Page 1 MELSEC iQ-R Motion Module User's Manual (Application for Simple Motion Mode) -RD78G4 -RD78G8 -RD78G16 Downloaded from ManualsNet.com search engine...
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Page 3: Safety Precautions
SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. Refer to the MELSEC iQ-R Module Configuration Manual for a description of the PLC system safety precautions.
Page 4 [Design Precautions] WARNING ● Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller. Failure to do so may result in an accident due to an incorrect output or malfunction. (1) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured external to the programmable controller.
Page 5 [Design Precautions] WARNING ● When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely. For other forms of control (such as program modification, parameter change, forced output, or operating status change) of a running programmable controller, read the relevant manuals carefully and ensure that the operation is safe before proceeding.
Page 6 [Design Precautions] CAUTION ● Do not install the control lines or communication cables together with the main circuit lines or power cables. Doing so may result in malfunction due to electromagnetic interference. Keep a distance of 100mm or more between those cables. ●...
Page 7 [Installation Precautions] CAUTION ● Use the programmable controller in an environment that meets the general specifications in the Safety Guidelines included with the base unit. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. ●...
Page 8 Do not remove the film during wiring. Remove it for heat dissipation before system operation. ● Mitsubishi Electric programmable controllers must be installed in control panels. Connect the main power supply to the power supply module in the control panel through a relay terminal block. Wiring and replacement of a power supply module must be performed by qualified maintenance personnel with knowledge of protection against electric shock.
Page 9 [Startup and Maintenance Precautions] WARNING ● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction. ● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so may cause the battery to generate heat, explode, ignite, or leak, resulting in injury or fire.
Page 10 [Startup and Maintenance Precautions] CAUTION ● Do not drop or apply shock to the battery to be installed in the module. Doing so may damage the battery, causing the battery fluid to leak inside the battery. If the battery is dropped or any shock is applied to it, dispose of it without using.
Page 11 Cautions When Using Mitsubishi Programmable Controllers or GOTs Connected to a Personal Computer With the RS-232/USB Interface (FA-A-0298) When the USB cable used is the GT09-C30USB-5P manufactured by Mitsubishi Electric, specific measures are not required to connect the AC-powered personal computer to the module. However, note that the signal ground (SG) is common for the module and its USB interface.
Page 12: Introduction
INTRODUCTION Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers. This manual describes the functions and programming of the relevant products listed below. Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly.
Page 13: Table Of Contents
CONTENTS SAFETY PRECAUTIONS ..............1 INTRODUCTION .
Page 14 JUMP instruction ............... . 133 LOOP.
Page 15 Outline of speed-torque control ............. 191 Setting the required parameters for speed-torque control.
Page 16 External Input Signal Select Function ............315 History Monitor Function .
Page 17 12.5 Block Start Data............... . 469 12.6 Condition Data .
Page 18 Related function............... . . 666 Appendix 4 List of Add-on Libraries .
Page 19: Relevant Manuals
Reference of the Motion module (Simple Motion module) [BCN-B62005-1040] e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool. e-Manual has the following features: • Required information can be cross-searched in multiple manuals.
Page 20: Terms
MR-JET-_G servo amplifier RD78G Another term for the MELSEC iQ-R series Motion module (compatible with CC-Link IE TSN) Remote input (RX) Bit data input from a slave station to the master station (For some areas in a local station, data is input in the opposite direction.)
Page 21: Generic Terms And Abbreviations
Engineering tool A generic term for GX Works3 and MR Configurator2 High-speed counter module An abbreviation for the MELSEC iQ-R series high-speed counter module An abbreviation for the homing mode (one of the control modes on the driver side) Motion system...
Page 22: Chapter 1 Start And Stop
START AND STOP This chapter describes start and stop methods of the positioning control for the Motion module. Start The Motion module operates the start trigger for each control, and starts the positioning control. The following table shows the start signals for each control. This section describes the start using positioning start signals and external command signals. Control details Start trigger Major positioning control...
Page 23 • Signal state Signal name Signal state Device I/O signal PLC READY signal CPU module preparation completed READY signal Preparation completed All axis servo ON All axis servo ON Synchronization flag The buffer memory can be accessed. Axis stop signal Axis stop signal is OFF [Cd.180] Axis stop M code ON signal...
Page 24 Start by the positioning start signal The operation at starting by the positioning start signal is shown below. • When the positioning start signal turns ON, the start complete signal ([Md.31] Status: b14) 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. •...
Page 25 ■Operation timing and processing time The following shows details about the operation timing and time during position control. • 4-axis module operation example Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] M code ON signal ([Md.31] Status: b12) (WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14)
Page 26 ■Advance setting Set the following data in advance. n: Axis No. - 1 Setting item Setting Setting details Buffer memory address value Axis 1 to axis 16 [Pr.42] External command Set to "0: External positioning start". 62+150n function selection [Pr.95] External command signal Set the external command signal (DI).
Page 27: Multiple Axes Simultaneous Start
Multiple axes simultaneous start The "multiple axes simultaneous start" starts outputting the command to the specified simultaneous starting axis at the same timing as the started axis. The maximum of four axes can be started simultaneously. Control details The multiple axes simultaneous start control is carried out by setting the simultaneous start setting data to the multiple axes simultaneous start control buffer memory of the axis control data, "9004"...
Page 28 Setting item Setting Setting details Buffer memory address value Axis 1 to axis 16 [Cd.30] Simultaneous starting own axis Set the simultaneous starting axis start data No. Set a "0" for the axis 4340+100n start data No. other than the simultaneous starting axes. [Cd.31] Simultaneous starting axis start 4341+100n...
Page 29: Stop
Stop The axis stop signal or stop signal from external input signal is used to stop the control. Create a program to turn ON the axis stop signal [Cd.180] as the stop program. Each control is stopped in the following cases. •...
Page 30 Stop cause Stop process Home position return Major High-level Manual control control positioning positioning control control Machine Fast home JOG/ Manual home position Inching pulse position return operation generator return control operation control  Forced stop Forced stop input to the Motion Immediate stop module For the stop method of the servo amplifier, refer to each servo amplifier manual.
