4-wire (Supports long distance cables)
cable selection
Motor-less
0: Invalid, 1: Valid
operation selection
Option
Pr.124 Solenoid brake 0: Independent of motor speed (Output under specific condition)
function 2
interlock output 1: Output under specific condition at motor speed of zero speed or
selection less
Appendix - 12
APPENDICES
MELSEC-A
Initial value Axis 1 Axis 2 Axis 3 Remarks
0
0000H
0
1
0
30
70
1200
25
600
20
0
0
100
100
Appendix - 13
APPENDICES
MELSEC-A
Item Setting range
Pr.127 Monitor output 1 offset –9999 to 9999mV
Pr.128 Monitor output 2 offset –9999 to 9999mV
Data selection 1 0: Servomotor speed, 1: Torque, 2: Servomotor speed (+),
3: Torque (+), 4: Current command, 5: Command speed,
Servo extension parameters
6: Droop pulse 1/1, 7: Droop pulse 1/4, 8: Droop pulse 1/16,
Pre-alarm Data selection 2 9: Droop pulse 1/32, A: Droop pulse 1/64
Pr.129
data selection
Pre-alarm data
sampling time 0: 1.77ms, 1: 3.55ms, 2: 7.11ms, 3: 14.2ms, 4: 28.4ms
selection
Pr.130 Zero speed 0 to 10000r/min
Pr.131 Error excessive alarm level 1 to 1000kpulse
0: PI control is always valid
Option PI-PID control 1: Switched to PID control when value set to "PI-PID switching
Pr.132
function 5 switching position droop" is reached or exceeded during position control
2: PID control is always valid
Pr.134 PI-PID switching position droop 0 to 50000pulse
Pr.136 Speed differential compensation 0 to 1000
Appendix - 14
APPENDICES
MELSEC-A
Initial value Axis 1 Axis 2 Axis 3 Remarks
0
0
50
80
0
980
Appendix - 15
APPENDICES
MELSEC-A
(2) Servo parameters for MR-J-B
Item Setting range
Pr.100 Servo series 0: MR-H-B (MR-H-BN), 1: MR-J-B, 2: MR-J2-B, 1E: Other
0: Absolute position detection invalid
Pr.101 Amplifier setting
1: Absolute position detection valid
00: External regenerative brake option not used, 02: MR-RB013,
Regenerative
03: MR-RB033, 04: MR-RB064 2, 05: MR-RB32, 06: MR-RB34,
Regenerative brake option
Pr.102 07: MR-RB54, 0F: MR-RB064
brake resistor
Servo basic parameters
External dynamic 0: External dynamic brake invalid
brake selection 1: External dynamic brake valid
Pr.103 Motor type 0000H: HA-SH Standard, 0003H: HA-FH, 0005H: HA-MH
Pr.104 Motor capacity 0000H to 9999H
Pr.105 Motor speed 1 to 3
Pr.106 Feedback pulse 0: 16384pulse, 1: 8192pulse
0: Forward run with positioning address increment
Pr.107 Rotation direction
1: Reverse run with positioning address increment
0: Auto tuning selected for use of interpolation axis control in position
Pr.108 Auto tuning
control, 1: Auto tuning for ordinary operation, 2: Invalid
1: Normal (low response), 2: Normal (low/middle response),
Pr.109 Servo response setting 3: Normal (middle response), 4: Normal (middle/high response),
5: Normal (high response)
Pr.112 Load inertia ratio 0.0 to 100.0%
Pr.113 Position loop gain 1 4 to 1000rad/s
Pr.114 Speed loop gain 1 20 to 5000rad/s
Pr.115 Position loop gain 2 1 to 500rad/s
Pr.116 Speed loop gain 2 20 to 8000rad/s
Servo adjustment parameters
Pr.117 Speed integral compensation 1 to 1000 ms
Pr.118 Notch filter selection 0: Not used, 1: 1125, 2: 563, 3: 375, 4: 282, 5: 225, 6: 1881, 7: 161
Pr.119 Feed forward gain 0 to 100%
Pr.120 In-position range 0 to 50000pulse
0: Servomotor speed, 1: Torque, 2: Servomotor speed (+),
3: Torque (+), 4: Current command, 5: Command speed,
Pr.122 Monitor output mode selection
6: Droop pulse 1/1, 7: Droop pulse 1/4, 8: Droop pulse 1/16,
9: Droop pulse 1/32
Carrier frequency
0: 2.25KHz (Standard), 3: 9.0KHz (Low noise)
Option selection
Pr.123
function 1 Serial encoder
0: 2-wire, 1: 4-wire (Supports long distance cables)
cable selection
Option Motor-less
Pr.124 0: Invalid, 1: Valid
function 2 operation selection
Pr.127 Monitor output 1 offset –9999 to 9999mV
parameters
extension
Servo
Pr.130 Zero speed 0 to 10000r/min
Pr.131 Error excessive alarm level 1 to 1000kpulse
Pr.136 Speed differential compensation 0 to 1000
Appendix - 16
APPENDICES
MELSEC-A
Initial value Axis 1 Axis 2 Axis 3 Remarks
0
0000H
0
1
0
30
70
1200
25
600
20
0
0
100
0
50
80
980
Appendix - 17
APPENDICES
MELSEC-A
(3) Servo parameters for MR-J2-B
Item Setting range
Pr.100 Servo series 0: MR-H-B (MR-H-BN), 1: MR-J-B, 2: MR-J2-B, 1E: Other
Pr.101 Amplifier setting 0: Absolute position detection invalid, 1: Absolute position detection valid
Regenerative 00: External regenerative brake option not used, 05: MR-RB32,
Regenerative brake option 08: MR-RB30, 09: MR-RB50, 10: MR-RB032, 11: MR-RB12
Pr.102
brake resistor External dynamic
0: External dynamic brake invalid, 1: External dynamic brake valid
Servo basic parameters
brake selection
Pr.103 Motor type 0080H: Automatic setting, 00FFH: Special motor
Pr.104 Motor capacity 0000H to 9999H
0: Forward run with positioning address increment
Pr.107 Rotation direction
1: Reverse run with positioning address increment
0: Auto tuning selected for use of interpolation axis control in position
Pr.108 Auto tuning
control, 1: Auto tuning for ordinary operation, 2: Invalid
1: Normal (low response), 2: Normal (low/middle response),
3: Normal (middle response), 4: Normal (middle/high response),
5: Normal (high response), 8: Large friction (low response),
Pr.109 Servo response setting
9: Large friction (low/middle response),
A: Large friction (middle response),
B: Large friction (middle/high response), C: Large friction (high response)
Pr.112 Load inertia ratio 0.0 to 100.0%
Pr.113 Position loop gain 1 4 to 1000rad/s
Pr.114 Speed loop gain 1 20 to 5000rad/s
Pr.115 Position loop gain 2 1 to 500rad/s
Pr.116 Speed loop gain 2 20 to 8000rad/s
Pr.117 Speed integral compensation 1 to 1000 ms
Pr.118 Notch filter selection 0: Not used, 1: 1125, 2: 563, 3: 375, 4: 282, 5: 225, 6:1881, 7: 161
Servo adjustment parameters
Pr.119 Feed forward gain 0 to 100%
Pr.120 In-position range 0 to 50000pulse
Pr.121 Solenoid brake output 0 to 1000ms
0: Servomotor speed, 1: Torque, 2: Servomotor speed (+),
3: Torque (+), 4: Current command, 5: Command speed,
Pr.122 Monitor output mode selection
6: Droop pulse 1/1, 7: Droop pulse 1/16, 8: Droop pulse 1/64,
9: Droop pulse 1/256, A: Droop pulse 1/1024
Amplifier EMG
0: Valid, 1: Invalid
Option selection
Pr.123
function 1 Serial encoder
0: 2-wire, 1: 4-wire (Supports long distance cables)
cable selection
Slight vibration
suppression 0: Invalid, 1: Valid
Option function selection
Pr.124
function 2
Motor-less
0: Invalid, 1: Valid
operation selection
Pr.127 Monitor output 1 offset –999 to 999mV
Servo extension parameters
Pr.128 Monitor output 2 offset –999 to 999mV
Pr.130 Zero speed 0 to 10000r/min
Pr.131 Error excessive alarm level 1 to 1000kpulse
0: PI control is always valid
Option PI-PID control 1: Switched to PID control when value set to "PI-PID switching
Pr.132
function 5 switching position droop" is reached or exceeded during position control
2: PID control is always valid
Pr.134 PI-PID switching position droop 0 to 50000pulse
Pr.136 Speed differential compensation 0 to 1000
Appendix - 18
APPENDICES
MELSEC-A
Initial value Axis 1 Axis 2 Axis 3 Remarks
0
0
0000H
0
30
70
1200
25
600
20
0
0
100
100
0
0
50
80
0
980
Appendix - 19
APPENDICES
MELSEC-A
(4) Servo parameters for MR-J2S-B
Item Setting range
Pr.100 Servo series 0: MR-H-B (MR-H-BN), 1: MR-J-B, 2: MR-J2-B, 1E: Other
0: Absolute position detection invalid
Pr.101 Amplifier setting
1: Absolute position detection valid
Regenerative 00: External regenerative brake option not used, 05: MR-RB32,
Regenerative brake option 08: MR-RB30, 09: MR-RB50, 10: MR-RB032, 11: MR-RB12
Pr.102
Servo basic parameters
brake resistor External dynamic
0: External dynamic brake invalid, 1: External dynamic brake valid
brake selection
Pr.103 Motor type 0080H: Automatic setting
Pr.104 Motor capacity 0000H to 9999H
Pr.106 Feedback pulse 0: 16384pulse, 1: 8192pulse
0: Forward run with positioning address increment
Pr.107 Rotation direction
1: Reverse run with positioning address increment
0: Interpolation mode, 1: Auto tuning mode 1, 2: Manual mode 2,
Pr.108 Auto tuning
3: Auto tuning mode 2, 4: Manual mode 1
1: 15Hz, 2: 20Hz, 3: 25Hz, 4: 30Hz, 5: 35Hz, 6: 45Hz, 7: 55Hz,
Pr.109 Servo response setting 8: 70Hz, 9: 85Hz, A: 105Hz, B: 130Hz, C: 160Hz, D: 200Hz,
E: 240Hz, F: 300Hz
Pr.112 Load inertia ratio 0.0 to 300.0%
Pr.113 Position loop gain 1 4 to 2000rad/s
Pr.114 Speed loop gain 1 20 to 8000rad/s
Pr.115 Position loop gain 2 1 to 1000rad/s
Pr.116 Speed loop gain 2 20 to 20000rad/s
Pr.117 Speed integral compensation 1 to 1000 ms
00: Invalid, 01: 4500, 02: 2250, 03: 1500, 04: 1125, 05: 900, 06: 750,
Machine 07: 642.9, 08: 562.5, 09: 500, 0A: 450, 0B: 409.1, 0C: 375, 0D: 346.2,
resonance Notch frequency 0E: 321.4, 0F: 300, 10: 281.3, 11: 264.7, 12: 250, 13: 236.8, 14: 225,
Pr.118 15: 214.3, 16: 204.5, 17: 195.7, 18: 187.5, 19: 180, 1A: 173.1,
suppression
filter 1 1B: 166.7, 1C: 160.1, 1D: 155.2, 1E: 150, 1F: 145.2
Servo adjustment parameters
Notch depth 0: –40dB, 1: –14dB, 2: –8dB, 3 –4dB
Pr.119 Feed forward gain 0 to 100%
Pr.120 In-position range 0 to 50000
Pr.121 Solenoid brake output 0 to 1000ms
0: Servomotor speed ( 8V/max. speed), 1: Torque ( 8V/max. torque),
2: Servomotor speed (+8V/max. speed), 3: Torque (+8V/max. torque),
4: Current command ( 8V/max. current command),
5: Command speed ( 8V/max. speed),
Pr.122 Monitor output mode selection
6: Droop pulse ( 10V/128 pulses), 7: Droop pulse ( 10V/2048 pulses),
8: Droop pulse ( 10V/8192 pulses),
9: Droop pulse ( 10V/32768 pulses),
A: Droop pulse ( 10V/131072 pulses), B: Bus voltage
Amplifier EMG
0: Valid, 1: Invlaid
Option selection
Pr.123
function 1 Serial encoder
0: 2-wire, 1: 4-wire (Supports long distance cables)
cable selection
Slight vibration
suppression 0: Invalid, 1: Valid
Option function selection
Pr.124
function 2
Motor-less
0: Invalid, 1: Valid
operation selection
Appendix - 20
APPENDICES
MELSEC-A
Initial value Axis 1 Axis 2 Axis 3 Remarks
0
0000H
0
0
30
70
1200
25
600
20
0
0
100
100
Appendix - 21
APPENDICES
MELSEC-A
Item Setting range
Low pass filter
0: Valid (Automatic adjustment), 1: Invalid
Servo adjustment
selection
Low pass
parameters
Adaptive vibration
filter/adaptive
Pr.125 vibration suppression 0: Invalid, 1: Valid 2: Hold
suppression control selection
control Adaptive vibration
suppression 0: Normal, 1: Large sensitivity
control sensitivity
Pr.127 Monitor output 1 offset –999 to 999mV
Pr.128 Monitor output 2 offset –999 to 999mV
Pr.130 Zero speed 0 to 10000r/min
Pr.131 Error excessive alarm level 0.025 to 25.000rev
0: PI control is always valid
Option PI-PID control 1: Switched to PID control when value set to "PI-PID switching
Pr.132
function 5 switching position droop" is reached or exceeded during position control
Servo extension parameters
2: PID control is always valid
Serial
communication 0: 9600bps, 1: 19200bps, 2: 38400bps, 3: 57600bps
baud rate selection
Serial
Option communication
Pr.133
function 6 response delay 0: Invalid, 1: Valid (reply made after 800µs or more delay time)
time
Encoder pulse
output setting 0: Output pulses setting, 1: Dividing frequency ratio setting
selection
Pr.134 PI-PID switching position droop 0 to 50000pulse
Pr.136 Speed differential compensation 0 to 1000
Pr.138 Encoder output pulses 0 to 65535
Servo parameter transmission
Pr.149 0: Invalid, F003H: Valid
setting
Appendix - 22
APPENDICES
MELSEC-A
Initial value Axis 1 Axis 2 Axis 3 Remarks
0
0
50
80
0
980
4000
Appendix - 23
APPENDICES
MELSEC-A
(5) Servo parameters for MR-J2-03B5
Item Setting range
Pr.100 Servo series 0: MR-H-B (MR-H-BN), 1: MR-J-B, 2: MR-J2-B, 1E: Other
Pr.101 Amplifier setting Reserved (Set initial value)
Regenerative
Reserved (Set initial value)
Regenerative brake option
Pr.102
brake resistor External dynamic
Reserved (Set initial value)
brake selection
Servo basic parameters
Pr.103 Motor type 0080H: Automatic setting, 00FFH: Special motor
Pr.104 Motor capacity 0000H to 9999H
0: Forward run with positioning address increment
Pr.107 Rotation direction
1: Reverse run with positioning address increment
0: Auto tuning selected for use of interpolation axis control in position
Pr.108 Auto tuning
control, 1: Auto tuning for ordinary operation, 2: Invalid
1: Normal (low response), 2: Normal (low/middle response),
3: Normal (middle response), 4: Normal (middle/high response),
5: Normal (high response), 8: Large friction (low response),
Pr.109 Servo response setting 9: Large friction (low/middle response),
A: Large friction (middle response),
B: Large friction (middle/high response),
C: Large friction (high response)
Pr.112 Load inertia ratio 0.0 to 100.0%
Pr.113 Position loop gain 1 4 to 1000rad/s
Pr.114 Speed loop gain 1 20 to 5000rad/s
Pr.115 Position loop gain 2 1 to 500rad/s
Pr.116 Speed loop gain 2 20 to 8000rad/s
Servo adjustment parameters
Pr.117 Speed integral compensation 1 to 1000 ms
Pr.118 Notch filter selection 0: Not used, 1: 1125, 2: 563, 3: 375, 4: 282, 5: 225, 6: 1881, 7: 161
Pr.119 Feed forward gain 0 to 100%
Pr.120 In-position range 0 to 50000pulse
Pr.121 Solenoid brake output 0 to 1000ms
Pr.122 Monitor output mode selection Reserved (Set initial value)
Amplifier EMG
0: Valid, 1: Invalid
Option selection
Pr.123
function 1 Serial encoder
Reserved (Set initial value)
cable selection
Slight vibration
suppression 0: Invalid, 1: Valid
Option function selection
Pr.124
function 2
Motor-less
0: Invalid, 1: Valid
operation selection
Pr.127 Monitor output 1 offset Reserved (Set initial value)
Servo extension parameters
Pr.128 Monitor output 2 offset Reserved (Set initial value)
Pr.130 Zero speed 0 to 10000r/min
Pr.131 Error excessive alarm level 1 to 1000kpulse
0: PI control is always valid
Option PI-PID control 1: Switched to PID control when value set to "PI-PID switching
Pr.132
function 5 switching position droop" is reached or exceeded during position control
2: PID control is always valid
Pr.134 PI-PID switching position droop 0 to 50000pulse
Pr.136 Speed differential compensation 0 to 1000
Appendix - 24
APPENDICES
MELSEC-A
Initial value Axis 1 Axis 2 Axis 3 Remarks
0
0
0000H
0
30
70
1200
25
600
20
0
0
100
100
1
0
0
50
80
0
980
Appendix - 25
APPENDICES
MELSEC-A
Appendix 2.3 Positioning data setting value entry table [data No. to ]
Axis
Da.1 Da.2 Da.3 Da.4 Da.5 Da.6 Da.7 Da.8 Da.9
Operation Control Accelera- Decelera- Positioning Arc Command Dwell time M code
Data pattern method tion time tion time address/ address speed
No. No. movement
amount
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
Appendix - 26
APPENDICES
MELSEC-A
Appendix 3 Positioning data (No. 1 to 100)
List of buffer memory addresses
(1) For axis 1
Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
1 1300 1301 1302 1304 1305 1306 1307 1308 1309 51 1800 1801 1802 1804 1805 1806 1807 1808 1809
2 1310 1311 1312 1314 1315 1316 1317 1318 1319 52 1810 1811 1812 1814 1815 1816 1817 1818 1819
3 1320 1321 1322 1324 1325 1326 1327 1328 1329 53 1820 1821 1822 1824 1825 1826 1827 1828 1829
4 1330 1331 1332 1334 1335 1336 1337 1338 1339 54 1830 1831 1832 1834 1835 1836 1837 1838 1839
5 1340 1341 1342 1344 1345 1346 1347 1348 1349 55 1840 1841 1842 1844 1845 1846 1847 1848 1849
6 1350 1351 1352 1354 1355 1356 1357 1358 1359 56 1850 1851 1852 1854 1855 1856 1857 1858 1859
7 1360 1361 1362 1364 1365 1366 1367 1368 1369 57 1860 1861 1862 1864 1865 1866 1867 1868 1869
8 1370 1371 1372 1374 1375 1376 1377 1378 1379 58 1870 1871 1872 1874 1875 1876 1877 1878 1879
9 1380 1381 1382 1384 1385 1386 1387 1388 1389 59 1880 1881 1882 1884 1885 1886 1887 1888 1889
10 1390 1391 1392 1394 1395 1396 1397 1398 1399 60 1890 1891 1892 1894 1895 1896 1897 1898 1899
11 1400 1401 1402 1404 1405 1406 1407 1408 1409 61 1900 1901 1902 1904 1905 1906 1907 1908 1909
12 1410 1411 1412 1414 1415 1416 1417 1418 1419 62 1910 1911 1912 1914 1915 1916 1917 1918 1919
13 1420 1421 1422 1424 1425 1426 1427 1428 1429 63 1920 1921 1922 1924 1925 1926 1927 1928 1929
14 1430 1431 1432 1434 1435 1436 1437 1438 1439 64 1930 1931 1932 1934 1935 1936 1937 1938 1939
15 1440 1441 1442 1444 1445 1446 1447 1448 1449 65 1940 1941 1942 1944 1945 1946 1947 1948 1949
16 1450 1451 1452 1454 1455 1456 1457 1458 1459 66 1950 1951 1952 1954 1955 1956 1957 1958 1959
17 1460 1461 1462 1464 1465 1466 1467 1468 1469 67 1960 1961 1962 1964 1965 1966 1967 1968 1969
18 1470 1471 1472 1474 1475 1476 1477 1478 1479 68 1970 1971 1972 1974 1975 1976 1977 1978 1979
19 1480 1481 1482 1484 1485 1486 1487 1488 1489 69 1980 1981 1982 1984 1985 1986 1987 1988 1989
20 1490 1491 1492 1494 1495 1496 1497 1498 1499 70 1990 1991 1992 1994 1995 1996 1997 1998 1999
21 1500 1501 1502 1504 1505 1506 1507 1508 1509 71 2000 2001 2002 2004 2005 2006 2007 2008 2009
22 1510 1511 1512 1514 1515 1516 1517 1518 1519 72 2010 2011 2012 2014 2015 2016 2017 2018 2019
23 1520 1521 1522 1524 1525 1526 1527 1528 1529 73 2020 2021 2022 2024 2025 2026 2027 2028 2029
24 1530 1531 1532 1534 1535 1536 1537 1538 1539 74 2030 2031 2032 2034 2035 2036 2037 2038 2039
25 1540 1541 1542 1544 1545 1546 1547 1548 1549 75 2040 2041 2042 2044 2045 2046 2047 2048 2049
26 1550 1551 1552 1554 1555 1556 1557 1558 1559 76 2050 2051 2052 2054 2055 2056 2057 2058 2059
27 1560 1561 1562 1564 1565 1566 1567 1568 1569 77 2060 2061 2062 2064 2065 2066 2067 2068 2069
28 1570 1571 1572 1574 1575 1576 1577 1578 1579 78 2070 2071 2072 2074 2075 2076 2077 2078 2079
29 1580 1581 1582 1584 1585 1586 1587 1588 1589 79 2080 2081 2082 2084 2085 2086 2087 2088 2089
30 1590 1591 1592 1594 1595 1596 1597 1598 1599 80 2090 2091 2092 2094 2095 2096 2097 2098 2099
31 1600 1601 1602 1604 1605 1606 1607 1608 1609 81 2100 2101 2102 2104 2105 2106 2107 2108 2109
32 1610 1611 1612 1614 1615 1616 1617 1618 1619 82 2110 2111 2112 2114 2115 2116 2117 2118 2119
33 1620 1621 1622 1624 1625 1626 1627 1628 1629 83 2120 2121 2122 2124 2125 2126 2127 2128 2129
34 1630 1631 1632 1634 1635 1636 1637 1638 1639 84 2130 2131 2132 2134 2135 2136 2137 2138 2139
35 1640 1641 1642 1644 1645 1646 1647 1648 1649 85 2140 2141 2142 2144 2145 2146 2147 2148 2149
36 1650 1651 1652 1654 1655 1656 1657 1658 1659 86 2150 2151 2152 2154 2155 2156 2157 2158 2159
37 1660 1661 1662 1664 1665 1666 1667 1668 1669 87 2160 2161 2162 2164 2165 2166 2167 2168 2169
38 1670 1671 1672 1674 1675 1676 1677 1678 1679 88 2170 2171 2172 2174 2175 2176 2177 2178 2179
39 1680 1681 1682 1684 1685 1686 1687 1688 1689 89 2180 2181 2182 2184 2185 2186 2187 2188 2189
40 1690 1691 1692 1694 1695 1696 1697 1698 1699 90 2190 2191 2192 2194 2195 2196 2197 2198 2199
41 1700 1701 1702 1704 1705 1706 1707 1708 1709 91 2200 2201 2202 2204 2205 2206 2207 2208 2209
42 1710 1711 1712 1714 1715 1716 1717 1718 1719 92 2210 2211 2212 2214 2215 2216 2217 2218 2219
43 1720 1721 1722 1724 1725 1726 1727 1728 1729 93 2220 2221 2222 2224 2225 2226 2227 2228 2229
44 1730 1731 1732 1734 1735 1736 1737 1738 1739 94 2230 2231 2232 2234 2235 2236 2237 2238 2239
45 1740 1741 1742 1744 1745 1746 1747 1748 1749 95 2240 2241 2242 2244 2245 2246 2247 2248 2249
46 1750 1751 1752 1754 1755 1756 1757 1758 1759 96 2250 2251 2252 2254 2255 2256 2257 2258 2259
47 1760 1761 1762 1764 1765 1766 1767 1768 1769 97 2260 2261 2262 2264 2265 2266 2267 2268 2269
48 1770 1771 1772 1774 1775 1776 1777 1778 1779 98 2270 2271 2272 2274 2275 2276 2277 2278 2279
49 1780 1781 1782 1784 1785 1786 1787 1788 1789 99 2280 2281 2282 2284 2285 2286 2287 2288 2289
50 1790 1791 1792 1794 1795 1796 1797 1798 1799 100 2290 2291 2292 2294 2295 2296 2297 2298 2299
Appendix - 27
APPENDICES
MELSEC-A
(2) For axis 2
Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
1 2300 2301 2302 2304 2305 2306 2307 2308 2309 51 2800 2801 2802 2804 2805 2806 2807 2808 2809
2 2310 2311 2312 2314 2315 2316 2317 2318 2319 52 2810 2811 2812 2814 2815 2816 2817 2818 2819
3 2320 2321 2322 2324 2325 2326 2327 2328 2329 53 2820 2821 2822 2824 2825 2826 2827 2828 2829
4 2330 2331 2332 2334 2335 2336 2337 2338 2339 54 2830 2831 2832 2834 2835 2836 2837 2838 2839
5 2340 2341 2342 2344 2345 2346 2347 2348 2349 55 2840 2841 2842 2844 2845 2846 2847 2848 2849
6 2350 2351 2352 2354 2355 2356 2357 2358 2359 56 2850 2851 2852 2854 2855 2856 2857 2858 2859
7 2360 2361 2362 2364 2365 2366 2367 2368 2369 57 2860 2861 2862 2864 2865 2866 2867 2868 2869
8 2370 2371 2372 2374 2375 2376 2377 2378 2379 58 2870 2871 2872 2874 2875 2876 2877 2878 2879
9 2380 2381 2382 2384 2385 2386 2387 2388 2389 59 2880 2881 2882 2884 2885 2886 2887 2888 2889
10 2390 2391 2392 2394 2395 2396 2397 2398 2399 60 2890 2891 2892 2894 2895 2896 2897 2898 2899
11 2400 2401 2402 2404 2405 2406 2407 2408 2409 61 2900 2901 2902 2904 2905 2906 2907 2908 2909
12 2410 2411 2412 2414 2415 2416 2417 2418 2419 62 2910 2911 2912 2914 2915 2916 2917 2918 2919
13 2420 2421 2422 2424 2425 2426 2427 2428 2429 63 2920 2921 2922 2924 2925 2926 2927 2928 2929
14 2430 2431 2432 2434 2435 2436 2437 2438 2439 64 2930 2931 2932 2934 2935 2936 2937 2938 2939
15 2440 2441 2442 2444 2445 2446 2447 2448 2449 65 2940 2941 2942 2944 2945 2946 2947 2948 2949
16 2450 2451 2452 2454 2455 2456 2457 2458 2459 66 2950 2951 2952 2954 2955 2956 2957 2958 2959
17 2460 2461 2462 2464 2465 2466 2467 2468 2469 67 2960 2961 2962 2964 2965 2966 2967 2968 2969
18 2470 2471 2472 2474 2475 2476 2477 2478 2479 68 2970 2971 2972 2974 2975 2976 2977 2978 2979
19 2480 2481 2482 2484 2485 2486 2487 2488 2489 69 2980 2981 2982 2984 2985 2986 2987 2988 2989
20 2490 2491 2492 2494 2495 2496 2497 2498 2499 70 2990 2991 2992 2994 2995 2996 2997 2998 2999
21 2500 2501 2502 2504 2505 2506 2507 2508 2509 71 3000 3001 3002 3004 3005 3006 3007 3008 3009
22 2510 2511 2512 2514 2515 2516 2517 2518 2519 72 3010 3011 3012 3014 3015 3016 3017 3018 3019
23 2520 2521 2522 2524 2525 2526 2527 2528 2529 73 3020 3021 3022 3024 3025 3026 3027 3028 3029
24 2530 2531 2532 2534 2535 2536 2537 2538 2539 74 3030 3031 3032 3034 3035 3036 3037 3038 3039
25 2540 2541 2542 2544 2545 2546 2547 2548 2549 75 3040 3041 3042 3044 3045 3046 3047 3048 3049
26 2550 2551 2552 2554 2555 2556 2557 2558 2559 76 3050 3051 3052 3054 3055 3056 3057 3058 3059
27 2560 2561 2562 2564 2565 2566 2567 2568 2569 77 3060 3061 3062 3064 3065 3066 3067 3068 3069
28 2570 2571 2572 2574 2575 2576 2577 2578 2579 78 3070 3071 3072 3074 3075 3076 3077 3078 3079
29 2580 2581 2582 2584 2585 2586 2587 2588 2589 79 3080 3081 3082 3084 3085 3086 3087 3088 3089
30 2590 2591 2592 2594 2595 2596 2597 2598 2599 80 3090 3091 3092 3094 3095 3096 3097 3098 3099
31 2600 2601 2602 2604 2605 2606 2607 2608 2609 81 3100 3101 3102 3104 3105 3106 3107 3108 3109
32 2610 2611 2612 2614 2615 2616 2617 2618 2619 82 3110 3111 3112 3114 3115 3116 3117 3118 3119
33 2620 2621 2622 2624 2625 2626 2627 2628 2629 83 3120 3121 3122 3124 3125 3126 3127 3128 3129
34 2630 2631 2632 2634 2635 2636 2637 2638 2639 84 3130 3131 3132 3134 3135 3136 3137 3138 3139
35 2640 2641 2642 2644 2645 2646 2647 2648 2649 85 3140 3141 3142 3144 3145 3146 3147 3148 3149
36 2650 2651 2652 2654 2655 2656 2657 2658 2659 86 3150 3151 3152 3154 3155 3156 3157 3158 3159
37 2660 2661 2662 2664 2665 2666 2667 2668 2669 87 3160 3161 3162 3164 3165 3166 3167 3168 3169
38 2670 2671 2672 2674 2675 2676 2677 2678 2679 88 3170 3171 3172 3174 3175 3176 3177 3178 3179
39 2680 2681 2682 2684 2685 2686 2687 2688 2689 89 3180 3181 3182 3184 3185 3186 3187 3188 3189
40 2690 2691 2692 2694 2695 2696 2697 2698 2699 90 3190 3191 3192 3194 3195 3196 3197 3198 3199
41 2700 2701 2702 2704 2705 2706 2707 2708 2709 91 3200 3201 3202 3204 3205 3206 3207 3208 3209
42 2710 2711 2712 2714 2715 2716 2717 2718 2719 92 3210 3211 3212 3214 3215 3216 3217 3218 3219
43 2720 2721 2722 2724 2725 2726 2727 2728 2729 93 3220 3221 3222 3224 3225 3226 3227 3228 3229
44 2730 2731 2732 2734 2735 2736 2737 2738 2739 94 3230 3231 3232 3234 3235 3236 3237 3238 3239
45 2740 2741 2742 2744 2745 2746 2747 2748 2749 95 3240 3241 3242 3244 3245 3246 3247 3248 3249
46 2750 2751 2752 2754 2755 2756 2757 2758 2759 96 3250 3251 3252 3254 3255 3256 3257 3258 3259
47 2760 2761 2762 2764 2765 2766 2767 2768 2769 97 3260 3261 3262 3264 3265 3266 3267 3268 3269
48 2770 2771 2772 2774 2775 2776 2777 2778 2779 98 3270 3271 3272 3274 3275 3276 3277 3278 3279
49 2780 2781 2782 2784 2785 2786 2787 2788 2789 99 3280 3281 3282 3284 3285 3286 3287 3288 3289
50 2790 2791 2792 2794 2795 2796 2797 2798 2799 100 3290 3291 3292 3294 3295 3296 3297 3298 3299
Appendix - 28
APPENDICES
MELSEC-A
(3) For axis 3
Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
1 3300 3301 3302 3304 3305 3306 3307 3308 3309 51 3800 3801 3802 3804 3805 3806 3807 3808 3809
2 3310 3311 3312 3314 3315 3316 3317 3318 3319 52 3810 3811 3812 3814 3815 3816 3817 3818 3819
3 3320 3321 3322 3324 3325 3326 3327 3328 3329 53 3820 3821 3822 3824 3825 3826 3827 3828 3829
4 3330 3331 3332 3334 3335 3336 3337 3338 3339 54 3830 3831 3832 3834 3835 3836 3837 3838 3839
5 3340 3341 3342 3344 3345 3346 3347 3348 3349 55 3840 3841 3842 3844 3845 3846 3847 3848 3849
6 3350 3351 3352 3354 3355 3356 3357 3358 3359 56 3850 3851 3852 3854 3855 3856 3857 3858 3859
7 3360 3361 3362 3364 3365 3366 3367 3368 3369 57 3860 3861 3862 3864 3865 3866 3867 3868 3869
8 3370 3371 3372 3374 3375 3376 3377 3378 3379 58 3870 3871 3872 3874 3875 3876 3877 3878 3879
9 3380 3381 3382 3384 3385 3386 3387 3388 3389 59 3880 3881 3882 3884 3885 3886 3887 3888 3889
10 3390 3391 3392 3394 3395 3396 3397 3398 3399 60 3890 3891 3892 3894 3895 3896 3897 3898 3899
11 3400 3401 3402 3404 3405 3406 3407 3408 3409 61 3900 3901 3902 3904 3905 3906 3907 3908 3909
12 3410 3411 3412 3414 3415 3416 3417 3418 3419 62 3910 3911 3912 3914 3915 3916 3917 3918 3919
13 3420 3421 3422 3424 3425 3426 3427 3428 3429 63 3920 3921 3922 3924 3925 3926 3927 3928 3929
14 3430 3431 3432 3434 3435 3436 3437 3438 3439 64 3930 3931 3932 3934 3935 3936 3937 3938 3939
15 3440 3441 3442 3444 3445 3446 3447 3448 3449 65 3940 3941 3942 3944 3945 3946 3947 3948 3949
16 3450 3451 3452 3454 3455 3456 3457 3458 3459 66 3950 3951 3952 3954 3955 3956 3957 3958 3959
17 3460 3461 3462 3464 3465 3466 3467 3468 3469 67 3960 3961 3962 3964 3965 3966 3967 3968 3969
18 3470 3471 3472 3474 3475 3476 3477 3478 3479 68 3970 3971 3972 3974 3975 3976 3977 3978 3979
19 3480 3481 3482 3484 3485 3486 3487 3488 3489 69 3980 3981 3982 3984 3985 3986 3987 3988 3989
20 3490 3491 3492 3494 3495 3496 3497 3498 3499 70 3990 3991 3992 3994 3995 3996 3997 3998 3999
21 3500 3501 3502 3504 3505 3506 3507 3508 3509 71 4000 4001 4002 4004 4005 4006 4007 4008 4009
22 3510 3511 3512 3514 3515 3516 3517 3518 3519 72 4010 4011 4012 4014 4015 4016 4017 4018 4019
23 3520 3521 3522 3524 3525 3526 3527 3528 3529 73 4020 4021 4022 4024 4025 4026 4027 4028 4029
24 3530 3531 3532 3534 3535 3536 3537 3538 3539 74 4030 4031 4032 4034 4035 4036 4037 4038 4039
25 3540 3541 3542 3544 3545 3546 3547 3548 3549 75 4040 4041 4042 4044 4045 4046 4047 4048 4049
26 3550 3551 3552 3554 3555 3556 3557 3558 3559 76 4050 4051 4052 4054 4055 4056 4057 4058 4059
27 3560 3561 3562 3564 3565 3566 3567 3568 3569 77 4060 4061 4062 4064 4065 4066 4067 4068 4069
28 3570 3571 3572 3574 3575 3576 3577 3578 3579 78 4070 4071 4072 4074 4075 4076 4077 4078 4079
29 3580 3581 3582 3584 3585 3586 3587 3588 3589 79 4080 4081 4082 4084 4085 4086 4087 4088 4089
30 3590 3591 3592 3594 3595 3596 3597 3598 3599 80 4090 4091 4092 4094 4095 4096 4097 4098 4099
31 3600 3601 3602 3604 3605 3606 3607 3608 3609 81 4100 4101 4102 4104 4105 4106 4107 4108 4109
32 3610 3611 3612 3614 3615 3616 3617 3618 3619 82 4110 4111 4112 4114 4115 4116 4117 4118 4119
33 3620 3621 3622 3624 3625 3626 3627 3628 3629 83 4120 4121 4122 4124 4125 4126 4127 4128 4129
34 3630 3631 3632 3634 3635 3636 3637 3638 3639 84 4130 4131 4132 4134 4135 4136 4137 4138 4139
35 3640 3641 3642 3644 3645 3646 3647 3648 3649 85 4140 4141 4142 4144 4145 4146 4147 4148 4149
36 3650 3651 3652 3654 3655 3656 3657 3658 3659 86 4150 4151 4152 4154 4155 4156 4157 4158 4159
37 3660 3661 3662 3664 3665 3666 3667 3668 3669 87 4160 4161 4162 4164 4165 4166 4167 4168 4169
38 3670 3671 3672 3674 3675 3676 3677 3678 3679 88 4170 4171 4172 4174 4175 4176 4177 4178 4179
39 3680 3681 3682 3684 3685 3686 3687 3688 3689 89 4180 4181 4182 4184 4185 4186 4187 4188 4189
40 3690 3691 3692 3694 3695 3696 3697 3698 3699 90 4190 4191 4192 4194 4195 4196 4197 4198 4199
41 3700 3701 3702 3704 3705 3706 3707 3708 3709 91 4200 4201 4202 4204 4205 4206 4207 4208 4209
42 3710 3711 3712 3714 3715 3716 3717 3718 3719 92 4210 4211 4212 4214 4215 4216 4217 4218 4219
43 3720 3721 3722 3724 3725 3726 3727 3728 3729 93 4220 4221 4222 4224 4225 4226 4227 4228 4229
44 3730 3731 3732 3734 3735 3736 3737 3738 3739 94 4230 4231 4232 4234 4235 4236 4237 4238 4239
45 3740 3741 3742 3744 3745 3746 3747 3748 3749 95 4240 4241 4242 4244 4245 4246 4247 4248 4249
46 3750 3751 3752 3754 3755 3756 3757 3758 3759 96 4250 4251 4252 4254 4255 4256 4257 4258 4259
47 3760 3761 3762 3764 3765 3766 3767 3768 3769 97 4260 4261 4262 4264 4265 4266 4267 4268 4269
48 3770 3771 3772 3774 3775 3776 3777 3778 3779 98 4270 4271 4272 4274 4275 4276 4277 4278 4279
49 3780 3781 3782 3784 3785 3786 3787 3788 3789 99 4280 4281 4282 4284 4285 4286 4287 4288 4289
50 3790 3791 3792 3794 3795 3796 3797 3798 3799 100 4290 4291 4292 4294 4295 4296 4297 4298 4299
Appendix - 29
APPENDICES
MELSEC-A
Appendix 4 Comparisons with old versions of A1SD75M1/A1SD75M2/A1SD75M3, and
AD75M1/AD75M2/AD75M3 models
The following tables indicate performance comparison and function comparison
between the new and old versions of the A1SD75M1/A1SD75M2/A1SD75M3 and
AD75M1/AD75M2/AD75M3 and buffer memory addresses for additional functions.