Page 31 Types of stop processes The operation can be stopped with deceleration stop, rapid stop or immediate stop. ■Deceleration stop The operation stops with "deceleration time 0 to 3" ([Pr.10], [Pr.28], [Pr.29], [Pr.30]). Which time from "deceleration time 0 to 3" to use for control is set in positioning data ([Da.4]).
Page 32 Order of priority for stop process The order of priority for the Motion module stop process is as follows. (Deceleration stop) < (Rapid stop) < (Immediate stop) • If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0 (including automatic deceleration), operation changes depending on the setting of "[Cd.42] Stop command processing for deceleration stop selection".
Page 33: Restart
Restart 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.6] Restart command). ("Restarting" is not possible when "continuous operation is interrupted.") This instruction is efficient when performing the remaining positioning from the stopped position in the positioning control of incremental method such as INC linear 1.
Page 34 Setting method Set the following data to execute restart. n: Axis No. - 1 Setting item Setting Setting details Buffer memory value address Axis 1 to axis 16 [Cd.6] Restart command Set "1: Restarts". 4303+100n Refer to the following for the setting details. Page 512 Control Data Time chart for restarting ■4-axis module operation example...
Page 35: Chapter 2 Home Position Return Control
HOME POSITION RETURN CONTROL The details and usage of "home position return control" are explained in this chapter. Outline of Home Position Return Control Two types of home position return control In "home position return control", a position is established as the starting (or "home position") when carrying out positioning control, and positioning is carried out toward that starting point.
Page 36 When using an absolute position system • This flag turns on in the following cases: • When not executing a machine home position return even once after the system starts • Machine home position return start (Unless a machine home position return is completed normally, the home position return request flag does not turn off.) •...
Page 37: Machine Home Position Return
Machine Home Position Return Outline of the machine home position return operation Machine home position return operation In a machine home position return, a home position is established. None of the address information stored in the Motion module, CPU module, or servo amplifier is used at this time. The position mechanically established after the machine home position return is regarded as the "home position"...
Page 38: Driver Home Position Return Method
Driver home position return method The home position return is executed based on the positioning pattern set on the driver (servo amplifier) side (hereafter called the "driver side"). The following shows the procedure. Set the home position return parameters of the servo amplifier. The "machine home position return"...
Page 39 When the machine home position return is stopped Motor speed 9001 [Cd.3] Positioning start No. Positioning start signal [Y11] Busy signal [X11] [Cd.180] Axis stop Home position return request flag ([Md.31] Status: b3) Home position return complete flag ([Md.31] Status: b4) [Md.26] Axis operation status 0: Standby 7: Home position return...
Page 40 Backlash compensation after the driver home position return method When "[Pr.11] Backlash compensation amount" is set in the Motion module, whether the backlash compensation is necessary or not is judged from "[Pr.44] Home position return direction" of the Motion module in the axis operation such as positioning after the driver home position return.
Page 41: Fast Home Position Return
Fast Home Position Return Outline of the fast home position return operation Fast home position return operation After establishing home position by a machine home position return, positioning control to the home position is executed without using a proximity dog or a zero signal. The following shows the operation during a basic fast home position return start.
Page 42 Operation timing and processing time The following shows details about the operation timing and time during fast home position return. [4-axis module operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] Start complete signal ([Md.31] Status: b14) [Md.26] Axis operation Standby...
Page 43: Chapter 3 Major Positioning Control
MAJOR POSITIONING CONTROL The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this chapter. The major positioning controls include such controls as "positioning control" in which positioning is carried out to a designated position using the address information, "speed control"...
Page 44 Major positioning control [Da.2] Control Details method Speed control 1-axis speed control Forward run speed 1 The speed control of the designated 1 axis is carried out. Reverse run speed 1 2-axis speed Forward run speed 2 The speed control of the designated 2 axes is carried out. control Reverse run speed 2 3-axis speed...
Page 45: Data Required For Major Positioning Control
Data required for major positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "major positioning controls". Setting item Setting details Positioning [Da.1] Operation pattern Set the method by which the continuous positioning data (Ex: positioning data No.1, No.2, data No.3) will be controlled.
Page 46: Operation Patterns Of Major Positioning Controls
Operation patterns of major positioning controls In "major positioning control" (high-level 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 control Operation pattern Positioning complete...
Page 47 Continuous positioning control • The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the Motion module 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.
Page 48 Continuous path control ■Continuous path control • The speed is changed without deceleration stop between the command speed of the "positioning data No. currently being executed" and the speed of the "positioning data No. to carry out the next operation". The speed is not changed if the current speed and the next speed are equal.
Page 49 ■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 3 cases. • 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.
Page 50 ■Speed handling • Continuous path control command speeds are set with each positioning data. The Motion module carries out the positioning at the speed designated with each positioning data. • 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 positioning data No.
Page 51 ■4-axis module operation example Speed switching Dwell time Dwell time Positioning [Da.1] Operation pattern Positioning start signal [Y10, Y11, Y12, Y13] Start complete signal ([Md.31] Status: b14) BUSY signal [X10, X11, X12, X13] Positioning complete signal ([Md.31] Status: b15) • 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.
Page 52 ■Speed switching (Front-loading speed switching mode: The speed switches at the end of the positioning data currently being executed.) (Page 428 [Pr.19] Speed switching mode) • 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"...
Page 53: Designating The Positioning Address
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 home position as a reference. This address is regarded as the positioning address.
Page 54: Confirming The Current Value
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 Motion module. These addresses ("feed current value" and "machine feed value") are stored in the monitor data area, and used in monitoring the current value display, etc.
Page 55 Program example The following shows the program example that stores the feed current value of the axis 1 in the specified device. Classification Label name Description Module label RD78GS_1.stnAxMntr_D[0].dCommandPosition_D Axis 1 Feed current value Global label, local Defines the global label or the local label as follows. The settings of Assign (Device/Label) are not required for the label that the label assignment device is not set because the unused internal relay and data device are automatically assigned.
Page 56: Control Unit "Degree" Handling
Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. Feed current value and machine feed value addresses The address of "[Md.20] Feed current value" becomes a ring address from 0 to 359.99999. The address of "[Md.21] Machine feed value"...
Page 57 Positioning control method when the control unit is set to "degree" ■Absolute system (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".) 1) Positioning is carried out in a clockwise direction when the current value is moved from 315...