(1) Function comparison
<Comparison on software version >
Software versions of A1SD75M and AD75M
Item Reference
"W" or later "Q" or later "G" or later "F" or earlier
Restart at servo OFF to ON Possible Possible Possible Not possible Section 12.4.5
Near pass Positioning address pass mode Present Present Present Present
mode Section 12.3.3
function Near pass mode Present Present Present Absent
Parameter initialization function Possible Possible Possible Not possible Section 13.2
Regenerative load ratio Possible Possible Possible Not possible
Effective load ratio Possible Possible Possible Not possible
Peak load ratio Possible Possible Possible Not possible
Auto tuning Possible Possible Not possible Not possible
Load inertia ratio Possible Possible Not possible Not possible
Axis monitor Position loop gain 1 Possible Possible Not possible Not possible Section 5.6.2
Values set to
Speed loop gain 1 servo amplifier Possible Possible Not possible Not possible
Position loop gain 2 are always Possible Possible Not possible Not possible
stored*1.
Speed loop gain 2 Possible Possible Not possible Not possible
Speed integral
Possible Possible Not possible Not possible
compensation
Zero point Near-point dog method 2) Possible Possible Not possible Not possible Section 8.2.4
return
method Count method 3) Possible Possible Not possible Not possible Section 8.2.7
Absolute position restoration mode switching
Possible Not possible Not possible Not possible Section 12.6.2
function
Selection of whether encoder output pulse
function and slight vibration suppression function
Possible Not possible Not possible Not possible Section 5.2.10
are valid or invalid when servo amplifier MR-J2S-
B is used
*1: When auto tuning is invalid, the values set to the servo amplifier are also stored.
<Comparison on hardware version>
Hardware versions of A1SD75M and AD75M
A1SD75M1/M2 : "G" or later A1SD75M1/M2 : "F" or earlier
Item A1SD75M3 : "H" or later A1SD75M3 : "G" or earlier
AD75M1/M2 : "F" or later AD75M1/M2 : "E" or earlier
AD75M3 : "G" or later AD75M3 : "F" or earlier
Memory used for absolute position detection 2
FeRAM E PROM
system
2
E PROM/FeRAM access count in absolute 9
Max. 9.9999 10 times Max. 100,000 times
position detection system
Appendix - 30
APPENDICES
MELSEC-A
(2) Added buffer memory addresses
Buffer memory addresses
Name Used function
Axis 1 Axis 2 Axis 3
64 214 364 Setting for the restart allowable range
Restart function
65 215 365 when servo OFF to ON
Near pass mode selection for path
66 216 366 Near pass mode function
control
Absolute position restoration mode
91 241 391 Absolute position restoration selection
switching function
138 288 438 Encoder output pulses Encoder output pulse function*2
Encoder output pulse function*2
149 299 449 Servo parameter transmission setting
Slight vibration suppression function*2
876 976 1076 Regenerative load ratio
877 977 1077 Effective load ratio
878 978 1078 Peak load ratio
879 979 1079 Absolute position restoration mode Axis monitor
880 980 1080
to to to FeRAM access count
883 983 1083
1139 Parameter initialization request Parameter initialization function
*2: Function of servo amplifier MR-J2S-B.
Appendix - 31
APPENDICES
MELSEC-A
Appendix 5 MELSEC Explanation of positioning terms
2-SPEED TRAPEZOIDAL CONTROL
In this positioning control method, the ABSOLUTE POSITION DETECTION
positioning pattern, positioning addresses (P1, SYSTEM
P2), and positioning speeds (V1, V2) are set in When positioning is carried out using this
the sequence program. Positioning is carried system, a zero point return can be carried out
out to positioning address P1 by issuing the once when the device is started to allow the
1st positioning start command. When P1 is machine position to be stored in the memory
reached, the positioning then automatically and the current position to be held even when
changes to positioning at the V2 speed. the power is turned OFF. These will be
compensated if mechanical deviation occurs,
Positioning speed V1 so a zero point return is not required after the
power is turned ON again. A servomotor with
Speed
Positioning speed V2
an absolute position detector and servo
Positioning address P2 amplifier and positioning module compatible
with an absolute position detection system are
Time required to configure this system.
Positioning address P1
ABSOLUTE SYSTEM
ABSOLUTE ENCODER This is one system for expressing a positioning
This is a detector that enables the angle data address.
within 1 motor rotation to be output to an Absolute address system.
external destination. Absolute encoders are This system uses 0 as a reference, and
expresses the address as the distance from 0.
generally able to output 360° in 8 to 12 bits.
The direction is automatically determined,
Incremental encoders have a disadvantage in
even when it is not designated. The other
that the axis position is lost when a power
address system is the increment system.
failure occurs. However, with absolute
encoders, the axis position is not lost even
0 No.1 No.2 No.3
when a power failure occurs.
Various codes such as a binary code and BCD
code can be output.
Absolute encoders are more expensive, more
accurate, and larger than incremental
encoders. Refer to "ENCODER".
Fixed slit ACCELERATION TIME
Light-emitting diode
Slit disk
2
2
0
1
The parameter acceleration time refers to the
234
2
time from a stopped state to the time the
Phototransistor speed limit value is reached, so it becomes
proportionally shorter as the setting speed
decreases. The acceleration time is
24
23 determined by factors such as machine inertia,
22 motor torque, and load resistance torque.
Rotating 2 1
axis 20
Binary code Speed limit value
Setting speed
Speed 0 Time
Acceleration time
Appendix - 32
APPENDICES
MELSEC-A
ADDRESS BACKLASH COMPENSATION
1) This is a numerical value to express the When a forward run operation changes to a
positioning position, designated in mm, inch, reverse run operation, there is sometimes play
angle, or No. of pulse units. (backlash) in the mesh of the toothed gears.
2) The memory address. Many addresses are This also occurs when using a worm gear.
stored in the memory. An address is read or Because of this backlash, a left feed of 1m
written after it is designated. carried out after a right feed of 1m will not be
sufficient to return the machine to its original
AFTER mode position. The machine cannot be positioned to
This is the mode that outputs the M code after its original position without an extra feed
positioning is complete (after stopping). equivalent to the backlash amount. This
Clamping can be commanded, drilling function compensates for that backlash
dimensions can be selected, etc., with this amount.
mode.
Forward run
No.10 Positioning No.11
M code (8)
ON OFF
Clamp command
Backlash
Machine
AUTO TUNING (Automatic Tuning) 1m (right feed) does not
move.
Properties such as responsiveness and
1m (left feed)
stability of machines driven with a servomotor Backlash
are affected by changes in the inertia moment (Left feed amount)
and rigidity due to changes in the machine
load, etc.
This function automatically adjusts the speed
loop gain and position loop gain to match the BACKUP FUNCTION
machine state, so the machine's performance Backup functions consist of the following.
can be maintained at its optimum state. 1) Functions for storing the sequence program
A real time automatic tuning function should be and device statuses stored in the RAM
used for machines having large load memory of the PLC CPU, so that they are
fluctuations. not lost during power failures, etc.
2) Functions for storing the current value in
absolute position compatible systems so
AUTOMATIC TRAPEZOIDAL that it is not lost during power failures, etc.
ACCELERATION/DECELERATION 3) Functions for reading the PLC CPU data
An operation in which a graph of the time and (PLC programs, parameters, positioning
speed takes a trapezoidal shape. data, etc.) by a peripheral device when the
old CPU is replaced, and then write it to the
Acceleration new PLC CPU after the replacement is
Deceleration completed.
Speed
Time
Appendix - 33
APPENDICES
MELSEC-A
BALL SCREW CIRCULAR INTERPOLATION
This is a type of screw, with balls lined up in Automatic operation in which the machine path
the threads like ball bearings. This reduces makes a circle when positioning is carried out
backlash, and enables rotation with little force. by simultaneously operating both the
longitudinal feed and latitudinal feed motors.
Female thread The normal unit is 90°. Round shapes can be
Male thread created with this type of interpolation, and
obstacles in the machine path can also be
avoided. Refer to the terms "INTERPOLATION
OPERATION" and "LINEAR
INTERPOLATION"
BIAS SPEED AT START
A large amount of torque is required when the Obstacle
machine starts moving, but the torque may be A B C D
unstable at speed 0. Therefore, movement can Collision
be smoothly carried out by starting the
movement at a given speed from the
beginning. The bias speed at start is the speed COMPOSITE SPEED
set at that start. The movement speed for the target control
during interpolation operations.
Full speed
Y axis
Bias speed Composite speed
Speed 0 speed
X axis speed
BUSY
The device is doing some other work. It is in a
positioning operation or in dwell time. CONTINUOUS POSITIONING CONTROL
Refer to the term "OPERATION PATTERN".
CCW (Counterclockwise)
Rotation in the counterclockwise direction. In CONTROL UNIT
the motor, this is determined looking from the This is one type of positioning reference data.
shaft end side. Also refer to "CW". The unit to be used is designated as mm, inch,
degree, or pulse.
CHANGE signal
CP CONTROL (Continuous Path Control)
The CHANGE signal is an external signal used
Continuous path is a control method in which a
to change the speed/position control from the
path is followed without interrupting such as in
speed control being executed to position
uniform speed control.
control.
Appendix - 34
APPENDICES
MELSEC-A
CREEP SPEED CW (Clockwise)
A speed at which the machine moves very Rotation in the clockwise direction. Rotation in
slowly. the clockwise direction looking from the motor
It is difficult for the machine to stop accurately shaft end side.
when running at high speed, so the movement
must first be changed to the creep speed before
stopping. DATA NO.
Refer to the term "NEAR-POINT DOG".
To carry out positioning to 2 or more
addresses, each position is assigned a
sequence No. such as No. 1, No. 2, No. 3, etc.
CURRENT FEED VALUE
The positioning is then carried out following
The zero point address at the completion of the
this sequence. The AD75 is capable of
machine zero point return is stored.
positioning up to No. 600.
The position currently being executed is stored.
This value changes when the current value is No.4
changed. No.2
No.6
CURRENT LOOP MODE No.1 No.3
No.5
This is one servo control mode used in
positioning. It is a mode for controlling the
torque using the current. Also called the torque
DECELERATION RATIO
loop mode. Refer to "POSITIONING LOOP
MODE". A ratio used when the machine is decelerated
using a toothed gear. This ratio is a numeral
larger than 1.
CURRENT VALUE
This is the current address (position) when Deceleration Input gear speed
ratio =
stopped or during positioning. Output gear speed
CURRENT VALUE CHANGE DECELERATION TIME
The AD75 has no way of knowing the current The parameter deceleration time is the same
value when the machine is assembled and the value as the acceleration time. Deceleration
AD75 is connected, so this function is used to time refers to the time from the speed limit
teach it a temporary approximate value as the value to a stopped state, so it becomes
current value. This function can also be used proportionally shorter as the setting speed
to write a temporary current value when the decreases.
current value has been lost due to accidents,
Speed limit value
etc. If a machine zero point return is carried
out after that, the AD75 will recognize the zero Setting speed
point.
In fixed-dimension feed, etc., rewriting the
current value to 0 after the fixed-dimension
feed will keep the accumulated value from Speed 0 Time
being affected by the stroke limit. The current
value can be changed during a positioning Deceleration time
stop.
Appendix - 35
APPENDICES
MELSEC-A
DEVIATION COUNTER DWELL TIME
Deviation counters have the following two This is the time taken immediately after the
functions. positioning is completed to adjust for the droop
1) To count the command pulses issued from pulses in the deviation counter. The
the AD75, and transmit the count value to positioning will not be accurate if this time is
the D/A converter. too short.
2) To subtract the feedback pulses from the
command pulses, and run the motor by the
deviation value (droop pulse) of the DYNAMIC BRAKE
command pulses and feedback pulses until When protection circuits operate due to power
the command pulses reaches 0. failures, emergency stops (EMG signal) etc.,
this function is used to short-circuit between
Command
pulses Deviation D/A servomotor terminals via a resistor, thermally
Motor consume the rotation energy, and cause a
counter convertor
sudden stop without allowing free run status of
the motor.
Feedback pulses
PLG Encoder Braking power is generated by
electromagnetic brakes only when running
motors with which a large brake torque can be
obtained. Because electromagnetic brakes
DOG SIGNAL
have no holding power, they are used in
The near-point dog of the machine zero point combination with mechanical brakes to prevent
return. dropping of the vertical axis.
DROOP PULSE ELECTROMAGNETIC BRAKE
2
Because of inertia (GD ) in the machine, it will This function is supplied on motors with
lag behind and not be able to track if the electromagnetic brakes. Electromagnetic
positioning module speed commands are brakes are used to prevent slipping during
issued in their normal state. power failures and faults when driving a
Thus, for a servomotor, a method is used in vertical axis, or as a protective function when
which the speed command pulses are delayed the machine is stopped.
by accumulation in a deviation counter. These These brakes are activated when not excited.
accumulated pulses are called the droop
pulse.
The deviation counter emits all pulses and EMERGENCY STOP
returns to 0 when the machine stops. Emergency stops cannot be carried out by the
AD75, so a method of shutting OFF the servo
1,000 200 pulses 800 side power supply from outside the PLC, etc.,
pulses accumulate pulses
in the
D/A Voltage must be considered.
counter
Appendix - 36
APPENDICES
MELSEC-A
ENCODER EXTERNAL REGENERATIVE BRAKE
This device turns the input data into a binary RESISTOR
code of 1 (ON) and 0 (OFF). A type of pulse This is also called the regenerative brake.
generator. When a machine is moved with a motor, power
is normally supplied to the motor from an
For the main For the zero amplifier. However, the rotation energy in the
signal point signal
Ball bearing
motor and machine counterflows (regenerates)
to the amplifier when the motor is decelerating
Code disk or when driving a descending load.
The external regenerative resistor consumes
Z
this regeneration energy with resistance,
obtains the regenerative brake torque, and
Input axis
enables the full capacity of the regeneration
A B system during stopping.
Photoreceptor Light source It is used when carrying out highly repetitive
Index
(phototransistor) scale (light-emitting diode) acceleration/deceleration.
Rotary encoder
Light source
F
(LED) Collimator lens In the AD75, this is a status where there is a
fault in the module itself.
b
Main scale
Photoreceptor FEEDBACK PULSE
(photodiode)
a This is a method of using a returning pulse
Reference
a train to confirm whether the machine faithfully
b z operated according to the commands issued in
zero point Index
scale automatic control. If the machine did not
faithfully operate according to the commands,
Linear encoder
a correction command is issued. For example,
if a command is issued for 10,000 pulses, and
a feedback pulse of 10,000 pulses is returned,
ERROR CORRECTION then the balance becomes 0 and it can be
If a dimension error occurs in the machine, judged that the command was faithfully
and that error is actually smaller or larger than followed.
1m in spite of a 1m command being issued Refer to the term "DEVIATION COUNTER".
from the AD75, that error amount will be
compensated. For example, when the error is
actually smaller than 1m, the remaining FIXED-DIMENSION FEED
distance to 1m is fed, and the correct 1m of
This is the feeding of a set dimension for
positioning is carried out.
cutting sheet and bar workpieces into the
designated dimensions. Increment system
positioning is often used. The current value is
ERROR RESET not incremented, even when the feed
This resets error of axis. Note that if the cause operation is repeated.
of the error is not eliminated at that time, the
error will occur again.
FLASH MEMORY
This battery-less memory can be used to store
parameters and positioning data for backup.
Because it is battery-less, battery maintenance
is not required.
Appendix - 37
APPENDICES
MELSEC-A
FLS SIGNAL (Forward Limit Signal) HIGH-SPEED ZERO POINT RETURN
This is the input signal that notifies the user The axis returns to the machine zero point at
that the limit switch (b contact configuration, the zero point return speed without detecting
normally continuity) installed at the upper limit the near-point dog.
of the positioning control enabled range was (This is not validated unless a machine zero
activated. point return has been carried out first.)
The positioning operation stops when the FLS
signal turns OFF (non-continuity). Zero point return speed
GAIN
The changing of the ratio between two values Zero point
having a proportional relation. Seen on a
graph, the changing of the incline of the
characteristics. Near-point dog switch
Raising
the gain
13 INCREMENT SYSTEM
10 The current value is 0 in this system. Positions
are expressed by the designated direction and
distance of travel. Also called the relative
Output Lowering address system. This system is used in fixed-
the gain dimension feed, etc. Compare ABSOLUTE
2
SYSTEM.
10
Input No.1 No.2 No.3
Stop
For example, when 10 is output for an input of
0
10, the output can be changed to 12, 5, etc.,
by changing the gain. Left
0 0
Right Right No. 2 is several millimeters
HIGH-SPEED MACHINE ZERO POINT to the right of No. 1.
RETURN
In this zero point return method the near-point
dog is not detected. The positioning data
address is replaced with the machine zero
point address, and the positioning data is
executed to carry out high-speed positioning to
the zero point at a designated speed.
(This is not validated unless a machine zero
point return has been carried out first.)
Positioning data command speed
Zero point
Near-point dog switch
Appendix - 38
APPENDICES
MELSEC-A
INCREMENTAL ENCODER INTERLOCK
A device that simply outputs ON/OFF pulses In this condition, the machine is blocked from
by the rotation of the axis. 1-phase types moving to the next operation until the
output only A pulses, and do not indicate the operation in progress is complete. This
axis rotation direction. 2-phase types output function is used to prevent damage to devices
both A and B pulse trains, and can judge the and malfunctioning.
rotation direction. The direction is judged to be
forward if the B pulse train turns ON when A is Y1
Y0 Forward run
ON, and judged to be reverse if A turns ON
when B is ON. There is also another type of Y0
Y1 Reverse run
incremental encoder with a zero point signal.
The most commonly used incremental
encoders output between 100 and 10,000
pulses per axis rotation. Refer to "ENCODER". INTERPOLATION OPERATION
B signal slit The operation of two motors simultaneously to
A signal slit carry out a composite operation. The
Light-emitting diode
Slit disk A positioning distance, acceleration/deceleration
B
Z time, speed, etc., for the two motors can be
Phototransistor Zero signal slit
freely set, but they will be combined to move
1 pitch
the machine in a straight line, circle, etc.
Rotating axis
Interpolation operations consist of linear
interpolation and circular interpolation.
1
A
4
pitch
B
1 pulse per axis rotation
Zero point signal INVERTER
Output waveform 2-phase + zero point output
This refers to a device to change a direct
current (DC) to an alternating current (AC).
The device actually changes the motor speed
INERTIA by changing 50Hz or 60Hz of commercial
The property of an object, when not being frequency to direct current once, then
affected by external forces, where it tries to changing it again to a 5 to 120Hz alternating
maintain its current condition. The inertia current and controlling the motor speed.
moment.
JOG
INPUT TERMINAL This refers to moving the tool in small steps at
This is a pin connector wired by the user for a time. Inching.
inputting data to the AD75 from an external Parameter setting is required when carrying
source. It is connected to the machine side. out JOG operation.
This terminal is used to output the following.
• Near-point dog signal
• Stop signal kPPS
• Upper limit signal
This is the abbreviation for "kilopulses per
• Lower limit signal
second". 80kPPS equals 80,000 pulses per
• External start signal
second.
• Speed/position changeover signal
• Manual pulse generator
The input No. Xn is not directly related to the
program, so it is not used.
Appendix - 39
APPENDICES
MELSEC-A
LIMIT SWITCH LOW-INERTIA MOTOR
This is a switch set to stop a moving object at This is a motor used when frequent
both ends, etc., of a movement device for acceleration/deceleration is repeated. Low-
safety reasons. inertia motors are longitudinally longer, to
A circuit is created in which the moving body decrease the rotor diameter and cover the
itself presses against the switch to activate the torque. This enables their inertia moment to be
contact and forcibly shut the power OFF. For reduced up to 1/3 that of standard motors. The
example, pressing on the actuator in the ideal load inertia ratio is 1 or less.
drawing below activates the internal
microswitch. There are various other types.
M CODE (Machine Code)
These are auxiliary functions that interlock with
Actuator
the positioning operation to replace drills,
Push plunger tighten and loosen clamps, raise and lower
welding electrodes, display various data, etc.
Rubber cap Either of two modes can be entered when the
Lead Case machine code turns ON: AFTER or WITH.
The machine does not move to the next
Microswitch positioning when the machine code is ON. M
NC NO COM
codes are turned OFF by the PLC program.
Code Nos. from 1 to 32767 assigned by the
user and used (1: Clamp, 2: Loosen, etc.).
LINEAR INTERPOLATION Comments can be written after 50 of the M
codes, and they can be monitored using a
This automatic operation simultaneously
peripheral device or displayed on an external
operates the latitudinal (X) feed and
display. Refer to "AFTER MODE" and "WITH
longitudinal (Y) feed motors to move the
MODE".
machine in a diagonal line when positioning.
Linear interpolation combining axis 1 and axis
2 is possible with the AD75, but the same
positioning data Nos. must be used. Refer to
MACHINE FEED VALUE
the term "INTERPOLATION OPERATION". The zero point address at the completion of
the machine zero point return is stored.
No.9 The current position of the machine
coordinates determined by a machine having
the zero point address as a reference.
Longitudinal Even if the current value is changed, this value
4
feed
3
5 will not change.
6
2
No.8 7 MANUAL PULSE GENERATOR
No.1
Latitudinal feed The handle of this device is manually rotated
to generate pulses. This device is used when
manually carrying out accurate positioning.
Made by Mitsubishi Electric Corp.
(model: MR-HDP01)
Appendix - 40
APPENDICES
MELSEC-A
MASTER AXIS OPERATION PATTERN
When carrying out interpolation operations, The kind of operation to be carried out after
this is the side on which the positioning data is executing the positioning data is determined.
executed in priority. For example, when 1) If "POSITIONING COMPLETE" is selected,
positioning with the X axis and Y axis, the side the operation will stop after the positioning
with the largest movement distance will is complete.
become the master axis, and the speed will
2) If "CONTINUOUS POSITIONING
follow that axis. The slave axis speed will be
CONTROL" is selected, the next data No.
ignored.
will be automatically executed after the
positioning is complete.
MOVEMENT AMOUNT PER PULSE 3) If "CONTINUOUS PATH CONTROL" is
selected, the positioning will not be
When using mm, inch, or angle units, the completed. Only the speed will be
movement amount is calculated and output automatically changed, and the next data
from the machine side showing how much the No. will be executed.
motor shaft moves per pulse. Positioning
accuracy in smaller units is not possible.
On the motor side, the movement amount per OVERRIDE FUNCTION
axis rotation is normally designed as a
reference, so it is calculated as follows. With this function, the speed during positioning
operations (current speed) can be varied
Movement amount per pulse = between 1 and 300%.
P rate The speed can also be changed by the same
Movement amount
No. of pulses per × variable rate for continuous positioning with
per rotation
encoder rotation differing designated speeds.
P RATE (Pulse Rate)
Amount the motor moves (travel) per pulse. A coefficient that magnifies the feedback
pulses per motor shaft rotation by 2-fold, 3-
fold, 1/2 or 1/3.
MULTIPLYING RATE SETTING It is the ratio of the feed pulses and feedback
The P rate. Refer to the term "P RATE". pulses.
For example, when the No. of pulses per
motor shaft rotation is set to 2400 pulses, and
NEAR-POINT DOG the P rate is set to 2, the result will be
equivalent to 1200 pulses.
This is a switch placed before the zero point. The rotation per pulse is 0.15° when 2400
When this switch turns ON, the feedrate is
pulses per rotation are set, but this becomes
changed to the creep speed. Because of that,
0.3° when 1200 pulses. The positioning
the time that this switch is ON must be long
accuracy drops as the P rate is increased.
enough to allow for the time required for
deceleration from the feedrate to the creep
speed.
PANCAKE MOTOR
Feedrate The axial dimension of this motor is approx.
100mm shorter than that of a standard motor.
This type of motor is used when the
servomotor installation space is narrow.
Creep speed
ON OFF
Time
Near-point dog
Appendix - 41
APPENDICES
MELSEC-A
PARAMETER POSITIONING
This is the basic data used in positioning. Accurately moving the machine from a point to
Parameters are determined by the machine a determined point. The distance, direction,
side design, so subsequent changes of speed, etc., for that movement are designated
parameters must be accompanied by changes by the user. Positioning is used in operations
in the machine design. such as cutting sheets, drilling holes in plates,
Data cannot be written during positioning. The mounting parts on a PCB, and welding.
initial parameter values are written by the Positioning is also used with robots.
maker.
POSITIONING COMPLETE SIGNAL
POSITION CONTROL
This is a signal that occurs when the
This is mainly the control of position and positioning is complete. A timer set beforehand
dimension, such as in fixed-dimension feed, starts when this signal is output, and the
positioning, numerical control, etc. This is machine movement stops for that time.
always controlled with feed pulses. There is This signal is used to turn OFF the positioning
also speed control. start signal.
Dwell time
POSITION LOOP GAIN Positioning complete
This is the ratio of the deviation counter droop signal
pulse count to the command speed (pulse/s).
Position Command speed
= (1/s)
loop gain Droop pulse count Positioning Different type of work
The position loop gain can be set with the
Time
servo amplifier. Raise the gain to improve the
stopping accuracy. However, overshooting will
occur if the position loop gain is raised too far,
and the operation will become unstable. POSITIONING DATA
If the position loop gain is lowered too far, the This is data for the user to carry out
machine will stop more smoothly but the positioning. The No. of points to which
stopping error will increase. positioning is carried out (the No. of
addresses) is designated by the user. In the
AD75, this is a maximum of 600 points.
POSITION LOOP MODE As a principle, positioning is executed in the
This is one servo control mode used in order of the data Nos.
positioning. It is a mode for carrying out
position control. The other servo control
modes are the speed loop mode for carrying POSITIONING PARAMETER
out speed control, and the torque loop mode This is basic data for carrying out positioning
for carrying out torque control (current control). control. Types of data include control unit,
movement amount per pulse, speed limit
Servo amplifier Servomotor value, upper and lower stroke limit values,
acceleration/deceleration time, positioning
Droop pulses method, etc.
Pulse train Parameters have an initial value, so that value
Posi-
tion
Speed Cur-
rent Inverter M
is changed to match the control conditions.
control
control control
Current feedback
Speed feedback
Position feedback Interface PLG
Appendix - 42
APPENDICES
MELSEC-A
POSITIONING START REGENERATIVE BRAKE OPTION
This refers the act of designating a target data This function is an option. It is used when
No. and starting the positioning. carrying out highly repetitive
The operation after the positioning is complete acceleration/deceleration.
for that data No. is determined by the data Refer to "EXTERNAL REGENERATIVE
No.'s positioning pattern. RESISTOR".
PTP Control (Point To Point Control) RLS SIGNAL (Reverse Limit Signal)
This is a type of positioning control. With this This is the input signal that notifies the user
control method, the points to be passed are that the limit switch (b contact configuration,
designated at random locations on the path. normally continuity) installed at the lower limit
Movement only to a given target positioning is of the positioning control enabled range was
requested. Path control is not required during activated.
movement from a given point to the next value. The positioning operation stops when the RLS
signal turns OFF (non-continuity).
PU (Programming Unit)
This is the abbreviation for "programming unit". ROTARY TABLE
A round table on which the workpiece is
placed. Positioning control is carried out while
PULSE rotating the workpiece in a 360° range.
The turning ON and OFF of the current
(voltage) for short periods. A pulse train is a
series of pulses. S-PATTERN
ACCELERATION/DECELERATION
In this pattern, the acceleration and
deceleration follow a sine curve, and the
movement is smooth. The S-pattern proportion
can be set from 1 to 100%.
REAL-TIME AUTO TUNING (Real-time
Automatic Tuning)
Refer to "AUTO TUNING".
Acceleration Deceleration
REFERENCE AXIS SPEED
This is the speed of the reference axis during
interpolation operations.
Y axis speed
(interpolation axis)
X axis speed
(reference axis)
Reference axis speed
Appendix - 43
APPENDICES
MELSEC-A
SERVO LOCK SKIP FUNCTION
In positioning using a servomotor, working When a SKIP signal is input, the positioning
power is required to hold the machine at the being executed is interrupted, the motor is
stop position. deceleration stopped, and the next positioning
(The position will be lost if the machine is is automatically carried out.
moved by external power.)
This kind of state is called servo lock or servo
lock torque. SLAVE AXIS
During interpolation operation, the positioning
data is partially ignored on this side. This axis
Table is moved by the master axis data.
M SPEED CHANGEOVER CONTROL
With this control, positioning is carried out to
the end point of the movement amount while
Motor holds the position changing the speed at the speed changeover
at the stop position. point during positioning control.
SERVO ON SPEED CONTROL
The servo amplifier will not operate if the servo Speed control is mainly carried out with the
amplifier is in a normal state and this servo ON servomotor. It is an application for grindstone
signal is OFF. rotation, welding speed, feedrate, etc. Speed
control differs from position control in that the
current position (address) is not controlled.
READY Servo
AD75 Servo ON
amplifier
SPEED INTEGRAL COMPENSATION
This is one item in the servo parameters of the
positioning data. It is used to raise the
Motor PLG Encoder frequency response during speed control, and
improve transient characteristics.
When adjusting the speed loop gain, raising
this value is effective if the overshooting during
SERVOMOTOR acceleration/deceleration remains large.
A motor that rotates true to the command. This compensation is set in ms units.
Servomotors are highly responsive, and can
carry out frequent high-speed and high-
accuracy starts and stops. SPEED LIMIT VALUE
DC and AC types are available, as well as
This is the max. speed for positioning. Even if
large-capacity motors. A pulse encoder
other data is mistakenly set to a higher speed
accessory for speed detection is common, and
than this, the positioning will be carried out at
feedback control is often carried out.
this speed limit value when it is set in the
parameters. The acceleration time becomes
the time to accelerate from a stopped state to
SETTING UNIT the speed limit value, and the deceleration
This is one setting item of the positioning time becomes the time to decelerate from the
reference parameters. The unit to be used is speed limit value to a stopped state.
designated as mm, inch, degree, or pulse.
Appendix - 44
APPENDICES
MELSEC-A
SPEED LOOP GAIN STEP FUNCTION
This is one item in the servo parameters of the When the operation is designed so that
positioning data. It expresses the speed of the several positioning data Nos. are
control response during speed control. When consecutively run, this function can be used to
the load inertia moment ratio increases, the carry out a test operation for 1 data item at a
control system speed response decreases and time.
the operation may become unstable. If this
happens, the operation can be improved by
raising this setting value. STOP SETTLING TIME
The overshoot will become larger if the speed Refer to the term "DWELL TIME".
loop gain is raised too far, and motor vibration
noise will occur during operation and when
stopped. STOP SIGNAL
In positioning control, this is the input signal X
SPEED LOOP MODE that directly stops the operation from an
external source.
This is one servo control mode used in The operation stops when the external STOP
positioning. It is a mode for carrying out speed signal (a contact) turns ON (continuity), and X
control. Refer to "POSITION LOOP MODE". turns ON.
SPEED/POSITION CONTROL STROKE
CHANGEOVER MODE
The stroke is the variation in the operation by
This is one method used for positioning. It is the distance from a stopped state to the next
an application for operations such as high- stopped state after a movement.
speed movement to a point unrelated to
positioning, then set dimension movement
from the changeover signal activation point. STROKE LIMIT
Start Changeover signal
This is the range in which a positioning
operation is possible, or the range in which the
machine can be moved without damage
High speed Increment positioning
occurring.
For operations using a worm gear, the stroke
limit is determined by the length of the screw.
START COMPLETE For operations using a fixed-dimension feed, it
This signal gives an immediate response is determined by the max. dimension to be cut.
notifying the user that the AD75 that was The upper and lower limits are set in the
started is now in a normal state and can start parameters, but a separate limit switch should
positioning. be established and an emergency stop circuit
outside the PLC should be created. Refer to
the term "LIMIT SWITCH".
STARTING AXIS
Limit switch
One of the AD75 axis system axes (axis 1, for emergency
axis 2, or axis 3) or the reference axis for the stop
Lower limit Upper limit
interpolation operation is designated as the 0 3m
starting axis.
Positioning possible in a 3m range
STATUS
Data showing the state of the machine.
Collectively refers to signals that turn ON when
the battery voltage drops, during zero point
requests, during dwell time, etc.
Appendix - 45
APPENDICES
MELSEC-A
SUDDEN STOP TORQUE RIPPLE
A stop carried out in a shorter time than the Torque width variations, deviations in the
deceleration time designated in the torque.
parameters.
Full speed TURNTABLE
A rotating table, which is turned using power.
Sudden stop
The table is used divided from one 360°
rotation into the required locations for work.
The positioning control unit is "degree".
Time
Deceleration time
TEACHING
30°
When the positioning address is uncertain, or
gauging is required, this function is used by
the manual operation to search for and teach Rotated by the motor
the position to the machine.
For example, complex addresses such as
drawings can be taught by tracing a model, UNIT SETTING
and the positioning operation can be
reproduced. This is the setting of the unit for the actual
address to which positioning is required, or for
the movement amount.
TEACHING UNIT The following units can be set: mm, inch,
degree and pulse. The initial value in the
This is a device capable of writing, reading, parameters is a pulse unit.
running, and monitoring data.
It is used connected to the AD75. The model is
AD75TU. WARNING
A warning is output as a warning code in when
an abnormality is detected that is not serious
TORQUE CONTROL
enough to require cancellation or stoppage of
In this function, a limit is established for the the positioning operation. Warnings are
resistance torque applied to the servomotor. handled differently than errors.
The power is turned OFF if torque exceeding
that value is applied to the motor.
When excessive torque is applied to a motor, it WITH MODE
causes the current to suddenly increase. Motor
burning and other stress on the motor occurs, This is the mode that outputs the M code
and the life of the motor is shortened. before the start of the positioning. This mode
This function utilizes the sudden increase in turns ON at the positioning start, enabling
the torque when the machine returns to the voltage to be applied to the welding
zero point to issue a command to stop the electrodes, display of positioning speeds, etc.
motor. Refer to the term "AFTER MODE".
TORQUE LOOP MODE
Also called the current loop mode.
Refer to "POSITIONING LOOP MODE".
Appendix - 46
APPENDICES
MELSEC-A
WORM GEAR ZERO POINT RETURN PARAMETER
This is the basic screw in mechanisms that This parameter is required when returning to
position using screw rotation. Ball screws are the zero point. It is determined by the machine
often used to reduce backlash and dimension side design, so subsequent changes of this
error. parameter must be accompanied by changes
in the machine design.
Positioning The zero point is the reference for positioning
Worm gear
operations, so if the zero point is lost due to a
1 rotation power failure during positioning, or because
by the motor
the power is turned OFF and the machine is
Lead (feedrate per screw rotation) moved manually, etc., it can be restored by
carrying out a machine zero point return.
When a machine zero point return command is
XY TABLE issued, the machine will move in search of the
This is a device that moves a table in the X near-point dog regardless of the current value,
(latitudinal) and Y (longitudinal) directions so and will stop at the zero point. At this time, the
that positioning can be carried out easily. current value will be rewritten to the zero point
There are also commercially available address. Data cannot be written during
products. positioning. With the AD75, data is always
written for all axes (from 1 to 3 axes).
Y table Ball screw Refer to the term "NEAR-POINT DOG".
X table
X table
ZERO POINT RETURN REQUEST
Base table This signal turns ON when there is an error
Y axis
with the AD75. It will turn ON in the following
situations.
1) When the power is turned ON.
X axis 2) When the PLC READY signal turns from
OFF to ON.
3) When the machine zero point return starts.
ZERO POINT 4) When the servo amplifier power is turned
This is the reference position for positioning. OFF.
Positioning cannot start without a reference The user judges whether to carry out a
point. machine zero point return in the above
The zero point is normally set to the upper or situations.
lower stroke limit.
This point is the reference. ZERO POINT SHIFT FUNCTION
The zero point position can be shifted to the
Zero point
plus or minus direction by executing a machine
zero point return and determining a shift
amount for the position at the completion of
ZERO POINT RETURN METHOD the machine zero point return.
A zero point can be set at a position besides
The zero point return methods are shown the zero point position, or outside the dog
below. The method used depends on the switch.
machine structure, stopping accuracy, etc.
Machine zero point returns can be carried out
when the zero point return parameters are ZERO POINT SIGNAL
written.
1) Near-point dog method. Indicates PG0 (detected once per revolution)
2) Count method of the pulse encoder. Also called the Z phase.
3) Data setting method (In the case of the SSCNET connection type,
data equivalent to the zero point signal is sent
from the servo amplifier.)
Appendix - 47
APPENDICES
MELSEC-A
Appendix 6 Positioning control troubleshooting
Trouble type Questions/Trouble Remedy No.
The PLC CPU power was turned OFF or the PLC CPU
was reset, etc., during flash ROM writing, which deleted
Display reads "FFFFH" when a the data in the flash ROM.
parameter is read with a AD75 Initialize the parameters, and reset the required 1
software package. parameters.
(Refer to section "13.2 Parameter initialization function"
for details.)
Parameter
Set the Cd.10 Parameter initialization request to "1".
How can the parameters be
(Refer to section "13.2 Parameter initialization function" 2
returned to their initial values?
for details.)
A parameter error occurred
The parameter may have been overwritten in the
although the parameter was set
sequence program. 3
correctly in the AD75 software
Review the sequence program.
package.
In the AD75, deceleration stops are executed after the
machine exceeds hardware stroke limit range. Because of
The machine overruns if operating
this, more time is required for the deceleration stop as the
at high speeds when the hardware 4
speed increases, and the overrun becomes larger.
stroke limit range is exceeded.
(The deceleration time becomes shorter at lower speeds,
so the overrun becomes smaller.)
Hardware stroke limit Use a "JOG operation" or "Manual pulse generator
operation" to return the machine to inside the hardware
When the machine exceeded the
stroke limit range.
hardware stroke limit range,
(When the hardware stroke limit range is exceeded,
positioning toward inside the range 5
positioning will not start toward inside the range even
was started, but the machine did
when so commanded. Once the range is exceeded, a
not start.
return to inside the range can only be executed using a
"JOG operation" or "Manual pulse generator operation".)
Exactly one rotation is required,
but the setting range for a "degree"
Designate "360.000" in the INC control.
Degree unit setting is "0 to 359.999...". 6
The motor will make exactly one rotation.
Won't the rotation deviate by
"0.00...1"?