Page 58 ■Incremental system Positioning is carried out for a designated movement amount in a designated movement direction when in the incremental 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...
Page 59: Interpolation Control
Interpolation control Meaning of interpolation control In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2-axis fixed- feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", "2-axis speed control", "3-axis speed control", "4-axis speed control", "2-axis circular interpolation control", and "3-axis helical interpolation control", each control is performed so that linear and arc paths are drawn using a motor set in two to four axis directions.
Page 60 Setting positioning data 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. : Setting always required, : Set according to requirements (Set to "" when not used.), : Setting restrictions exist : Setting not required (Use the initial value or a value within the setting range.) Setting item Reference axis setting item...
Page 61 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"...
Page 62 Limits to interpolation control There are limits to the interpolation control that can be executed and speed ([Pr.20] Interpolation speed designation method) that can be set, depending on "[Pr.1] Unit setting" of the reference axis and interpolation axis. (For example, 2-axis 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.
Page 63: Setting The Positioning Data
Setting the Positioning Data 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 "[Da.2] Control method". The following table shows the positioning data setting items corresponding to the different types of control. (In this section, it is assumed that the positioning data setting is carried out using an engineering tool.) : Always set : Set as required (""...
Page 64 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1B1EH to 1B20H) will occur at start.) : Setting not required (Use the initial value or a value within the setting range.) Positioning data Speed-position switching control Position-speed switching control...
Page 65 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1B1EH to 1B20H) will occur at start.) : Setting not required (Use the initial value or a value within the setting range.) Positioning data Other control NOP instruction...
Page 66: 1-Axis Linear Control
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-axis linear control (ABS linear 1) ■Operation chart In absolute system 1-axis linear control, positioning is carried out from the current stop position (start point address) to the address (end point address) set in "[Da.6] Positioning address/movement amount".
Page 67 1-axis linear control (INC linear 1) ■Operation chart In incremental system 1-axis linear control, 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.6] Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
Page 68: 2-Axis Linear Interpolation Control
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 Page 57 Interpolation control for details on interpolation control.) 2-axis linear interpolation control (ABS linear 2) ■Operation chart...
Page 69 ■Setting positioning data When using 2-axis linear interpolation control (ABS linear 2), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not Setting required/not required for the required for the reference axis interpolation axis...
Page 70 2-axis linear interpolation control (INC linear 2) ■Operation chart In incremental system 2-axis linear interpolation control, the designated 2 axes 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.6] Positioning address/movement amount".
Page 71 ■Setting positioning data When using 2-axis linear interpolation control (INC linear 2), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not Setting required/not required for the required for the reference axis interpolation axis...
Page 72: 3-Axis Linear Interpolation Control
3-axis linear interpolation control In "3-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 3, INC linear 3), three 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 Page 57 Interpolation control for details on interpolation control.) 3-axis linear interpolation control (ABS linear 3) ■Operation chart...
Page 73 ■Setting positioning data When using 3-axis linear interpolation control (ABS linear 3), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not Setting required/not required for the required for the reference axis interpolation axis...
Page 74 3-axis linear interpolation control (INC linear 3) ■Operation chart In the incremental system 3-axis linear interpolation control, the designated 3 axes 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.6] Positioning address/movement amount".
Page 75 ■Setting positioning data When using 3-axis linear interpolation control (INC linear 3), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not Setting required/not required for the required for the reference axis interpolation axis...
Page 76: 4-Axis Linear Interpolation Control
4-axis linear interpolation control In "4-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 4, INC linear 4), four 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 Page 57 Interpolation control for details on interpolation control.) 4-axis linear interpolation control (ABS linear 4) In the absolute system 4-axis linear interpolation control, the designated 4 axes are used.
Page 77 4-axis linear interpolation control (INC linear 4) In the incremental system 4-axis linear interpolation control, the designated 4 axes 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.6] Positioning address/movement amount".
Page 78: Fixed-Feed Control
Fixed-feed control In "fixed-feed control" ("[Da.2] Control method" = fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4), the motor of the specified axis is used to carry out fixed-feed control in a set axis direction. In fixed-feed control, any remainder of below control accuracy is rounded down to convert the movement amount designated in the positioning data into the command value to servo amplifier.
Page 79 ■Restrictions • The error "Continuous path control not possible" (error code: 1B1EH to 1B20H) 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-feed control.) •...
Page 80 When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the Motion module and reflected at the next positioning. For the fixed-feed control, since the movement distance is maintained constant (= the command number of pulses is maintained constant), the control is carried out after the fraction pulse is cleared to zero at start.
Page 81: 2-Axis Circular Interpolation Control With Sub Point Designation
2-axis circular interpolation control with sub point designation In "2-axis circular interpolation control" ("[Da.2] Control method" = ABS circular sub, INC circular sub), two motors are used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis directions set in each axis.
Page 82 ■Setting positioning data When using 2-axis circular interpolation control with sub point designation (ABS circular sub), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not Setting required/not required for the required for the reference axis...
Page 83 2-axis circular interpolation control with sub point designation (INC circular sub) ■Operation chart In the incremental system, 2-axis circular interpolation control with sub point designation, 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.6] Positioning address/ movement amount"...
Page 84 ■Setting positioning data When using 2-axis circular interpolation control with sub point designation (INC circular sub), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not Setting required/not required for the required for the reference axis...
Page 85: 2-Axis Circular Interpolation Control With Center Point Designation
2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" ("[Da.2] Control method" = ABS circular right, INC circular right, ABS circular left, INC circular left), two motors are used to carry out position control in an arc path having an arc address as a center point, while carrying out interpolation for the axis directions set in each axis.
Page 86 ■Calculated error > "[Pr.41] Allowable circular interpolation error width" At the positioning start, the error "Large arc error deviation" (error code: 1B17H) will occur and the control will not start. The machine will immediately stop if the error is detected during positioning control. 2-axis circular interpolation control with center point designation (ABS circular) ■Operation chart In the absolute system, 2-axis circular interpolation control with center point designation positioning is carried out from the...
Page 87 ■Restrictions 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) •...
Page 88 2-axis circular interpolation control with center point designation (INC circular) ■Operation chart In the incremental system, 2-axis circular interpolation control with center point designation, 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.6] Positioning address/ movement amount", in an arc path having as its center the address (arc address) of the center point set in "[Da.7] Arc address".