If the "movement amount per
Set "movement amount per pulse" in the AD75 using the
pulse" is calculated as written in
Movement amount three parameter values of Pr.2 to Pr.4 .
the manual, settings smaller than 7
per pulse Try setting the values following the explanations for each
the basic parameter setting range
parameter.
cannot be carried out.
Will an override setting value
It will be valid. 8
written before starting be valid?
During tracking control, will the
Override override still be valid after the point It will still be valid. 9
is passed?
How can the override be Set the " Cd.18 Positioning operation speed override" to
10
canceled? "100".
Appendix - 48
APPENDICES
MELSEC-A
Trouble type Questions/Trouble Remedy No.
How can the deceleration stop Set "1: Sudden stop" in the " Pr.38 Stop group 1 sudden
time during stopping be shortened stop selection", and reduce the setting value of " Pr.37 11
using the hardware stroke limit? Sudden stop deceleration time".
The value set for the acceleration/deceleration time is the
time required for the machine to accelerate from speed
The motor does not operate at "0" to the value set in " Pr.7 Speed limit value".
"60000ms" although the
Because of that, the acceleration/deceleration time will 12
acceleration/deceleration time is
set to "60000ms". also be shorter than "60000ms" if the command speed
value is smaller than the " Pr.7 Speed limit value".
(Refer to the explanation for Pr.8 for details.)
The trapezoidal and S-pattern acceleration/deceleration
Acceleration/decelerat Can each acceleration/ processing is a common setting for all
ion time deceleration time be individually acceleration/deceleration times, so individual setting is not
13
set to trapezoidal or S-pattern possible.
acceleration/deceleration? (Refer to the section "12.6.7 Acceleration/deceleration
process function".)
The machine starts and stops
suddenly when carrying out JOG
Review the parameter settings for acceleration/
operations and positioning
deceleration time, speed limit value, JOG speed limit 14
operations.
value, JOG acceleration/deceleration time, etc.
(Using an MR-J2S servo
amplifier.)
How can a value higher than A value up to "8388608ms" can be set when the " Pr.25
"65536ms" be set in the Size selection for acceleration/deceleration time" is set to 15
acceleration/deceleration time? "1".
The physical position deviates
from the commanded position, If the deviation counter value is not "0", the servo side is
although the positioning is still moving. 16
complete (and the monitored Increase the torque.
current position is correct).
Depending on the "Movement amount per pulse" setting,
the positioning may be insufficient by the error amount
Positional deviation when positioning is attempted to an address for which the
When positioning to "6300mm" is
No. of pulses was generated. This is because the
commanded with 1-axis direct
movement is controlled so as not to exceed the
control (ABS type), the machine 17
designated address when the error amount movement
position is "6299mm" when the
amount is generated to the AD75.
positioning is complete.
In this situation, adjust the "Movement amount per pulse"
setting so the positioning completes at the correct
position.
In this case, the following values will result.
• No. of pulses per rotation = 8192
A setting of "1µm = 1pulse" is • Movement amount per rotation = 10000
required in the following system. • Unit magnification = 10
Electronic gear • Ball screw pitch = 10mm 18
Therefore, the "Movement amount per pulse" will become
• No. of feedback pulses = "1.2207µm".
8192 pulse This value is fixed by the machine system, so it cannot be
changed.
Thus, the setting "1µm = 1 pulse" cannot be achieved.
Appendix - 49
APPENDICES
MELSEC-A
Trouble type Questions/Trouble Remedy No.
The machine only moves to
"10081230", although positioning
with a command value of
"10081234" carried out. Reset Pr.3 and Pr.2 in the following order.
How can the error be 1) Calculate "8192/8000 × 10081230/10081234".
compensated?
Error compensation 2) Obtain the reduced value. 19
The following values are currently
3) Set the numerator in " Pr.3 Movement amount per
set.
rotation", and the denominator in " Pr.2 No. of
• Pr.2 No. of pulses per pulses per rotation".
rotation = 8192
• Pr.3 Movement amount
per rotation = 8000
The near-point dog must be set to turn OFF at a position
after the zero point is passed.
When carrying out a count (When the machine zero point return is started on the
method machine zero point near-point dog ON in a count method machine zero point
return, the message "Leave return, the machine enters a normal zero point return
Sufficient Distance From The operation after returning to the near-point dog OFF
Zero Point Position To The Near- region.) 20
Point Dog OFF." appears. Is there (If the near-point dog is turned OFF before the zero point,
a problem and the machine zero point return is started between the
near-point dog OFF position and the zero point, the
if the distance is short? machine will mistakenly interpret that its current position is
before the near-point dog ON position, and it will pass
over the zero point and continue moving.)
Carry out the following measures.
1) Separate the near-point dog signal detection position
and zero point.
In the near-point dog method 2) Lower the values in " Pr.48 Zero point return speed"
machine zero point returns, the and " Pr.49 Creep speed". 21
stop positions are not uniform. 3) Confirm whether the near-point dog signal turn ON
normally.
4) Check that there is no play (backlash) in the machine
Zero point return system.
Can the machine zero point return A "Hardware stroke limit error" will occur and the
be carried out with the zero point operation will not be carried out.
return retry function when it is (The machine will interpret any position where the near- 22
started with the near-point dog ON point dog is ON as being within the working range, and
and the upper/lower limit OFF? that the upper/lower limit is ON.)
Are ABS and INC positioning They are possible.
possible without carrying out a In this case, the position where the power is turned ON is 23
zero point return? handled as the current feed position "0".
The zero point return request flag turns ON in the
following cases.
1) When the power is turned ON.
After a zero point return, the zero 2) When the PLC READY signal turns from OFF to ON.
point return request flag
3) When a machine zero point return is carried out. 24
sometimes turns ON for no
apparent reason. 4) When the servo amplifier power is turned OFF.
If no problem is found when the above are checked, then
it is possible that the communication is being interrupted
by "a fault in the SSCNET cable", "noise influence", etc.
The zero point return complete flag
( Md.40 Status: b4) sometimes Check whether the power supply is unstable. 25
turns ON when it shouldn't be ON.
Appendix - 50
APPENDICES
MELSEC-A
Trouble type Questions/Trouble Remedy No.
The positioning start signal [Y10] is
After the BUSY signal turns ON, there is no problem with
kept ON until the BUSY signal is
turning [Y10] OFF before the BUSY signal turns OFF.
OFF, but is there any problem with 26
(The AD75 detects the rising edge (OFF ON) of the
turning it OFF before the BUSY
positioning start signal [Y10].)
Start signal turns OFF?
Check the " Md.35 axis operation status" and " Md.33
The operation will not start even axis error No".
27
when the start signal is turned ON. Review the sequence program and normalize the start
timing.
The signal should be turned ON at 4ms or more.
How many ms should the axis stop (If possible, set the signal so it does not turn ON only
28
signal [Y13] be turned ON for? momentarily, but instead stays ON until the BUSY signal
turns OFF. This will keep the stop signal from skipping.)
Set "1: Sudden stop" in the parameter from Pr.38 to
How can a sudden stop be
Pr.40 corresponding to the stop group, and reduce the 29
selected?
setting value of " Pr.37 Sudden stop deceleration time".
"Normal deceleration stop" was
Stop selected in " Pr.40 Stop group 3
sudden stop selection", and Y stop The operation will not change.
was turned ON. If the Pr.40 Even if the same stop factor is input again during the
setting is changed to "sudden deceleration stop, it will be ignored. The same
30
stop" during a deceleration stop, deceleration stop process used when the stop signal was
and the Y stop signal turns from first input will be continued.
OFF to ON, will the operation (This also applies for Pr.38 and Pr.39 .)
change to a sudden stop from that
point?
ABS type circular interpolation
The address designation may be incorrect. When carrying
operates normally, but a vertically
out INC type circular interpolation, designate the relative
Circular interpolation oblong circle results when INC 31
addresses from the starting point of both the center point
type circular interpolation is carried
and end point.
out.
Can the speed be changed during The speed during speed control and position control
Speed/position speed control and position control cannot be set separately, but a speed change is possible
32
changeover control by speed/position changeover if executed after the speed/position changeover signal
control? turns ON.
Either of the following is possible.
1) The sequence program may be incorrect. Check by
creating a test program in which the JOG start signal
is turned ON only.
Even if the JOG start signal is 2) If the machine is hitting something when the torque
turned ON, the response until it setting is low, it may be trying to move by JOG 33
turns ON is sometimes slow. operation in the opposite direction. In this case, the
machine will start moving only after the internal droop
pulses have been reached 0 in the counter, even if the
JOG start signal has been turned ON. This makes it
seem that the response is slow.
JOG operation
Either of the following is possible.
The operation is not carried out at 1) The JOG start signal may be chattering. Monitor the
the set JOG speed, although the JOG start signal to confirm whether it is chattering.
34
speed limit value has not been 2) The " Pr.32 JOG speed limit value" may not be
reached. appropriate. Review the setting value and carry out
the JOG operation again.
The " Pr.32 JOG speed limit value" may be larger than
When a JOG operation is
the " Pr.7 Speed limit value".
attempted, an error results and the 35
machine does not move. Review the parameters and carry out the JOG operation
again.
Appendix - 51
APPENDICES
MELSEC-A
Trouble type Questions/Trouble Remedy No.
Is it possible to count the pulses
Not possible.
when the B phase is set to "1", and 36
(The AD75 counts 1, 0, 1, 0.)
only A phase pulses are input?
Can a manual pulse generator Other manual pulse generators can be used if they
Manual pulse
other than the Mitsubishi MR- conform to section "3.5 Specifications of interfaces with 37
generator operation
HDP01 be used? external devices."
Can one manual pulse generator
This is possible if the system conforms to the electrical
be operated connected to several 38
specifications.
AD75 modules?
The BUSY signal is not canceled The BUSY signal may remain if the scan time is long.
Current value change by the current value change. How Use a complete signal to check whether the new value 39
can it be canceled? has been executed.
The AD75 READY signal does not "A parameter error" has occurred.
AD75 READY signal turn OFF even when the PLC Confirm the error No. in the error history, and correct the 40
READY signal [Y1D] is turned ON. parameter.
The AD75 checks the M code ON signal OFF request
Is there any problem with setting
every "56.8ms", so there is a possibility that the M code
an M code ON signal OFF request
M code ON signal ON signal OFF may be delayed by a maximum of 41
in the next scan after the M code
"56.8ms" after the M code ON signal ON, even if an M
ON signal ON?
code ON signal OFF request is set.
Where is the current version of the The version is shown on the label on the front of the
42
AD75 written? module. (Refer to section "4.1.2 Names of each part".)
Is it possible that the delivered
module is a different version than That is possible. 43
the version delivered 1 year ago?
Module The parameters in the module may differ.
Error 537 (PLC READY OFF start)
Check if the AD75 READY signal [X0] turns OFF when
occurred when the new module
the PLC READY signal [Y1D] turns ON.
was connected. 44
When the PLC READY signal is ON but the AD75 READY
(The sequence program is the
signal is ON, the parameter error has occurred. Check the
same.)
error code and modify the parameter with the error.
The parameter settings on the AD75 side may not match
The motor only rotates in one
those on the servo side. 45
direction.
Check the parameter settings.
Motor The speed shown on the AD75 monitor is calculated from
the No. of pulses output from the module. Thus, the actual
Can the current motor speed be
motor speed cannot be monitored. 46
monitored?
(" Md.31 Feedrate" monitors the commanded speed. It
does not show the actual speed.)
AD75 software Can AD75M models be used by
No. 47
package SW0IVD-AD75P-E models?
If the transfer is carried out normally, "0" will be stored in
How can it be judged that the block
buffer memory "5103".
Block transmission transmission was carried out 48
If the transfer ended abnormally, a warning will be stored
normally?
in the " Md.34 Axis warning No".
Designate an address in the AD75 buffer memory
How can the address be
address "0" that will be interpreted as the computer link
Writing from the designated when writing data from
module buffer memory address "800H". 49
computer link module the computer link module to the
(Refer to the User's Manual for the module being used for
AD75?
details.)
Appendix - 52
APPENDICES
MELSEC-A
Trouble type Questions/Trouble Remedy No.
Backlash compensation value
0≤ ≤ 255
Error 938 (backlash compensation Movement amount per pulse
amount error 2) occurs even when Setting is not possible if the above equation is not
50
the backlash compensation value satisfied.
is set to "1". Adjust by setting " Pr.4 Unit magnification" to 10-fold (or
100-fold, or 1000-fold), and setting " Pr.3 Movement
amount per rotation" to 1/10 (or 1/100, or 1/1000).
When a JOG operation is
The hardware stroke limit wiring has probably not been
attempted, errors such as error 104
carried out.
(hardware stroke limit+) or error 105 51
Refer to section "12.4.4 Hardware stroke limit function" for
(hardware stroke limit –) occur and
details, and wire accordingly.
the machine does not move.
A value besides "0" or "1" may be set in the " Pr.44 Near
Error 971 (tracking control mode
pass mode selection for path control".
error) occurs. What could be 52
Review the set sequence program, and reset the correct
causing the error?
parameters.
Error/warning
Error 997 (speed selection at zero A value besides "0" or "1" may be set in the " Pr.57
point shift error) appears when the Speed designation during zero point shift".
53
PLC READY signal [Y1D] turns Review the set sequence program, and reset the correct
from OFF to ON. parameters.
The AD75 starts the deceleration stop process when the
When the start signal was turned
stop signal ON is detected. Thus, the machine interprets
ON immediately after the stop
that "positioning is still being executed" immediately after
signal ON, warning 100 (start 54
the stop signal ON. Even if the start signal is turned ON at
during operation) was detected,
that time, the start request will be ignored and warning
and the start was ignored.
100 will occur.
Does warning 500 (deceleration
The warning occurs only at those times mentioned at the
and stop speed change) occur
left. Because this is a warning, there is no problem if the
only during "stop deceleration" and
operation can be continued without resetting the error.
"automatically deceleration"? 55
(When the speed is changed using the override, the new
Is there any problem if the
value will not be reflected on the data being executed, but
operation is continued in that state
will be reflected from the next start.)
without resetting the error?
Positioning may not have been completed normally due to
occurrence of a stop cause.
Check the axis monitor " Md.35 Axis operation status"
after the BUSY signal has turned OFF.
During stop: The stop signal has turned ON during
positioning. Check the condition under which 56
the stop signal (Y stop, external stop) turns
Position control was performed but ON.
Positioning complete
positioning complete signal does During error occurrence:
signal
not turn ON. An error occurred during positioning. Confirm
the error occurrence cause from " Md.33
Axis error No.".
The setting of detailed parameter 2 "Positioning
completion signal output time" is 0 or shorter than the
scan time. 57
Set the time that can be detected securely in the
sequence program.
Appendix - 53
APPENDICES
MELSEC-A
Appendix 7 List of buffer memory addresses
The following shows the relation between the buffer memory addresses and the various items.
(Any address not given in the list must not be used. If used, the system may not operate correctly.)
Buffer memory address Memory
Item area
Axis 1 Axis 2 Axis 3
Basic parameters 1
0 150 300 Pr.1 Unit setting
1 151 301 Pr.2 No. of pulses per rotation (Ap)
2 152 302 Pr.3 Movement amount per rotation (Al)
3 153 303 Pr.4 Unit magnification (Am)
6 156 306
Pr.7 Speed limit value
Basic parameters 2
7 157 307
8 158 308
Pr.8 Acceleration time 0
9 159 309
10 160 310
Pr.9 Deceleration time 0
11 161 311
12 162 312
Pr.10 Bias speed at start
13 163 313
15 165 315 Pr.12 Backlash compensation amount
16 166 316
Pr.13 Software stroke limit upper limit value
17 167 317
18 168 318
Pr.14 Software stroke limit lower limit value
19 169 319
20 170 320 Pr.15 Software stroke limit selection
Detailed parameters 1
21 171 321 Pr.16 Software stroke limit valid/invalid setting
Positioning parameters
22 172 322
Pr.17 Command in-position width
23 173 323
24 174 324 Pr.18 Torque limit setting value
25 175 325 Pr.19 M code ON signal output timing
26 176 326 Pr.20 Speed changeover mode
27 177 327 Pr.21 Interpolation speed designation method
28 178 328 Pr.22 Current feed value during speed control
29 179 329 Pr.23 Manual pulse generator selection
Pr.25 Size selection for acceleration/deceleration
31 181 331
time
36 186 336
Pr.26 Acceleration time 1
37 187 337
38 188 338
Pr.27 Acceleration time 2
39 189 339
Detailed parameters 2
40 190 340
Pr.28 Acceleration time 3
41 191 341
42 192 342
Pr.29 Deceleration time 1
43 193 343
44 194 344
Pr.30 Deceleration time 2
45 195 345
46 196 346
Pr.31 Deceleration time 3
47 197 347
48 198 348
Pr.32 JOG speed limit value
49 199 349
50 200 350 Pr.33 JOG operation acceleration time selection
Appendix - 54
APPENDICES
MELSEC-A
Buffer memory address Memory
Item area
Axis 1 Axis 2 Axis 3
51 201 351 Pr.34 JOG operation deceleration time selection
52 202 352 Pr.35 Acceleration/deceleration process selection
53 203 353 Pr.36 S-pattern proportion
54 204 354
Pr.37 Sudden stop deceleration time
Positioning parameters
55 205 353
Detailed parameters 2
56 206 356 Pr.38 Stop group 1 sudden stop selection
57 207 357 Pr.39 Stop group 2 sudden stop selection
58 208 358 Pr.40 Stop group 3 sudden stop selection
59 209 359 Pr.41 Positioning complete signal output time
60 210 360
Pr.42 Allowable circular interpolation error width
61 211 361
62 212 362 Pr.43 External start function selection
64 214 364 Pr.150 Setting for the restart allowable range when
65 215 365 servo OFF to ON
66 216 366 Pr.44 Near pass mode selection for path control
70 220 370 Pr.45 Zero point return method
Zero point return basic parameters
71 221 371 Pr.46 Zero point return direction
72 222 372
Pr.47 Zero point address
73 223 373
74 224 374
Pr.48 Zero point return speed
75 225 375
Zero point return parameters
76 226 376
Pr.49 Creep speed
77 227 377
78 228 378 Pr.50 Zero point return retry
80 230 380 Pr.52 Setting for the movement amount after
Zero point return detailed parameters
81 231 381 near-point dog ON
Pr.53 Zero point return acceleration time
82 232 382
selection
Pr.54 Zero point return deceleration time
83 233 383
selection
84 234 384
Pr.55 Zero point shift amount
85 235 385
86 236 386 Pr.56 Zero point return torque limit value
88 238 388 Pr.57 Speed designation during zero point shift
89 239 389 Pr.58 Dwell time during zero point return retry
91 241 391 Pr.59 Absolute position restoration selection
Appendix - 55
APPENDICES
MELSEC-A
Buffer memory address Memory
Item area
Axis 1 Axis 2 Axis 3
100 250 400 Pr.100 Servo series
101 251 401 Pr.101 Amplifier setting
Servo basic parameters
102 252 402 Pr.102 Regenerative brake resistor
103 253 403 Pr.103 Motor type
104 254 404 Pr.104 Motor capacity
105 255 405 Pr.105 Motor speed
106 256 406 Pr.106 Feedback pulse
107 257 407 Pr.107 Rotation direction
108 258 408 Pr.108 Auto tuning
109 259 409 Pr.109 Servo response setting
112 262 412 Pr.112 Load inertia ratio
113 263 413 Pr.113 Position loop gain 1
114 264 414 Pr.114 Speed loop gain 1
115 265 415 Pr.115 Position loop gain 2
Servo adjustment parameters
116 266 416 Pr.116 Speed loop gain 2
Servo parameters *2
117 267 417 Pr.117 Speed integral compensation
118 268 418 Pr.118 Notch filter selection *1
119 269 419 Pr.119 Feed forward gain
120 270 420 Pr.120 In-position range
121 271 421 Pr.121 Solenoid brake output
122 272 422 Pr.122 Monitor output mode selection
123 273 423 Pr.123 Option function 1
124 274 424 Pr.124 Option function 2
Pr.125 Low pass filter/adaptive vibration
125 275 425
suppression control
127 277 427 Pr.127 Monitor output 1 offset
128 278 428 Pr.128 Monitor output 2 offset
Servo extension parameters
129 279 429 Pr.129 Pre-alarm data selection
130 280 430 Pr.130 Zero speed
131 281 431 Pr.131 Error excessive alarm level
132 282 432 Pr.132 Option function 5
133 283 433 Pr.133 Option function 6
134 284 434 Pr.134 PI-PID switching position droop
136 286 436 Pr.136 Speed differential compensation
138 288 438 Pr.138 Encoder output pulses
149 299 449 Pr.149 Servo parameter transmission setting
*1: Called "Machine resonance suppression filter 1" in the MR-J2S-B.