Page 89 ■Restrictions 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) •...
Page 90: 3-Axis Helical Interpolation Control With Sub Point Designation
3-axis helical interpolation control with sub point designation In "3-axis helical interpolation control" ("[Da.2] Control method" = ABS helical sub, INC helical sub), three motors are used to carry out the circular interpolation control of 2 axes. The remaining axis is used for "helical control" or "tangent control and normal line control".
Page 91 • When the movement amount of the linear interpolation axis is more than the composite movement amount of the circular interpolation axis, the speed of the linear interpolation axis cannot be suppressed with "[Pr.8] Speed limit value". • When "0: Composite speed" is set in "[Pr.20] Interpolation speed designation method" or "1: Composite speed"...
Page 92 3-axis helical interpolation control with sub point designation (ABS helical sub) ■Operation chart In the absolute system and 3-axis helical interpolation control with sub point designation, the positioning is performed from the current stop position (X0, Y0, Z0) to the position indicated with the arc end point address (X1 and Y1) and the linear interpolation axis end point address (Z1) set in "[Da.6] Positioning address/movement amount".
Page 93 ■Positioning data to be set When using 3-axis helical interpolation control with sub point designation (ABS helical sub), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting requirement of Setting requirement of Setting requirement of reference axis...
Page 94 3-axis helical interpolation control with sub point designation (INC helical sub) ■Operation chart In the incremental system and 3-axis helical interpolation control with sub point designation, the positioning is performed from the current stop position (X0, Y0, Z0) to the position (X1, Y1, Z1) for the movement amount set in "[Da.6] Positioning address/ movement amount".
Page 95 ■Positioning data to be set When using the 3-axis helical interpolation control with sub point designation (INC helical sub), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting requirement of Setting requirement of Setting requirement of...
Page 96: 3-Axis Helical Interpolation Control With Center Point Designation
3-axis helical interpolation control with center point designation In "3-axis helical interpolation control" ("[Da.2] Control method" = ABS helical right, INC helical right, ABS helical left, INC helical left), three motors are used to carry out the circular interpolation control of 2 axes. The remaining axis is used for "helical control"...
Page 97 • When the movement amount of the linear interpolation axis is more than the composite movement amount of the circular interpolation axis, the speed of the linear interpolation axis cannot be suppressed with "[Pr.8] Speed limit value". • When "0: Composite speed" is set in "[Pr.20] Interpolation speed designation method" or "1: Composite speed"...
Page 98 Rotation angle of circular interpolation axis (X axis-Y axis) The rotation angle of the circular interpolation axis in the 3-axis helical interpolation control is as follows. True circle Other than the true circle Y axis Y axis End point θ = 360° θ...
Page 99 Rotation direction when the linear interpolation axis (Z axis) is set in degrees When "degree" is set to "[Pr.1] Unit setting" for the linear interpolation axis, the rotation direction is determined depending on the axis control data in "[Cd.40] ABS direction in degrees" of the reference axis. To set a rotation direction for each positioning data, set "[Da.28] ABS direction in degrees"...
Page 100 ■Restrictions In the following cases, the 3-axis helical interpolation control cannot be set. • When "degree" is set in "[Pr.1] Unit setting" of the reference axis and circular interpolation axis • When the units set in "[Pr.1] Unit setting" are different between the reference axis and circular interpolation axis (The combination of "mm"...
Page 101 3-axis helical interpolation control with center point designation (INC helical right, INC helical left) ■Operation chart In the incremental system and 3-axis helical interpolation control with center point designation, the positioning is performed from the current stop position (X0, Y0, Z0) to the position (X1, Y1, Z1) for the movement amount set in "[Da.6] Positioning address/movement amount".
Page 102 ■Positioning data to be set When using the 3-axis helical interpolation control with center point designation (INC helical right, INC helical left), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting requirement of Setting requirement of...
Page 103: Speed Control
Speed control In "speed control" ("[Da.2] Control method" = Forward run: speed 1 to 4, Reverse run: speed 1 to 4), control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed"...
Page 104 ■2-axis speed control 4-axis module operation example Interpolation axis (axis 2) [Da.8] Command speed Reference axis (axis 1) [Da.8] Command speed Positioning start signal [Y10] BUSY signal [X10, X11] Does not turn ON even when control is stopped by stop command. Positioning complete signal ([Md.31] Status: b15)
Page 105 Feed current value The following table shows "[Md.20] Feed current value" during speed control corresponding to the "[Pr.21] Feed current value during speed control" settings. (However, the parameters use the set value of the reference axis.) "[Pr.21] Feed current value during speed control" setting [Md.20] Feed current value 0: Do not update feed current value The feed current value at speed control start is maintained.
Page 106 Positioning data to be set When using speed control (forward run: speed 1 to 4, reverse run: speed 1 to 4), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not Setting required/not...
Page 107: Speed-Position Switching Control (Inc Mode)
Speed-position switching control (INC mode) In "speed-position switching control (INC mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output on the axial direction set to the positioning data.
Page 108 Operation chart The following chart shows the operation timing for speed-position switching control (INC mode). The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (INC mode). ■4-axis module [Da.8] Command speed Movement amount set in "[Da.6] Positioning address/movement amount"...
Page 109 Operation timing and processing time ■4-axis module Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] M code ON signal ([Md.31] Status: b12) (WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) Position [Md.26] Axis operation status Standby...
Page 110 Feed current value The following table shows "[Md.20] Feed current value" during speed-position switching control (INC mode) corresponding to the "[Pr.21] Feed current value during speed control" settings. "[Pr.21] Feed current value during speed control" setting [Md.20] Feed current value 0: Do not update feed current value The feed current value at control start is maintained during speed control, and updated from the switching to position control.
Page 111 Speed-position switching signal setting • The following table shows the items that must be set to use the external command signals [DI] as speed-position switching signals. n: Axis No. - 1 Setting item Setting Setting details Buffer memory address value Axis 1 to axis 16 [Pr.42] External command function...
Page 112 Changing the position control movement amount In "speed-position switching control (INC mode)", the position control movement amount can be changed during the speed control section. • The position control movement amount can be changed during the speed control section of speed-position switching control (INC mode).
Page 113 Restrictions • The error "Continuous path control not possible" (error code: 1B1EH to 1B20H) will occur and the operation cannot start if "continuous path control" is set in "[Da.1] Operation pattern". • "Speed-position switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
Page 114 Setting positioning data When using speed-position switching control (INC mode), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required  [Da.1] Operation pattern  [Da.2] Control method (Set "Forward run: speed/position" or "Reverse run: speed/position".) ...
Page 115: Speed-Position Switching Control (Abs Mode)
Speed-position switching control (ABS mode) In case of "speed-position switching control (ABS mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output in the axial direction set to the positioning data.
Page 116 • "[Cd.24] Speed-position switching enable flag" must be turned ON to switch over from speed control to position control. (If "[Cd.24] Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control will continue as speed control without switching over to position control. The control will be switched over from position control to speed control when the speed-position switching signal turns from OFF to ON again.
Page 117 ■Operation example The following operation assumes that the speed-position switching signal is input at the position of the feed current value of 90.00000 [degree] during execution of "[Da.2] Control method" "Forward run: speed/position" at "[Pr.1] Unit setting" of "2: degree" and "[Pr.21] Feed current value during speed control" setting of "1: Update feed current value". (The value set in "[Da.6] Positioning address/movement amount"...
Page 118 Operation timing and processing time ■4-axis module operation example Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] M code ON signal ([Md.31] Status: b12) (WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) Standby Speed control Position control...
Page 119 Feed current value The following table shows "[Md.20] Feed current value" during speed-position switching control (ABS mode) corresponding to the "[Pr.21] Feed current value during speed control" settings. "[Pr.21] Feed current value during speed control" setting [Md.20] Feed current value 1: Update feed current value The feed current value is updated during speed control and position control.
Page 120 • The following table shows the items that must be set to use "[Cd.46] Speed-position switching command" as speed-position switching signals. n: Axis No. - 1 Setting item Setting Setting details Buffer memory address value Axis 1 to axis 16 [Cd.45] Speed-position switching device Use "[Cd.46] Speed-position switching command"...
Page 121 Setting positioning data When using speed-position switching control (ABS mode), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required  [Da.1] Operation pattern  [Da.2] Control method (Set "Forward run: speed/position" or "Reverse run: speed/position".) ...
Page 122: Position-Speed Switching Control
Position-speed switching control In "position-speed switching control" ("[Da.2] Control method" = Forward run: position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in "[Da.6] Positioning address/movement amount" in the axis direction in which the positioning data has been set. When the position- speed switching signal is input, the position control is carried out by continuously outputting the pulses for the speed set in "[Da.8] Command speed"...
Page 123 Operation chart The following chart shows the operation timing for position-speed switching control. The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control of position-speed switching control. ■4-axis module operation example [Da.8] Command speed Position control Speed control Positioning start signal [Y10, Y11, Y12, Y13]...
Page 124 Operation timing and processing time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] M code ON signal ([Md.31] Status: b12) (WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) Standby Position control Speed control Stop [Md.26] Axis operation status...
Page 125 Feed current value The following table shows "[Md.20] Feed current value" during position-speed switching control corresponding to the "[Pr.21] Feed current value during speed control" settings. "[Pr.21] Feed current value during speed control" setting [Md.20] Feed current value 0: Do not update feed current value The feed current value is updated during position control, and the feed current value at the time of switching is maintained as soon as position control is switched to speed control.
Page 126 Position-speed switching signal setting • The following table shows the items that must be set to use the external command signals [DI] as position-speed switching signals. n: Axis No. - 1 Setting item Setting Setting details Buffer memory address value Axis 1 to axis 16 [Pr.42] External command function...
Page 127 Changing the speed control command speed In "position-speed switching control", the speed control command speed can be changed during the position control. • The speed control command speed can be changed during the position control of position-speed switching control. A command speed change request will be ignored unless issued during the position control of the position-speed switching control.
Page 128 Restrictions • The error "Continuous path control not possible" (error code: 1B1EH to 1B20H) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". • "Position-speed switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
Page 129: Current Value Changing
Current value changing When the current value is changed to a new value, control is carried out in which "[Md.20] Feed current value" of the stopped axis is changed to a random address set by the user. ("[Md.21] Machine feed value" is not changed when the current value is changed.) The two methods for changing the current value are shown below.
Page 130 ■Setting positioning data When using current value changing, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required [Da.1] Operation pattern   [Da.2] Control method (Set the current value changing.) [Da.3] Acceleration time No.
Page 131 Changing to a new current value using the current value changing start No. (No.9003) In "current value changing" ("[Cd.3] Positioning start No." = 9003), "[Md.20] Feed current value" is changed to the address set in "[Cd.9] New current value". ■Operation chart The current value is changed by setting the new current value in the current value changing buffer memory "[Cd.9] New current value", setting "9003"...
Page 132 ■4-axis module operation example Start of data No.9003 Positioning start signal [Y10] PLC READY signal [Y0] READY signal [X0] Start complete signal ([Md.31] Status: b14) BUSY signal [X10] Positioning complete signal ([Md.31] Status: b15) Error detection signal ([Md.31] Status: b13) Address during 50000 [Md.20] Feed current value...
Page 133 Program example • Add the following program to the control program, and write it to the CPU module. Classification Label name Description Module label RD78GS_1.bnPositioningStart[0] Axis 1 Positioning start signal RD78GS_1.bnPositioningStart_D[0] RD78GS_1.stnAxMntr_D[0].uStatus_D.E Axis 1 Start complete RD78GS_1.stnAxCtrl1_D[0].dNewPosition_D Axis 1 New current value RD78GS_1.stnAxCtrl1_D[0].uPositioningStartNo_D Axis 1 Positioning start No.
Page 134: Nop Instruction
NOP instruction The NOP instruction is used for the nonexecutable control method. Operation The positioning data No. to which the NOP instruction is set transfers, without any processing, to the operation for the next positioning data No. Setting positioning data When using the NOP instruction, set the following positioning data.
Page 135: Jump Instruction
JUMP instruction The JUMP instruction 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 instruction includes the following two types of JUMP. JUMP instruction Description Unconditional JUMP...