*2: Some of the servo parameters do not exist depending on the servo amplifier. For details, refer to section "5.1.4
Setting items for servo parameters".
Appendix - 56
APPENDICES
MELSEC-A
Buffer memory address Memory
Item area
Common for axis 1, axis 2, and axis 3
450 Md.1 In test mode flag
451 Md.2 Module name
452
453
Md.3 OS type
454
455
456
Md.4 OS version
457
460 Md.5 Clock data (hour: minute)
461 Md.6 Clock data (second: 100 ms)
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15) (pointer No.)
462 467 472 477 482 487 492 497 502 507 512 517 522 527 532 537 Md.7 Start axis
Start history
463 468 473 478 483 488 493 498 503 508 513 518 523 528 533 538 Md.8 Operation type
464 469 474 479 484 489 494 499 504 509 514 519 524 529 534 539 Md.9 Start time (Hour: minute)
465 470 475 480 485 490 495 500 505 510 515 520 525 530 535 540 Md.10 Start time (Second: 100 ms)
466 471 476 481 486 491 496 501 506 511 516 521 526 531 536 541 Md.11 Error judgment
542 Md.12 Start history pointer
Start history during errors
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15) (pointer No.)
System monitor data
533 548 553 558 563 568 573 578 583 588 593 598 603 608 613 618 Md.13 Start axis
Monitor data
534 549 554 559 564 569 574 579 584 589 594 599 604 609 614 619 Md.14 Operation type
535 550 555 560 565 570 575 580 585 590 595 600 605 610 615 620 Md.15 Start time (Hour: minute)
536 551 556 561 566 571 576 581 586 591 596 601 606 611 616 621 Md.16 Start time (Second: 100 ms)
537 552 557 562 567 572 577 582 587 592 597 602 607 612 617 622 Md.17 Error judgment
623 Md.18 Start history pointer at error
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15) (pointer No.)
624 628 632 636 640 644 648 652 656 660 664 668 672 676 680 684 Md.19 Axis in which the error occurred
625 629 633 637 641 645 649 653 657 661 665 669 673 677 681 685 Md.20 Axis error No. Error history
Md.21 Axis error occurrence time
626 630 634 638 642 646 650 654 658 662 666 670 674 678 682 686
(Hour: minute)
Md.22 Axis error occurrence time
627 631 635 639 643 647 651 655 659 663 667 671 675 679 683 687
(Second: 100ms)
688 Md.23 Error history pointer
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15) (pointer No.)
689 693 697 701 705 709 713 717 721 725 729 733 737 741 745 749 Md.24 Axis in which the warning occurred
Warning history
690 694 698 702 706 710 714 718 722 726 730 734 738 742 746 750 Md.25 Axis warning No.
Md.26 Axis warning occurrence time
691 695 699 703 707 711 715 719 723 727 731 735 739 743 747 751
(Hour: minute)
Md.27 Axis warning occurrence time
692 696 700 704 708 712 716 720 724 728 732 736 740 744 748 752
(Second: 100ms)
753 Md.28 Warning history pointer
Appendix - 57
APPENDICES
MELSEC-A
Buffer memory address Memory
Item area
Axis 1 Axis 2 Axis 3
800 900 1000
Md.29 Current feed value
801 901 1001
802 902 1002
Md.30 Machine feed value
803 903 1003
804 904 1004
Md.31 Feedrate
805 905 1005
806 906 1006 Md.32 Valid M code
807 907 1007 Md.33 Axis error No.
808 908 1008 Md.34 Axis warning No.
809 909 1009 Md.35 Axis operation status
810 910 1010
Md.36 Current speed
811 911 1011
812 912 1012
Md.37 Axis feedrate
813 913 1013
814 914 1014 Md.38 Speed/position changeover control
815 915 1015 positioning amount
816 916 1016 Md.39 External input signal
817 917 1017 Md.40 Status
Axis monitor data
Monitor data
818 918 1018
Md.41 Target value
819 919 1019
820 920 1020
Md.42 Target speed
821 921 1021
822 922 1022
Md.43 Zero point absolute position
823 923 1023
824 924 1024
Md.44 Movement amount after near-point dog ON
825 925 1025
826 926 1026 Md.45 Torque limit stored value
Md.46 Special start data command code setting
827 927 1027
value
Md.47 Special start data command parameter
828 928 1028
setting value
829 929 1029 Md.48 Start positioning data No. setting value
830 930 1030 Md.49 In speed limit flag
831 931 1031 Md.50 In speed change processing flag
832 932 1032 Md.51 Start data pointer being executed
833 933 1033 Md.52 Last executed positioning data No.
834 934 1034 Md.53 Repeat counter
835 935 1035 Md.54 Positioning data No. being executed
836 936 1036 Md.55 Block No. being executed
838 to 847 938 to 947 1038 to 1047 Md.56 Positioning data being executed
Appendix - 58
APPENDICES
MELSEC-A
Buffer memory address Memory
Item area
Axis 1 Axis 2 Axis 3
848 948 1048
Md.100 Zero point return re-movement amount
849 949 1049
850 950 1050
Md.101 Real current value
851 951 1051
852 952 1052
Md.102 Deviation counter value
853 953 1053
854 954 1054
Md.103 Motor speed
855 955 1055
856 956 1056 Md.104 Motor current
857 957 1057 Md.105 Auto tuning
858 958 1058 Md.106 Load inertia ratio
Axis monitor data
859 959 1059 Md.107 Position loop gain 1
Monitor data
860 960 1060 Md.108 Speed loop gain 1
861 961 1061 Md.109 Position loop gain 2
862 962 1062 Md.110 Speed loop gain 2
863 963 1063 Md.111 Speed integral compensation
864 to 869 964 to 969 1064 to 1069 Md.112 Servo amplifier software No.
870 970 1070 Md.113 Parameter error (No. 1 to 15)
871 971 1071 Md.114 Parameter error (No. 16 to 31)
872 972 1072 Md.115 Parameter error (No. 32 to 36)
873 973 1073 Md.116 Servo status
876 976 1076 Md.117 Regenerative load ratio
877 977 1077 Md.118 Effective load ratio
878 978 1078 Md.119 Peak load ratio
879 979 1079 Md.121 Absolute position restoration mode
880 to 883 980 to 983 1080 to 1083 Md.120 FeRAM access count
Appendix - 59
APPENDICES
MELSEC-A
Buffer memory address Memory
Item area
Axis 1 Axis 2 Axis 3
1100 Cd.1 Clock data setting (hour)
1101 Cd.2 Clock data setting (minute, second)
System control data
1102 Cd.3 Clock data writing
1103 Cd.4 Target axis
1104 Cd.5 Positioning data No.
1105 Cd.6 Write pattern
1106 Cd.7 Read/write request
1108 to 1137 Cd.8 Read/write positioning data I/F
1138 Cd.9 Flash ROM write request
1139 Cd.10 Parameter initialization request
1150 1200 1250 Cd.11 Positioning start No.
1151 1201 1251 Cd.12 Axis error reset
1152 1202 1252 Cd.13 Restart command
1153 1203 1253 Cd.14 M code OFF request
1154 1204 1254
Cd.15 New current value
1155 1205 1255
1156 1206 1256
Cd.16 New speed value
1157 1207 1257
1158 1208 1258 Cd.17 Speed change request
1159 1209 1259 Cd.18 Positioning operation speed override
1160 1210 1260
Cd.19 JOG speed
Control data
1161 1211 1261
1163 1213 1253 Cd.20 Speed/position changeover enable flag
1164 1214 1264 Cd.21 Speed/position changeover control
1165 1215 1265 movement amount change register
1167 1217 1267 Cd.22 Manual pulse generator enable flag
Axis control data
1168 1218 1268 Cd.23 Manual pulse generator 1 pulse input
1169 1219 1269 magnification
1170 1220 1270 Cd.24 Zero point return request flag OFF request
1171 1221 1271 Cd.25 External start valid
1172 1222 1272 Cd.26 Step valid flag
1173 1223 1273 Cd.27 Step mode
1174 1224 1274 Cd.28 Step start information
1175 1225 1275 Cd.29 Skip command
1176 1226 1276 Cd.30 New torque value
1178 1228 1278 Cd.31 Positioning starting point No.
1179 1229 1279 Cd.100 Servo OFF command
1180 1230 1280 Cd.101 Torque output setting value
Cd.32 Interrupt request during continuous
1181 1231 1281
operation
1184 1234 1284
Cd.33 New acceleration time value
1185 1235 1285
1186 1236 1286
Cd.34 New deceleration time value
1187 1237 1287
Cd.35 Acceleration/deceleration time change
1188 1238 1288 during speed change, enable/disable
selection
Appendix - 60
APPENDICES
MELSEC-A
Buffer memory address Memory
Item
Axis 1 Axis 2 Axis 3 area
Da.1 Operation pattern
Da.2 Control method
1300 2300 3300
Da.3 Acceleration time No.
Da.4 Deceleration time No.
1301 2301 3301 Da.9 M code/condition data No.
Da.8 Dwell time/JUMP destination
1302 2302 3302
No.1
positioning data No.
Positioning data
1303 2303 3303 Not used
1304 2304 3304
Da.7 Command speed
1305 2305 3305
1306 2306 3306 Da.5 Positioning address/movement
1307 2307 3307 amount
1308 2308 3308
Da.6 Arc address
1309 2309 3309
1310 to 1319 2310 to 1219 3310 to 3319 No. 2
1320 to 1329 2320 to 2329 3320 to 3329 No. 3
Positioning data
2290 to 2299 3290 to 3299 4290 to 3299 No. 100
Da.10 Shape
1st point
Da.11 Start data No.
4300 4350 4550 4600 4800 4850
Start block data
Da.12 Special start command
Da.13 Parameter
4301 4351 4551 4601 4801 4851 2nd point
4302 4352 4552 4602 4802 4852 3rd point
Positioning start information
4349 4399 4599 4649 4849 4899 50th point
Da.14 Condition target
4400 4650 4900
Da.15 Condition operator
4402 4652 4902
Da.16 Address
No.1
4403 4653 4903
Condition data
4404 4654 4904
Da.17 Parameter 1
4405 4655 4905
4406 4656 4906
Da.18 Parameter 2
4407 4657 4907
4410 to 4419 4660 to 4669 4910 to 4919 No.2
4420 to 4429 4670 to 4679 4920 to 4929 No.3
4490 to 4499 4740 to 4749 4990 to 4999 No.10
Appendix - 61
APPENDICES
MELSEC-A
Buffer memory address Memory
Item
Axis 1 Axis 2 Axis 3 area
Indirectly specification
4500 5750 5000 Start No. 8001
Positioning start
information
4501 4751 5001 Start No. 8002
data
Positioning data
4549 4799 5049 Start No. 8001
PLC CPU
5050
memory
Condition judgment target data of the condition
area
data
5099
5100 Target axis
5101 Head positioning data No. Block
5102 No. of read/write data transmission
area
5103 Read/write request
5110 to 6109 Read/write block
Appendix - 62
INDEX
[Number]
1-axis fixed-dimension feed control .............. 9-29 AUTOMATIC TRAPEZOIDAL ACCELERATION/
1-axis linear control (ABS linear 1) ............... 9-23 DECELERATION (explanation of terms)
1-axis linear control (INC linear 1) ................ 9-24 .......................................................... Appendix-33
17-segment LED ............................................. 4-3 Absolute position restoration function .........12-58
2-SPEED TRAPEZOIDAL CONTROL Absolute position restoration mode... 9-18, 12-65
(explanation of terms) ......................Appendix-32 Absolute position restoration mode ( Md.121 )
2-axis circular interpolation control with auxiliary ......................................................................5-166
point designation (ABS circular interpolation) Absolute position restoration mode switching
....................................................................... 9-34 function.........................................................12-65
2-axis circular interpolation control with auxiliary Absolute position restoration selection ( Pr.59 )
point designation (INC circular interpolation) ........................................................................5-57
....................................................................... 9-37 Absolute system.............................................9-13
2-axis circular interpolation control with center Acceleration / deceleration time change program
point designation (ABS right arc, ABS left arc) ........................................................................6-17
....................................................................... 9-42 Acceleration time 0 ( Pr.8 ) .........................5-26
2-axis circular interpolation control with center Acceleration time 1 ( Pr.26 ) .........................5-38
point designation (INC right arc, INC left arc) Acceleration time 2 ( Pr.27 ) .........................5-38
....................................................................... 9-44 Acceleration time 3 ( Pr.28 ) .........................5-38
2-axis fixed-dimension feed control (interpolation) Acceleration time No. ( Da.3 ) ...................5-115
....................................................................... 9-31 Acceleration/deceleration process selection
2-axis linear interpolation control (ABS linear 2) ( Pr.35 )..........................................................5-40
....................................................................... 9-25 Acceleration/deceleration processing function
2-axis linear interpolation control (INC linear 2) ......................................................................12-95
....................................................................... 9-27 Acceleration/deceleration time change during
speed change, enable/disable selection ( Cd.35 )
[A] ......................................................................5-184
ABSOLUTE ENCODER (explanation of terms) Acceleration/deceleration time change function
..........................................................Appendix-32 ......................................................................12-53
ABSOLUTE POSITION DETECTION SYSTEM Address ( Da.16 ).........................................5-134
(explanation of terms) ......................Appendix-32 Advanced positioning control ........................10-2
ABSOLUTE SYSTEM (explanation of terms) Allowable circular interpolation error width
..........................................................Appendix-32 ( Pr.42 )..........................................................5-44
ACCELERATION TIME (explanation of terms) Amplifier setting ( Pr.101 ) .. 5-59, 68, 78, 89, 104
..........................................................Appendix-32 Applicable system ............................................2-6
Actual acceleration/deceleration time........... 5-27 Applicable wire size .........................................3-3
AD75..............................................................A-18 Arc address ( Da.6 )...................................5-120
AD75 READY signal ..................................... 3-13 Assembling the connector section ................4-15
AD75 software package.........................A-18, 2-4 Automatic trapezoidal acceleration/deceleration
ADDRESS (explanation of terms) ...Appendix-33 processing method ......................................12-96
AFTER mode............................................... 12-79 Auto tuning ( Md.105 )...................................5-160
AFTER mode (explanation of terms) Auto tuning ( Pr.108 ).......... 5-61, 71, 80, 91, 107
..........................................................Appendix-33 Auxiliary functions ..........................................12-2
AUTO TUNING (explanation of terms) Auxiliary functions specifically for machine zero
..........................................................Appendix-33 point returns ...................................................12-4
Axis display LED ..............................................4-4
Index - 1
Axis error No. ( Md.20 , Md.33 )........... 5-142, 146 CIRCULAR INTERPOLATION
Axis error occurrence time (Hour: minute) (explanation of terms) ...................... Appendix-34
( Md.21 ) ....................................................... 5-142 COMPOSITE SPEED (explanation of terms)
Axis error occurrence time (Second: 100 ms) .......................................................... Appendix-34
( Md.22 ) ....................................................... 5-142 CONTINUOUS POSITIONING CONTROL
Axis error reset ( Cd.12 ) ............................. 5-174 (explanation of terms) ...................... Appendix-34
Axis feedrate ( Md.37 ) ................................ 5-150 CONTROL UNIT (explanation of terms)
Axis in which the error occurred ( Md.19 ) .. 5-142 .......................................................... Appendix-34
Axis in which the warning occurred ( Md.24 ) CP CONTROL (explanation of terms)
..................................................................... 5-144 .......................................................... Appendix-34
Axis monitor data......................................... 5-146 CPU module.....................................................2-6
Axis operation status ( Md.35 ).................... 5-148 CREEP SPEED (explanation of terms)
Axis stop signal ............................................. 3-14 .......................................................... Appendix-35
Axis warning No. ( Md.25 , Md.34 ) ..... 5-144, 148 CURRENT FEED VALUE (explanation of terms)
Axis warning detection ................................ 5-152 .......................................................... Appendix-35
Axis warning occurrence time (Hour: minute) CURRENT LOOP MODE (explanation of terms)
( Md.26 ) ....................................................... 5-144 .......................................................... Appendix-35
Axis warning occurrence time (Second: 100 ms) CURRENT VALUE (explanation of terms)
( Md.27 ) ....................................................... 5-144 .......................................................... Appendix-35
CURRENT VALUE CHANGE
[B] (explanation of terms) ...................... Appendix-35
BACKLASH COMPENSATION CW (explanation of terms)............... Appendix-35
(explanation of terms) ......................Appendix-33 Cable clamp ...................................................4-10
BACKUP FUNCTION (explanation of terms) Cable fixture ...................................................4-12
..........................................................Appendix-33 Clock data (hour: minute) ( Md.5 ) .............5-136
BALL SCREW (explanation of terms) Clock data (second: 100 ms) ( Md.6 ) .......5-136
..........................................................Appendix-34 Clock data function ......................................13-11
BIAS SPEED AT START (explanation of terms) Clock data setting (hour) ( Cd.1 ) ..............5-168
..........................................................Appendix-34 Clock data setting (minute, second) ( Cd.2 )
BUSY (explanation of terms) ...........Appendix-34 ......................................................................5-168
BUSY signal .................................................. 3-13 Clock data setting program............................6-14
Backlash compensation amount ( Pr.12 ) ... 5-28 Clock data writing ( Cd.3 ) .........................5-168
Backlash compensation function ................ 12-13 Combination of AD75 functions.....................3-10
Basic parameters 1 ....................................... 5-22 Combination of main functions and auxiliary
Basic parameters 2 ....................................... 5-26 functions .........................................................3-10
Bias speed at start ( Pr.10 ) ......................... 5-27 Command in-position flag............................5-152
Block .............................................................. 10-8 Command in-position function.....................12-92
Block No. being executed ( Md.55 )............ 5-158 Command in-position width ( Pr.17 )............5-30
Block start (normal start) ............................... 10-8 Command speed ( Da.7 ) ..........................5-124
Block transmission ........................................ 7-16 Command speed ...........................................1-11
Block transmission area.................................. 7-3 Common functions................................. 3-9, 13-1
Buffer memory................................................. 7-2 Communicating signals between AD75 and each
Buffer memory area configuration .................. 7-5 module............................................................1-12
Composite speed...........................................5-35
[C] Condition data..............................................10-17
CCW (explanation of terms) ............Appendix-34 Condition operator .......................................10-18
CHANGE signal (explanation of terms) Condition operator ( Da.15 ) ........................5-134
..........................................................Appendix-34 Condition start ..............................................10-10
Index - 2
Condition target ( Da.14 )............................ 5-134 Data link system............................................ A-18
Conditional JUMP ......................................... 9-62 Data setting method machine zero point return
Configuration and roles of AD75 memory ...... 7-2 ........................................................................8-18
Confirming the current value......................... 9-14 Data transmission process ..............................7-6
Confirming the installation and wiring........... 4-16 Deceleration stop ...........................................6-37
Conformation to the EMC Directive and Low Deceleration time 0 ( Pr.9 ).........................5-26
Voltage Instruction.........................................A-13 Deceleration time 1 ( Pr.29 ).........................5-38
Connecting the connector and wire .............. 4-13 Deceleration time 2 ( Pr.30 ).........................5-38
Connection connector ..................................... 3-3 Deceleration time 3 ( Pr.31 ).........................5-38
Connector ...................................................... 4-12 Deceleration time No. ( Da.4 )...................5-115
Connector cover ............................................ 4-12 Detailed parameters 1 ...................................5-28
Continuous operation interrupt program....... 6-19 Detailed parameters 2 ...................................5-38
Continuous path control .................................. 9-7 Details of input signals (AD75 PLC CPU)
Continuous positioning control........................ 9-6 ........................................................................3-13
Control data area............................................. 7-3 Details of output signals (PLC CPU AD75)
Control functions ............................................. 3-4 ........................................................................3-15
Control method ( Da.2 )............................. 5-115 Deviation counter droop pulse amount .........1-11
Count method 1) machine zero point return Deviation counter value ( Md.102 )...............5-160
....................................................................... 8-11 Disassembling the connector section ...........4-12
Count method 2) machine zero point return Disposal instructions......................................4-20
....................................................................... 8-14 Dwell time/JUMP designation positioning data No.