Page 136 Setting positioning data When using the JUMP instruction, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required  [Da.1] Operation pattern  [Da.2] Control method (Set the JUMP instruction.) ...
Page 137: Loop
LOOP The LOOP is used for loop control by the repetition of LOOP to LEND. Operation The LOOP to LEND loop is repeated by set repeat cycles. Setting positioning data When using the LOOP, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required [Da.1]...
Page 138: Lend
LEND The LEND is used to return the operation to the top of the repeat (LOOP to LEND) loop. Operation When the repeat cycle designated by the LOOP becomes 0, the loop is terminated, and the next positioning data No. processing is started.
Page 139: Chapter 4 High-Level Positioning Control
HIGH-LEVEL POSITIONING CONTROL The details and usage of high-level positioning control (control functions using the "block start data") are explained in this chapter. High-level positioning control is used to carry out applied control using the "positioning data". Examples of applied control are using conditional judgment to control "positioning data"...
Page 140: Data Required For High-Level Positioning Control
Data required for high-level positioning control "High-level positioning control" is executed by setting the required items in the "block start data" and "condition data", then starting that "block start data". Judgment about whether execution is possible, etc., is carried out at execution using the "condition data"...
Page 141: Block Start Data" And "Condition Data" Configuration
"Block start data" and "condition data" configuration The "block start data" and "condition data" corresponding to "block No.7000" can be stored in the buffer memory. 50th point Buffer memory Setting item address 2nd point 1st point Setting item Buffer memory 22049+400n address Buffer memory...
Page 142: High-Level Positioning Control Execution Procedure
High-level Positioning Control Execution Procedure High-level positioning control is carried out using the following procedure. "High-level positioning control" executes each control Preparation STEP 1 ("major positioning control") set in the positioning data Carry out the "major positioning control" setting. with the designated conditions, so first carry out preparations so that "major positioning control"...
Page 143: Setting The Block Start Data
Setting the Block Start Data Relation between various controls and block start data The "block start data" must be set to carry out "high-level positioning control". The setting requirements and details of each "block start data" item to be set differ according to the "[Da.13] Special start instruction"...
Page 144: Block Start
Block start In a "block start (normal start)", the positioning data groups of a block are continuously executed in a set PLC starting from the positioning data set in "[Da.12] Start data No." by one start. The control examples are shown when the "block start data" and "positioning data" are set as shown in the setting examples. Setting examples ■Block start data setting example Axis 1 block start data...
Page 145 Control examples The following shows the control executed when the "block start data" of the 1st point of axis 1 is set as shown in the setting examples and started. • The positioning data is executed in the following order before stopping. Axis 1 positioning data No.1  2  3  4  5  6 ...
Page 146: Condition Start
Condition Start In a "condition start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the "block start data" set in "1: condition start"...
Page 147: Wait Start
Wait Start In a "wait start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the "block start data" is executed. If the conditions have not been established, the control stops (waits) until the conditions are established.
Page 148: Simultaneous Start
Simultaneous Start In a "simultaneous start", the positioning data set in "[Da.12] Start data No." and positioning data of other axes set in the "condition data" are simultaneously executed (commands are output with the same timing). (The "condition data" is designated with "[Da.14] Parameter".) The control examples are shown when the "block start data"...
Page 149: Repeated Start (For Loop)
Repeated start (FOR Loop) In a "repeated start (FOR Loop)", the data between the "block start data" in which "4: FOR Loop" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT Start" is set in "[Da.13] Special start instruction " is repeatedly executed for the number of times set in "[Da.14] Parameter".
Page 150: Repeated Start (For Condition)
Repeated start (FOR condition) In a "repeated start (FOR Condition)", the data between the "block start data" in which "5: FOR Condition" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT Start" is set in "[Da.13] Special start instruction" is repeatedly executed until the establishment of the conditions set in the "condition data".
Page 151: Restrictions When Using The Next Start
Restrictions when using the NEXT Start The "NEXT Start" is an instruction indicating the end of the repetitions when executing the repeated start (FOR Loop) and the repeated start (FOR Condition). (Page 147 Repeated start (FOR Loop), Page 148 Repeated start (FOR condition)) The following shows the restrictions when setting "6: NEXT Start"...
Page 152: Setting The Condition Data
Setting the Condition Data Relation between various controls and the condition data "Condition data" is set in the following cases. • When setting conditions during execution of the JUMP instruction (major positioning control) • When setting conditions during execution of "high-level positioning control" The "condition data"...
Page 153 The setting requirements and details for the setting items of the following "condition data" [Da.16] to [Da.19] and [Da.23] differ according to the "[Da.15] Condition target" setting. The following shows the [Da.16] to [Da.19] and [Da.23] setting items corresponding to the "[Da.15] Condition target". : Setting not required (Set the initial value or a value within the setting range.) **: Value stored in buffer memory designated in [Da.17] [Da.15] Condition...
Page 154: Condition Data Setting Examples
Condition data setting examples The following shows the setting examples for "condition data". Setting the device ON/OFF as a condition [Condition] Device "X10" (Axis 1 BUSY signal) is OFF [Da.15] [Da.16] [Da.17] [Da.18] [Da.19] [Da.23] [Da.24] [Da.25] [Da.26] Condition Condition Address Parameter Parameter...
Page 155: Start Program For High-Level Positioning Control
Start Program for High-level Positioning Control Starting high-level positioning control To execute high-level positioning control, a program must be created to start the control in the same method as for major positioning control. The following shows the procedure for starting the "1st point block start data" (regarded as block No.7000) set in axis 1. Motion module Buffer memory Servo amplifier...
Page 156: Example Of A Start Program For High-Level Positioning Control
Example of a start program for high-level positioning control The following shows an example of a start program for high-level positioning control in which the 1st point "block start 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 high-level positioning control.
Page 157 Start time chart The following chart shows a time chart in which the positioning data No.1, 2, 10, 11, and 12 of axis 1 are continuously executed as an example. ■Block start data setting example Axis 1 block start data [Da.11] Shape [Da.12] Start data No.