Count method 3) machine zero point return ( Da.8 )........................................................5-126
....................................................................... 8-16 Dwell time during zero point return retry ( Pr.58 )
Creep speed ( Pr.49 )................................... 5-52 ........................................................................5-57
Current feed value......................................... 9-14
Current feed value ( Md.29 )........................ 5-146 [E]
Current feed value during speed control ( Pr.22 ) ELECTROMAGNETIC BRAKE
....................................................................... 5-35 (explanation of terms) ...................... Appendix-36
Current speed ( Md.36 ) .............................. 5-148 EMERGENCY STOP (explanation of terms)
Current value change.................................... 9-57 .......................................................... Appendix-36
ENCODER (explanation of terms) .. Appendix-37
[D] ERROR CORRECTION (explanation of terms)
DATA NO. (explanation of terms)....Appendix-35 .......................................................... Appendix-37
DECELERATION RATIO (explanation of terms) ERROR RESET (explanation of terms)
..........................................................Appendix-35 .......................................................... Appendix-37
DECELERATION TIME (explanation of terms) EXTERNAL REGENERATIVE BRAKE
..........................................................Appendix-35 RESISTOR (explanation of terms).. Appendix-37
DEVIATION COUNTER (explanation of terms) Effective load ratio ( Md.118 ) .......................5-166
..........................................................Appendix-36 Electrical specifications..................................3-16
DOG SIGNAL (explanation of terms) Electronic gear function ...............................12-15
..........................................................Appendix-36 Emergency stop .............................................6-36
DOS/V personal computer............................A-18 Encoder output pulses ( Pr.138 ).................5-102
DROOP PULSE (explanation of terms) Error and warning details...............................14-2
..........................................................Appendix-36 Error codes
DWELL TIME (explanation of terms) Detected by AD75......................................14-6
..........................................................Appendix-36 Detected by MR-H-B (MR-H-BN) ............14-26
DYNAMIC BRAKE (explanation of terms) Detected by MR-J-B.................................14-34
..........................................................Appendix-36 Detected by MR-J2-03B5 ........................14-58
Index - 3
Detected by MR-J2-B .............................. 14-42 General configuration of program ...................6-8
Detected by MR-J2S-B ........................... 14-50 General image of system.................................2-2
Error compensation method ....................... 12-15 General specifications .....................................3-2
Error detection signal .................................... 3-13
Error excessive alarm level ( Pr.131 ) [H]
...............................................5-67,76,87,101,111 HIGH-SPEED MACHINE ZERO POINT RETURN
Error history pointer ( Md.23 ) ..................... 5-142 (explanation of terms) ...................... Appendix-38
Error judgment ( Md.11 , Md.17 ).......... 5-138,140 High-speed machine zero point return..........8-21
Error reset program....................................... 6-20 HIGH-SPEED ZERO POINT RETURN
Execution data backup function.................... 13-5 (explanation of terms) ...................... Appendix-38
External device connection connector............ 4-4 Handling precautions .......................................4-5
External dimension drawing............... Appendix-2 Hardware stroke limit function .....................12-36
External input signal ( Md.39 )..................... 5-150 High-speed zero point return.........................8-19
External start signal....................................... 3-18
External start function selection ( Pr.43 )..... 5-46 [I]
External start function valid setting program I/F .................................................................. A-18
....................................................................... 6-14 INCREMENT SYSTEM (explanation of terms)
External start valid ( Cd.25 )........................ 5-180 .......................................................... Appendix-38
INCREMENTAL ENCODER
[F] (explanation of terms) ...................... Appendix-39
F (explanation of terms) ...................Appendix-37 INERTIA (explanation of terms) ...... Appendix-39
FEEDBACK PULSE (explanation of terms) INPUT TERMINAL (explanation of terms)
..........................................................Appendix-37 .......................................................... Appendix-39
FIXED-DIMENSION FEED (explanation of terms) INTERLOCK (explanation of terms)
..........................................................Appendix-37 .......................................................... Appendix-39
FLASH MEMORY (explanation of terms) INTERPOLATION OPERATION
..........................................................Appendix-37 (explanation of terms) ...................... Appendix-39
FLS SIGNAL (explanation of terms) INVERTER (explanation of terms)
..........................................................Appendix-38 .......................................................... Appendix-39
Fatal stop ....................................................... 6-36 Immediate stop ..............................................6-37
Features of AD75 ............................................ 1-2 In speed change processing flag ( Md.50 )
Feedback pulse ( Pr.106 )................. 5-60, 70, 90 ......................................................................5-156
Feedrate ( Md.31 ) ....................................... 5-146 In speed control flag ....................................5-152
FeRAM access count ( Md.120 ).................. 5-166 In speed limit flag ( Md.49 )..........................5-156
Flash ROM ...................................................... 7-2 In test mode flag ( Md.1 ) ...........................5-136
Flash ROM write program............................. 6-19 In-position range ( Pr.120 )
Flash ROM write request ( Cd.9 )............. 5-172 ............................................. 5-63, 73, 83, 95, 109
Flow of all processes..................................... 1-14 Increment system...........................................9-13
Flow of system operation .............................. 1-14 Independent positioning control ......................9-5
Follow up process ....................................... 12-24 Indirectly specification data .........................12-99
Forced stop.................................................... 6-36 Indirectly specification function....................12-99
Front-loading speed changeover mode ....... 9-11 Initialization program......................................6-21
Functions for compensating the control ..... 12-13 Input information n .........................................13-9
Functions to change the control details...... 12-43 Input interface internal circuit.........................3-18
Functions to limit the control ....................... 12-25 Intentional stop...............................................6-36
Internal circuit.................................................3-19
[G] Internal current consumption...........................3-3
GAIN (explanation of terms) ............Appendix-38 Internal information 1 .....................................13-8
Index - 4
Internal information 2 .................................... 13-8 List of warnings ............................................14-64
Interpolation axis ........................................... 9-19 Load inertia ratio ( Md.106 ) ..........................5-162
Interpolation control....................................... 9-19 Load inertia ratio ( Pr.112 )
Interpolation speed designation method ( Pr.21 ) ............................................. 5-63, 73, 83, 92, 109
....................................................................... 5-35 Lower limit signal ...........................................3-18
Interrupt request during continuous operation Low pass filter/adaptive vibration suppression
( Cd.32 ) ....................................................... 5-184 control ( Pr.125 ).............................................5-99
[J] [M]
JOG (explanation of terms)..............Appendix-39 M CODE (explanation of terms) ...... Appendix-40
JOG operation ............................................... 11-4 M code OFF request....................................12-79
JOG operation acceleration time selection M code OFF request ( Cd.14 ).....................5-174
( Pr.33 ) ......................................................... 5-39 M code ON signal ..........................................3-13
JOG operation deceleration time selection M code ON signal output timing ( Pr.19 ).....5-32
( Pr.34 ) ......................................................... 5-39 M code ON/OFF timing................................12-78
JOG operation program ................................ 6-16 M code output function ................................12-78
JOG operation start time chart.................... 11-11 M code/condition data No. ( Da.9 )............5-124
JOG operation timing and processing times MACHINE FEED VALUE (explanation of terms)
....................................................................... 11-6 .......................................................... Appendix-40
JOG speed ( Cd.19 ) ................................... 5-178 MANUAL PULSE GENERATOR
JOG speed limit value ( Pr.32 ).................... 5-39 (explanation of terms) ...................... Appendix-40
JOG start signal............................................. 3-15 MASTER AXIS (explanation of terms)
JUMP command............................................ 9-62 .......................................................... Appendix-41
MOVEMENT AMOUNT PER PULSE
[K] (explanation of terms) ...................... Appendix-41
kPPS (explanation of terms) ............Appendix-39 MULTIPLYING RATE SETTING
(explanation of terms) ...................... Appendix-41
[L] Machine feed value........................................9-14
LED display function ..................................... 13-7 Machine feed value ( Md.30 ) ......................5-146
LIMIT SWITCH (explanation of terms) Machine resonance suppression filter 1 ( Pr.118 )
..........................................................Appendix-40 ........................................................................5-94
LINEAR INTERPOLATION (explanation of terms) Machine zero point return................................8-4
..........................................................Appendix-40 Machine zero point return method ..................8-5
LOW-INERTIA MOTOR (explanation of terms) Main functions ..................................................3-6
..........................................................Appendix-40 Main positioning control ...................................9-2
Last executed positioning data No.( Md.52 ) Manual control ...............................................11-2
..................................................................... 5-158 Manual pulse generator......................... A-18, 2-4
List of condition data ................................... 5-131 Manual pulse generator 1 pulse input
List of configuration devices............................ 2-4 magnification ( Cd.23 ).................................5-180
List of control data ....................................... 5-168 Manual pulse generator enable flag ( Cd.22 )
List of devices.................................................. 6-4 ......................................................................5-180
List of errors................................................... 14-6 Manual pulse generator operation ..............11-17
List of functions................................................ 3-4 Manual pulse generator operation program
List of input/output signals ............................ 3-12 ........................................................................6-16
List of monitor data...................................... 5-136 Manual pulse generator operation start time chart
List of parameters.......................................... 5-22 ......................................................................11-24
List of positioning data ................................ 5-112 Manual pulse generator operation timing and
List of start block data ................................. 5-127 processing times ..........................................11-19
Index - 5
Manual pulse generator selection ( Pr.23 ) [N]
....................................................................... 5-36 NEAR-POINT DOG (explanation of terms)
Max. connection distance ............................... 3-3 .......................................................... Appendix-41
Max. output command speed ......................... 3-3 NEXT start....................................................10-16
Mechanism of positioning control ................... 1-8 Names of each part .........................................4-3
Mode switch..................................................... 4-4 Near pass mode...........................................12-20
Module name ( Md.2 ) ............................... 5-136 Near pass mode function.............................12-20
Module version label ....................................... 4-4 Near pass mode selection for path control
Monitor data area ............................................ 7-3 ( Pr.44 )..........................................................5-46
Monitor output 1 offset ( Pr.127 ) Near-point dog method machine zero point return
...................................................5-67, 76, 87, 100 ..........................................................................8-7
Monitor output 2 offset ( Pr.128 ) .... 5-67, 87, 101 Near-point dog method 2) machine zero point
Monitor output mode selection ( Pr.122 ) return ................................................................8-9
.....................................................5-64, 74, 84, 97 Near-point dog signal.....................................3-18
Motor capacity ( Pr.104 ) .....5-59, 69, 79, 89, 105 Network system ............................................ A-16
Motor current ( Md.104 ) ............................... 5-160 New acceleration time value ( Cd.33 ) ........5-184
Motor speed ( Md.103 ) ................................ 5-160 New current value ( Cd.15 ).........................5-176
Motor speed ( Pr.105 ) ............................ 5-60, 70 New deceleration time value ( Cd.34 ) ........5-184
Motor type ( Pr.103 ) ...........5-59, 69, 79, 89, 104 New speed value ( Cd.16 ) ..........................5-176
Movement amount after near-point dog ON New torque value ( Cd.30 )..........................5-182
( Md.44 ) ....................................................... 5-154 No. of control axes ...........................................3-3
Movement amount per pulse ( Pr.2 to Pr.4 ) No. of mounted modules .................................2-7
....................................................................... 5-23 No. of occupied input/output points.................3-3
Movement amount per rotation ( Pr.3 )...... 5-24 No. of pulses per rotation ( Pr.2 ) ...............5-23
MR-H-B (MR-H-BN) No. of slots .......................................................2-7
Error codes detected by .......................... 14-26 Normal start....................................................10-8
Servo parameters for................................. 5-58 Notch filter selection ( Pr.118 ) . 5-63, 73, 83, 109
Warning codes detected by .................... 14-70
MR-J-B [O]
Error codes detected by .......................... 14-34 OPERATION PATTERN (explanation of terms)
Servo parameters for................................. 5-68 .......................................................... Appendix-41
Warning codes detected by .................... 14-72 OS memory......................................................7-2
MR-J2-03B5 OS type ( Md.3 ) .........................................5-136
Error codes detected by .......................... 14-58 OS version ( Md.4 ) ....................................5-136
Precautions for using................................... 2-9 OVERRIDE FUNCTION (explanation of terms)
Servo parameters for............................... 5-104 .......................................................... Appendix-41
Warning codes detected by .................... 14-78 Operation monitor 1 .......................................13-8
MR-J2-B Operation monitor 2 .......................................13-8
Error codes detected by .......................... 14-42 Operation pattern ( Da.1 )..........................5-115
Servo parameters for................................. 5-78 Operation patterns ...........................................9-4
Warning codes detected by .................... 14-74 Operation timing and processing time during
MR-J2S-B speed/position changeover control ...............9-52
Error codes detected by .......................... 14-50 Operation timing and processing time of high-
Precautions for using................................... 2-9 speed zero point returns................................8-20
Servo parameters for................................. 5-88 Operation type ( Md.8 , Md.14 ) ....... 5-138, 140
Warning codes detected by .................... 14-76 Order of priority for stop process...................6-38
Outline design of positioning system.............1-10
Outline for restarting ......................................1-19
Index - 6
......................................................................5-164
Outline of installation, wiring and maintenance Parameter error (No. 32 to 36) ( Md.115 )
......................................................................... 4-2 ......................................................................5-164
Outline of starting .......................................... 1-16 Parameter initialization program....................6-19
Outline of stopping ........................................ 1-18 Parameter initialization request ( Cd.10 )
Outline of zero point return control ................. 8-2 ......................................................................5-172
Override function ......................................... 12-50 Parameter setting program............................6-12
Override program .......................................... 6-17 Performance specifications .............................3-3
Peak load ratio ( Md.119 ).............................5-166
[P] Peripheral device connection connector .........4-4
P RATE (explanation of terms)........Appendix-41 Personal computer........................................ A-18
PANCAKE MOTOR (explanation of terms) Position loop gain 1 ( Md.107 ) .....................5-162
..........................................................Appendix-41 Position loop gain 1 ( Pr.113 )
PARAMETER (explanation of terms) ............................................. 5-63, 73, 83, 93, 109
..........................................................Appendix-42 Position loop gain 2 ( Md.109 ) .....................5-162
PI-PID switching position droop ( Pr.134 ) Position loop gain 2 ( Pr.115 )
.................................................5-67, 87, 101, 111 ............................................. 5-63, 73, 83, 93, 109
PLC CPU .......................................................A-18 Positioning address pass mode ..................12-20
PLC CPU memo area ..................................... 7-3 Positioning address/movement amount ( Da.5 )
PLC READY signal ....................................... 3-15 ......................................................................5-116
PLC READY signal [Y1D] ON program........ 6-14 Positioning complete........................................9-5
POSITION CONTROL (explanation of terms) Positioning complete signal ...........................3-13
..........................................................Appendix-42 Positioning complete signal output time ( Pr.41 )
POSITION LOOP GAIN (explanation of terms) ........................................................................5-44
..........................................................Appendix-42 Positioning control operation program ............6-9
POSITION LOOP MODE (explanation of terms) Positioning data No. ( Cd.5 ) .....................5-170
..........................................................Appendix-42 Positioning data No. 101 to 600 setting .....7-9,16
POSITIONING (explanation of terms) Positioning data No. being executed ( Md.54 )
..........................................................Appendix-42 ......................................................................5-158
POSITIONING COMPLETE SIGNAL Positioning data area (No. 1 to 100) ...............7-3
(explanation of terms) ......................Appendix-42 Positioning data area (No. 101 to 600) ...........7-3
POSITIONING DATA (explanation of terms) Positioning data being executed ( Md.56 )
..........................................................Appendix-42 ......................................................................5-158
POSITIONING PARAMETER (explanation of Positioning data setting program...................6-12
terms)................................................Appendix-42 Positioning operation speed override ( Cd.18 )
POSITIONING START (explanation of terms) ......................................................................5-176
..........................................................Appendix-43 Positioning program examples ......................6-12
PTP Control (explanation of terms) Positioning start No. ( Cd.11 )......................5-174
..........................................................Appendix-43 Positioning start No. setting program ............6-14
PU (explanation of terms) ................Appendix-43 Positioning start information area (No.7000)
PULSE (explanation of terms) .........Appendix-43 ..........................................................................7-3
Parameter ( Da.13 )..................................... 5-130 Positioning start information area
Parameter 1 ( Da.17 ).................................. 5-135 (No.7001 to 7010) ............................................7-3
Parameter 2 ( Da.18 ).................................. 5-135 Positioning start information setting program
Parameter area ............................................... 7-3 ........................................................................6-13
Parameter error (No. 1 to 15) ( Md.113 ) Positioning start signal...................................3-15
..................................................................... 5-164 Positioning start signal input program ...........6-15
Parameter error (No. 16 to 31) ( Md.114 ) Positioning starting point No. ( Cd.31 ) .......5-182
Index - 7
Positioning to the zero point.......................... 8-21 Continuous operation interrupt program ...6-19
Pre-alarm data selection ( Pr.129 )............... 5-67 Error reset program....................................6-20
Precautions according to module version ...... 2-7 External start function valid starting program
Precautions for configuring absolute position ....................................................................6-14
detection system ............................................. 2-8 Flash ROM write program..........................6-19
Precautions for configuring system ................ 2-7 JOG operation program .............................6-16
Precautions for creating program ................... 6-2 Manual pulse generator operation program
Precautions for installation.............................. 4-7 ....................................................................6-16
Precautions for maintenance ........................ 4-20 Override program .......................................6-17
Precautions for mounting ................................ 4-7 PLC READY signal [Y1D] ON program ....6-14
Precautions for mounting base unit ................ 2-7 Parameter initialization program................6-19
Precautions for using 3-axis module .............. 2-8 Parameter setting program ........................6-12
Precautions for wiring...................................... 4-8 Positioning start information setting program
Precautions ....................................................................6-13
Disposal instructions ................................. 4-20 Positioning data setting program ...............6-12
according to module version ....................... 2-7 Positioning start No. setting program ........6-14
for creating program .................................... 6-2 Positioning start signal input program .......6-15
for configuring absolute position detection Reset program ...........................................6-16
system.......................................................... 2-8 Restart program .........................................6-19
for installation............................................... 4-7 Servo ON/OFF program ............................6-14
for machine zero point return control in Skip program ..............................................6-18
absolute position detection system............. 2-8 Speed change program .............................6-17
for maintenance......................................... 4-20 Step operation program .............................6-18
for mounting................................................. 4-7 Stop program..............................................6-20
for mounting base unit................................. 2-7 Teaching program ......................................6-18
for using 3-axis module ............................... 2-8 Torque change program ............................6-17
for using MR-J2-03B5 ................................. 2-9 Zero point return request OFF program ....6-13
for using MR-J2S-B ..................................... 2-9 Pulse encoder ................................................1-11
for wiring ...................................................... 4-8 Purpose and applications of positioning control
Handling....................................................... 4-5 ..........................................................................1-6
Principle of operation ...................................... 1-9
Process time [R]
JOG operation timing and processing times REAL-TIME AUTO TUNING
................................................................... 11-6 (explanation of terms) ...................... Appendix-43
Machine zero point return operation timing and REFERENCE AXIS SPEED
process time .............................................. 6-28 (explanation of terms) ...................... Appendix-43
Manual pulse generator operation timing and REGENERATIVE BRAKE OPTION
processing times...................................... 11-19 (explanation of terms) ...................... Appendix-43
Operation timing and processing time during RLS SIGNAL (explanation of terms)
speed/position changeover control ........... 9-52 .......................................................... Appendix-43
Operation timing and processing time of high- ROTARY TABLE (explanation of terms)
speed zero point returns ........................... 8-20 .......................................................... Appendix-43
Position control operation timing and process RS-422 cable ...................................................2-4
time ............................................................ 6-29 Read/write positioning data I/F ( Cd.8 ).....5-172
Program details ............................................. 6-21 Read/write request ( Cd.7 ) .......................5-170
Program examples Real current value ( Md.101 )........................5-160
Acceleration / deceleration time change Reference axis ...............................................9-19
program...................................................... 6-17 Reference axis speed ....................................5-35
Clock data setting program ....................... 6-14 Regenerative brake resistor ( Pr.102 )
Index - 8
.....................................................5-59, 69, 79, 89 .......................................................... Appendix-45
Regenerative load ratio ( Md.117 )............... 5-166 STARTING AXIS ............................. Appendix-45
Relatively safe stop ....................................... 6-36 STATUS (explanation of terms) ...... Appendix-45
Remote I/O station .......................................... 2-6 STEP FUNCTION (explanation of terms)
Repeat counter ( Md.53 )............................. 5-158 .......................................................... Appendix-45
Repeated start (FOR condition).................. 10-15 STOP SETTLING TIME (explanation of terms)
Repeated start (FOR loop).......................... 10-14 .......................................................... Appendix-45
Reset program............................................... 6-16 STOP SIGNAL (explanation of terms)
Restart command ( Cd.13 )......................... 5-174 .......................................................... Appendix-45
Restart operation........................................... 6-33 STROKE (explanation of terms)...... Appendix-45
Restart program ............................................ 6-19 STROKE LIMIT (explanation of terms)
Rotation direction ( Pr.107 ) .......................................................... Appendix-43
.............................................5-61, 70, 80, 91, 106 SUDDEN STOP (explanation of terms)
.......................................................... Appendix-46
[S] Servo OFF command ( Cd.100 ) ..................5-184
S-CURVE ACCELERATION/DECELERATION Servo ON/OFF function ...............................12-38
(explanation of terms) ......................Appendix-43 Servo amplifier corresponding SSCNET
S-curve acceleration/deceleration processing ................................................................ 1-10, 2-4
method......................................................... 12-97 Servo amplifier software No. ( Md.112 ) .......5-162
S-curve ratio ( Pr.36 ) ................................... 5-41 Servo parameters
SERVO LOCK (explanation of terms) for MR-H-B (MR-H-BN)..............................5-58
..........................................................Appendix-44 for MR-J-B ..................................................5-68
SERVO ON (explanation of terms) for MR-J2-03B5........................................5-104
..........................................................Appendix-44 for MR-J2-B ................................................5-78
SERVOMOTOR (explanation of terms) for MR-J2S-B..............................................5-88
..........................................................Appendix-44 Servo parameter transmission setting ( Pr.149 )
SETTING UNIT (explanation of terms) ......................................................................5-102
..........................................................Appendix-44 Servo response setting ( Pr.109 )
SKIP FUNCTION (explanation of terms) ............................................. 5-61, 71, 81, 91, 107
..........................................................Appendix-44 Servo series ( Pr.100 ) ........ 5-59, 68, 78, 89, 104
SLAVE AXIS (explanation of terms) Servo starting up............................................4-16
..........................................................Appendix-44 Servo status ( Md.116 ) .................................5-164
SPEED CHANGEOVER CONTROL Servo System Controller............................... A-18
(explanation of terms) ......................Appendix-44 Setting data ......................................................5-2
SPEED CONTROL (explanation of terms) Setting for the movement amount after
..........................................................Appendix-44 near-point dog ON ( Pr.52 ) ..........................5-54
SPEED INTEGRAL COMPENSATION Setting for the restart allowable range when
(explanation of terms) ......................Appendix-44 servo OFF to ON ( Pr.150 ) ...........................5-46
SPEED LIMIT VALUE (explanation of terms) Setting items for condition data .....................5-12
..........................................................Appendix-44 Setting items for positioning data ....................5-9
SPEED LOOP GAIN (explanation of terms) Setting items for positioning parameters.........5-4
..........................................................Appendix-45 Setting items for start block data ...................5-11
SPEED LOOP MODE (explanation of terms) Setting items for zero point return parameters
..........................................................Appendix-45 ..........................................................................5-6
SPEED/POSITION CONTROL CHANGEOVER Setting positioning data No.101 to 600 data
MODE (explanation of terms) ..........Appendix-45 ....................................................................7-9, 16
SSCNET .................................................A-18, 2-4 Setting the positioning data ...........................9-22
START COMPLETE (explanation of terms) Setting the torque limit function ...................12-29
Index - 9
Shape ( Da.10 ) ........................................... 5-130 ............................................. 5-63, 73, 83, 93, 109
Signal layout for connector ........................... 3-16 Speed loop gain 2 ( Md.110 )........................5-162
Signal name................................................... 3-13 Speed loop gain 2 ( Pr.116 )
Signal ............................................. 5-63, 73, 83, 93, 109
AD75 READY signal.................................. 3-13 Speed integral compensation ( Md.111 )......5-162
Axis stop signal.......................................... 3-15 Speed integral compensation ( Pr.117 )
BUSY signal............................................... 3-13 ............................................. 5-63, 73, 83, 93, 109
Error detection signal ................................ 3-13 Speed limit function .....................................12-25
JOG start signal......................................... 3-15 Speed limit value ( Pr.7 ) ............................5-26
M code ON signal ...................................... 3-13 Speed/position changeover control...............9-50
PLC READY signal.................................... 3-15 Speed/position changeover control movement
Positioning complete signal....................... 3-13 amount change register ( Cd.21 )................5-178
Positioning start signal .............................. 3-15 Speed/position changeover control positioning
Start complete signal................................. 3-13 amount ( Md.38 ) ..........................................5-150
Simultaneous start....................................... 10-12 Speed/position changeover enable flag ( Cd.20 )
Single module test......................................... 4-17 ......................................................................5-178
Size selection for acceleration/deceleration time Speed/position changeover latch flag .........5-152
( Pr.25 ) ......................................................... 5-36 Speed/position changeover signal ................3-19
Skip command ( Cd.29 ) ............................. 5-182 Spiral interpolation .........................................9-41
Skip function ................................................ 12-75 Standard speed changeover mode...............9-10
Skip program ................................................. 6-18 Start axis ( Md.7 , Md.13 ) ................ 5-138, 140
Software stroke limit lower limit value ( Pr.14 ) Start block data ..............................................10-7
....................................................................... 5-29 Start complete signal .....................................3-13
Software stroke limit selection ( Pr.15 ) ....... 5-30 Start data No. ( Da.11 )................................5-130
Software stroke limit upper limit value ( Pr.13 ) Start data pointer being executed ( Md.51 )
....................................................................... 5-29 ......................................................................5-158
Software stroke limit valid/invalid setting ( Pr.16 ) Start details setting program..........................6-22
....................................................................... 5-30 Start during error history..............................14-80
Solenoid brake output ( Pr.121 ) Start positioning data No. setting value ( Md.48 )
...................................................5-63, 83, 95, 109 ......................................................................5-156
Special start command ( Da.12 ) ................ 5-130 Start program .................................................6-23
Special start data command code setting value Start program for advanced positioning control
( Md.46 ) ....................................................... 5-156 ......................................................................10-20
Special start data command parameter setting Start time (Hour: minute) ( Md.9 , Md.15 )
value ( Md.47 ) ............................................. 5-156 ............................................................. 5-138, 140
Specifications of input/output signals ........... 3-12 Start time (Second:100 ms) ( Md.10 , Md.16 )
Speed change 0 flag ................................... 5-152 ............................................................. 5-138, 140
Speed change function ............................... 12-43 Start time chart for positioning control using
Speed change program ................................ 6-17 indirectly specification function..................12-103
Speed change request ( Cd.17 )................. 5-176 Start time chart for positioning to the zero point
Speed changeover mode ( Pr.20 ) .............. 5-34 ........................................................................8-22
Speed control ................................................ 9-47 Starting history pointer ( Md.12 )..................5-138
Speed designation during zero point shift Starting history pointer at error ( Md.18 ).....5-140
( Pr.57 ) ......................................................... 5-57 Status ( Md.40 ) ............................................5-152
Speed differential compensation ( Pr.136 ) Step function ................................................12-70
...........................................5-67, 76, 87, 101, 111 Step mode....................................................12-71
Speed loop gain 1 ( Md.108 ) ....................... 5-162 Step mode ( Cd.27 ).....................................5-182
Speed loop gain 1 ( Pr.114 ) Step operation program.................................6-18
Index - 10
Step start information .................................. 12-71 Time chart for starting machine zero point return
Step start information ( Cd.28 )................... 5-182 ........................................................................6-25
Step valid flag ( Cd.26 )............................... 5-180 Time chart for starting main positioning control
Stop.............................................................. 10-13 ........................................................................6-27
Stop cause..................................................... 6-36 Time chart for starting speed/position changeover
Stop group 1 sudden stop selection ( Pr.38 ) control.............................................................6-27
....................................................................... 5-43 Time chart for starting with external start signal
Stop group 2 sudden stop selection ( Pr.39 ) ........................................................................6-30
....................................................................... 5-43 Time chart
Stop group 3 sudden stop selection ( Pr.40 ) for positioning control using indirectly
....................................................................... 5-43 specification function..............................12-103
Stop process.................................................. 6-36 for positioning to the zero point .................8-22
Stop program................................................. 6-20 for restarting ...............................................6-35
Stop signal..................................................... 3-18 for starting high-speed zero point return ...6-26
Sudden stop .................................................. 6-37 for starting machine zero point return........6-25
Sudden stop deceleration time ( Pr.37 ) ...... 5-42 for starting main positioning control...........6-27
System control data .................................... 5-168 for starting speed/position changeover control
System monitor data ................................... 5-136 ....................................................................6-27
for starting with external start signal ..........6-30
[T] Torque change function...............................12-56
TEACHING (explanation of terms) Torque change program ................................6-17
..........................................................Appendix-46 Torque limit function ....................................12-27
TEACHING UNIT (explanation of terms) Torque limit setting value ( Pr.18 ) ...............5-31
..........................................................Appendix-46 Torque limit stored value ( Md.45 ) ..............5-154
TORQUE CONTROL (explanation of terms) Torque output setting value ( Cd.101 ).........5-184
..........................................................Appendix-46 Types and roles of control data .....................5-17
TORQUE LOOP MODE (explanation of terms) Types and roles of monitor data....................5-13
..........................................................Appendix-46 Types of data ...................................................5-2
TORQUE RIPPLE (explanation of terms) Types of errors ...............................................14-2
..........................................................Appendix-46 Types of stop processes................................6-37
TURNTABLE (explanation of terms) Types of warnings..........................................14-4
..........................................................Appendix-46
Target axis ( Cd.4 ).................................... 5-168 [U]
Target speed ( Md.42 ) ................................ 5-154 UNIT SETTING (explanation of terms)
Target value ( Md.41 ) ................................. 5-152 .......................................................... Appendix-46
Teaching function ........................................ 12-82 Unconditional JUMP ......................................9-62
Teaching program ......................................... 6-18 Unit magnification ( Pr.4 ) ...........................5-24
Teaching unit ................................................... 2-4 Unit setting ( Pr.1 ) ......................................5-22
Time chart for changing the speed from the PLC Upper limit signal ...........................................3-18
CPU ............................................................. 12-46
Time chart for changing the speed using an [V]
external start signal ..................................... 12-48 Valid M code ( Md.32 ) .................................5-146
Time chart for changing the speed using the
override function.......................................... 12-51 [W]
Time chart for restarting ................................ 6-35 WARNING (explanation of terms)... Appendix-46
Time chart for starting high-speed zero point return WITH MODE (explanation of terms)
....................................................................... 6-26 .......................................................... Appendix-46
Index - 11
WITH mode ................................................. 12-78 Zero point return method (2): Near-point dog
WORM GEAR (explanation of terms) method 2) .........................................................8-9
..........................................................Appendix-47 Zero point return method (3): Count method 1)
Wait start...................................................... 10-11 ........................................................................8-11
Warning codes Zero point return method (4): Count method 2)
Detected by AD75 ................................... 14-64 ........................................................................8-14
Detected by MR-H-B (MR-H-BN)............ 14-70 Zero point return method (5): Count method 3)
Detected by MR-J-B ................................ 14-72 ........................................................................8-16
Detected by MR-J2-03B5........................ 14-78 Zero point return method (6): Data setting
Detected by MR-J2-B .............................. 14-74 method ...........................................................8-18
Detected by MR-J2S-B ........................... 14-76 Zero point return method ( Pr.45 )................5-47
Warning history pointer ( Md.28 )................ 5-144 Zero point return re-movement amount ( Md.100 )
Wiring the external device connection connector ......................................................................5-160
pins ................................................................ 4-12 Zero point return request .................................8-2
Workpiece......................................................A-18 Zero point return request OFF program........6-13
Write pattern ( Cd.6 )................................. 5-170 Zero point return request flag ......................5-152
Writing to the flash ROM............................... 13-6 Zero point return request flag OFF request
( Cd.24 )........................................................5-180
[X] Zero point return retry ( Pr.50 ).....................5-53
XY TABLE (explanation of terms)....Appendix-47 Zero point return retry function ......................12-4
Zero point return speed ( Pr.48 ) ..................5-51
[Z] Zero point return torque limit value ( Pr.56 )
ZERO POINT (explanation of terms) ........................................................................5-57
..........................................................Appendix-47 Zero point shift amount ( Pr.55 )...................5-56
ZERO POINT RETURN METHOD Zero point shift function ...............................12-10
(explanation of terms) ......................Appendix-47 Zero speed ( Pr.130 )........ 5-67, 76, 87, 101, 111
ZERO POINT RETURN PARAMETER
(explanation of terms) ......................Appendix-47
ZERO POINT RETURN REQUEST
(explanation of terms) ......................Appendix-47
ZERO POINT SHIFT FUNCTION
(explanation of terms) ......................Appendix-47
ZERO POINT SIGNAL (explanation of terms)
..........................................................Appendix-47
Zero point absolute position ( Md.43 ) ........ 5-154
Zero point absolute position overflow/underflow
flag ............................................................... 5-152
Zero point address ( Pr.47 ) ......................... 5-51
Zero point return acceleration time selection
( Pr.53 ) ......................................................... 5-55
Zero point return basic parameters .............. 5-47
Zero point return complete flag................... 5-152
Zero point return deceleration time selection
( Pr.54 ) ......................................................... 5-55
Zero point return detailed parameters .......... 5-54
Zero point return direction ( Pr.46 ).............. 5-50
Zero point return method (1): Near-point dog
method............................................................. 8-7
Index - 12
WARRANTY
Please confirm the following product warranty details before using this product.
1. Gratis Warranty Term and Gratis Warranty Range
If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product
within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service
Company.
However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at
the customer’s discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-
site that involves replacement of the failed module.
[Gratis Warranty Term]
The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated
place.
Note that after manufacture and shipment from Mitsubishi, the maximum distribution period shall be six (6) months, and
the longest gratis warranty term after manufacturing shall be eighteen (18) months. The gratis warranty term of repair
parts shall not exceed the gratis warranty term before repairs.
[Gratis Warranty Range]
(1) The range shall be limited to normal use within the usage state, usage methods and usage environment, etc.,
which follow the conditions and precautions, etc., given in the instruction manual, user's manual and caution labels
on the product.
(2) Even within the gratis warranty term, repairs shall be charged for in the following cases.
1. Failure occurring from inappropriate storage or handling, carelessness or negligence by the user. Failure caused
by the user's hardware or software design.
2. Failure caused by unapproved modifications, etc., to the product by the user.
3. When the Mitsubishi product is assembled into a user's device, Failure that could have been avoided if functions
or structures, judged as necessary in the legal safety measures the user's device is subject to or as necessary
by industry standards, had been provided.
4. Failure that could have been avoided if consumable parts (battery, backlight, fuse, etc.) designated in the
instruction manual had been correctly serviced or replaced.
5. Failure caused by external irresistible forces such as fires or abnormal voltages, and Failure caused by force
majeure such as earthquakes, lightning, wind and water damage.
6. Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi.
7. Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user.
2. Onerous repair term after discontinuation of production
(1) Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued.
Discontinuation of production shall be notified with Mitsubishi Technical Bulletins, etc.
(2) Product supply (including repair parts) is not available after production is discontinued.
3. Overseas service
Overseas, repairs shall be accepted by Mitsubishi's local overseas FA Center. Note that the repair conditions at each FA
Center may differ.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation of damages caused by any cause
found not to be the responsibility of Mitsubishi, loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi
products, special damages and secondary damages whether foreseeable or not , compensation for accidents, and
compensation for damages to products other than Mitsubishi products, replacement by the user, maintenance of on-site
equipment, start-up test run and other tasks.
5. Changes in product specifications
The specifications given in the catalogs, manuals or technical documents are subject to change without prior notice.
6. Product application
(1) In using the Mitsubishi MELSEC programmable controller, the usage conditions shall be that the application will not
lead to a major accident even if any problem or fault should occur in the programmable controller device, and that
backup and fail-safe functions are systematically provided outside of the device for any problem or fault.
(2) The Mitsubishi programmable controller has been designed and manufactured for applications in general industries,
etc. Thus, applications in which the public could be affected such as in nuclear power plants and other power plants
operated by respective power companies, and applications in which a special quality assurance system is required,
such as for Railway companies or Public service purposes shall be excluded from the programmable controller
applications.
In addition, applications in which human life or property that could be greatly affected, such as in aircraft, medical
applications, incineration and fuel devices, manned transportation, equipment for recreation and amusement, and
safety devices, shall also be excluded from the programmable controller range of applications.
However, in certain cases, some applications may be possible, providing the user consults their local Mitsubishi
representative outlining the special requirements of the project, and providing that all parties concerned agree to the
special circumstances, solely at the users discretion.
Microsoft Windows, Windows NT are registered trademarks of Microsoft Corporation in the United States
and other countries.
Other company and product names herein may be either trademarks or registered trademarks of their
respective owners.
IB(NA)-66715-I
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