Page 158 Program example Classification Label name Description Module label RD78GS_1.bnBusy_D[0] Axis 1 BUSY signal RD78GS_1.stnAxMntr_D[0].uStatus_D.E Axis 1 Start complete RD78GS_1.stnAxCtrl1_D[0].uPositioningStartNo_D Axis 1 Positioning start No. RD78GS_1.stnAxCtrl1_D[0].uPositioningStartingPointNo_D Axis 1 Positioning starting point No. RD78GS_1.bnPositioningStart_D[0] Axis 1 Positioning start signal Global label, local Defines the global label or local label as follows.
Page 159: Chapter 5 Manual Control
MANUAL CONTROL The details and usage of manual control are explained in this chapter. In manual control, commands are issued during a JOG operation and an inching operation executed by the turning ON of the JOG start signal, or from a manual pulse generator connected to the high-speed counter unit on the same base as the Motion module.
Page 160 [Manual pulse generator operation] "Manual pulse generator operation" is a control method in which positioning is carried out in response to the number of pulses input from a manual pulse generator (the number of input command is output). This operation is used for manual fine adjustment, etc., when carrying out accurate positioning to obtain the positioning address.
Page 161: Jog Operation
JOG Operation Outline of JOG operation Operation In JOG operation, the forward run JOG start signal [Cd.181] or reverse run JOG start signal [Cd.182] turns ON, causing pulses to be output to the servo amplifier from the Motion module while the signal is ON. The workpiece is then moved in the designated direction.
Page 162 Precautions during operation The following details must be understood before carrying out JOG operation. • For safety, set a small value to "[Cd.17] JOG speed" at first and check the movement. Then gradually increase the value. • The error "Outside JOG speed range" (error code: 1A80H) will occur and the operation will not start if the "JOG speed" is outside the setting range or 0 at the JOG start.
Page 163 • Normal timing time (Unit: [ms]) Operation cycle 0.25 0.27 to 0.45 0.00 to 0.25 0.79 to 0.82 0.00 to 0.25 0.50 0.29 to 0.67 0.00 to 0.50 1.55 to 1.59 0.00 to 0.50 1.00 0.61 to 1.32 0.00 to 1.00 3.06 to 3.10 0.00 to 1.00 2.00...
Page 164: Jog Operation Execution Procedure
JOG operation execution procedure The JOG operation is carried out by the following procedure. Any one of the following two methods can be used. Preparation STEP 1 Set the parameters. ([Pr.1] to [Pr.39]) <Method 1> Directly set (write) the parameters in the Motion module using the engineering tool.
Page 165: Setting The Required Parameters For Jog Operation
Setting the required parameters for JOG operation The "Positioning 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. Parameters not shown below are not required to be set for carrying out only JOG operation. (Set the initial value or a value within the setting range.) : Setting always required : Set according to requirements (Set the initial value or a value within the setting range when not used.) Setting item...
Page 166: Creating Start Programs For Jog Operation
Creating start programs for JOG operation A program must be created to execute a JOG operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a JOG operation is started for axis 1. ("[Cd.17] JOG speed" is set to "100.00 mm/min" in the example shown.) Required control data setting The control data shown below must be set to execute a JOG operation.
Page 167 Start time chart ■4-axis module operation example Forward JOG run Reverse JOG run [Cd.181] Forward JOG start [Cd.182] Reverse JOG start PLC READY signal [Y0] All axis servo ON [Y1] READY signal [X0] BUSY signal [X10] Error detection signal ([Md.31] Status: b13) Program example Refer to the followings for the program example of the JOG operation.
Page 168: Jog Operation Example
JOG operation example Example 1 When the "stop signal" is turned ON during JOG operation, the JOG operation will stop by the "deceleration stop" method. If the JOG start signal is turned ON while the stop signal is ON, the error "Stop signal ON at start" (error code: 1A08H) will occur.
Page 169 Example 2 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 BUSY signal of Motion module is turned OFF.
Page 170: Inching Operation
Inching Operation Outline of inching operation Operation In inching operation, pulses are output to the servo amplifier at operation cycle to move the workpiece by a designated movement amount after the forward run JOG start signal [Cd.181] or reverse JOG start signal [Cd.182] is turned ON. The following shows the example of inching operation.
Page 171 Precautions during operation The following details must be understood before inching operation is carried out. • Acceleration/deceleration processing is not carried out during inching operation. (Commands corresponding to the designated inching movement amount are output at operation cycle. When the movement direction of inching operation is reversed and backlash compensation is carried out, the backlash compensation amount and inching movement amount are output at the same operation cycle.) "[Cd.17] JOG speed"...
Page 172 Operation timing and processing times The following drawing shows the details of the inching operation timing and processing time. ■4-axis module operation example [Cd.181] Forward JOG start [Cd.182] Reverse JOG start BUSY signal [X10, X11, X12, X13] [Md.26] Axis operation status Standby (0) JOG operation (3) Standby (0)
Page 173: Inching Operation Execution Procedure
Inching operation execution procedure The inching operation is carried out by the following procedure. Any one of the following two methods Preparation STEP 1 can be used. Set the parameters. ([Pr.1] to [Pr.31]) <Method 1> Directly set (write) the parameters in the Motion module using the engineering tool.
Page 174: Setting The Required Parameters For Inching Operation
Setting the required parameters for inching operation The "Positioning parameters" must be set to carry out inching operation. The following table shows the setting items of the required parameters for carrying out inching operation. Parameters not shown below are not required to be set for carrying out only inching operation. (Set the initial value or a value within the setting range.) : Setting always required : Set according to requirements (Set the initial value or a value within the setting range when not used.)
Page 175: Creating A Program To Enable/Disable The Inching Operation
Creating a program to enable/disable the inching operation A program must be created to execute an inching operation. Consider the "required control data setting", "start conditions", and "start time chart" when creating the program. The following shows an example when an inching operation is started for axis 1. (The example shows the inching operation when a "10.0 m"...
Page 176 Start time chart ■4-axis module operation example Forward inching operation Reverse inching operation [Cd.181] Forward JOG start [Cd.182] Reverse JOG start PLC READY signal [Y0] All axis servo ON [Y1] READY signal [X0] BUSY signal [X10] Error detection signal ([Md.31] Status: b13) Positioning complete signal ([Md.31] Status: b15) Program example...
Page 177: Inching Operation Example
Inching operation example Example 1 If the JOG start signal is turned ON while the stop signal is ON, the error "Stop signal ON at start" (error code: 1A08H) will occur. The inching operation can be re-started when the stop signal is turned OFF and the JOG start signal is turned ON from OFF. ■4-axis module operation example Ignores that the JOG start signal is turned ON from OFF while the stop signal is ON.
Page 178: Manual Pulse Generator Operation
Manual Pulse Generator Operation Outline of manual pulse generator operation Operation In manual pulse generator operations, pulses are input to the Motion module or the CC-Link IE TSN Network device from the manual pulse generator. This causes the same number of input command to be output from the Motion module to the servo amplifier, and the workpiece is moved in the designated direction.
Page 179 Precautions during operation The following details must be understood before carrying out manual pulse generator operation. • If "[Pr.123] Manual pulse generator speed limit value" is set to a value larger than "[Pr.8] Speed limit value", the error "Manual pulse generator speed limit value error" (error code: 1BBBH) will occur and the operation will not start. •...
Page 180 Manual pulse generator speed limit mode In "[Pr.122] Manual pulse generator speed limit mode", the output operation which exceeds "[Pr.123] Manual pulse generator speed limit value" can be set during manual pulse generator operation. The setting value and operation for "[Pr.122] Manual pulse generator speed limit mode" are shown below. Setting Operation value...
Page 181 Operations when stroke limit error occurs When the hardware stroke limit error or the software stroke limit error is detected during operation, the operation will decelerate to a stop. However, in case of "[Md.26] Axis operation status", "Manual pulse generator operation" will continue After stopping, input pulses from a manual pulse generator to the outside direction of the limit range are not accepted, but operation can be executed within the range.
Page 182 Position control by manual pulse generator operation In manual pulse generator operation, the position is moved by a "manual pulse generator 1 pulse movement amount" per pulse. The feed current value in the positioning control by manual pulse generator operation can be calculated using the expression shown below.
Page 183: Manual Pulse Generator Operation Execution Procedure
Manual pulse generator operation execution procedure The manual pulse generator operation is carried out by the following procedure. Any one of the following two methods can Preparation STEP 1 Set the parameters. be used. ([Pr.1] to [Pr.17], [Pr.156]) <Method 1> Directly set (write) the parameters in the Motion module using the engineering tool.
Page 184: Setting The Required Parameters For Manual Pulse Generator Operation
Setting the required parameters for manual pulse generator operation The "Positioning parameters", "Common parameters" and "Link device external signal assignment 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. Parameters not shown below are not required to be set for carrying out only manual pulse generator operation.
Page 185 Block diagram of the manual pulse generator operation The flow of the manual pulse generator operation is shown below. Manual pulse generator CPU module [Cd.55] Input value for Manual pulse generator manual pulse input value input By 8 [ms] generator via CPU [Pr.156] Manual Manual pulse pulse generator...
Page 186: Creating A Program To Enable/Disable The Manual Pulse Generator Operation
Creating a program to enable/disable the manual pulse generator operation A program must be created to execute a manual pulse generator operation. Consider the "required control data setting", "start conditions" and "start time chart" 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.
Page 187 Start time chart ■4-axis module operation example Forward run Reverse run Pulse input A-phase Pulse input B-phase PLC READY signal [Y0] All axis servo ON [Y1] READY signal [X0] Start complete signal ([Md.31] Status: b14) BUSY signal [X10] Error detection signal ([Md.31] Status: b13) [Cd.21] Manual pulse generator enable flag...
Page 188: Chapter 6 Inter-Module Synchronization Function
INTER-MODULE SYNCHRONIZATION FUNCTION "Inter-module synchronization function" can synchronize the control timing among multiple modules on the same base. For the synchronous communication of the CC-Link IE TSN Network, refer to "FUNCTIONS" in Part 2 of the following manual. MELSEC iQ-R Motion Module User's Manual (Network) Control details The execution cycle of the interrupt program for the CPU module and the operation cycle of the Motion module can be synchronized.
Page 189 Setting method of the inter-module synchronization Set the inter-module synchronization in "Inter-module Synchronization Setting" under "System Parameter" on the engineering tool. Select "Use" in "Use Inter-module Synchronization Function in System" under "Inter-module Synchronization Setting". Set the Motion module to be synchronized to "Synchronous" in "Detailed Setting" under "Select Inter-module Synchronization Target Module".
Page 190 Simultaneous start using inter-module synchronization This function synchronizes the start timing between different modules. It can synchronize the start timing between modules by using the pre-reading start function together. After the start, each Motion module operates independently. The RD78G modes that can be combined with the Simple Motion mode of the RD78G by simultaneous start using inter- module synchronization are as follows.
Page 191 Precautions • Turn OFF "[Cd.183] Execution prohibition flag" after "2: Completed" is set to "[Md.503] Pre-reading data analysis status". • Because each positioning module operates independently after the start, the following operation is performed. - Even if a module stops due to an error, other modules where no error occurs continue to operate. - Even if stop signals are input at the same time in the program, the stop signal detection timing may not be the same and the stop positions may be different.
Page 192 Program example 6 INTER-MODULE SYNCHRONIZATION FUNCTION Downloaded from ManualsNet.com search engine...
Page 193: Chapter 7 Expansion Control
EXPANSION CONTROL The details and usage of expansion control are explained in this chapter. Expansion control includes the speed-torque control to execute the speed control and torque control not including position loop and the advanced synchronous control to synchronize with input axis using software with "advanced synchronous control parameter"...
Page 194 When controlling motor HK-KT (67108864 pulse/rev), set the servo parameters of the MR-J5(W)-G as follows. PA06 (Electronic gear numerator): 16 PA07 (Electronic gear denominator): 1 PT01.1 (Speed/acceleration/deceleration unit selection): 0 (r/min, mm/s) In speed control, torque control, and continuous operation to torque control mode, the Motion module multiplies the electronic gear ratio of the servo amplifier at the command speed set in the control data and sends the result to the servo amplifier.
Page 195: Setting The Required Parameters For Speed-Torque Control
Setting the required parameters for speed-torque control The "Positioning parameters" must be set to carry out speed-torque control. The following table shows the setting items of the required parameters for carrying out speed-torque control. Parameters not shown below are not required to be set for carrying out only speed-torque control. (Set the initial value or a value within the setting range.) : Setting always required.
Page 196: Setting The Required Data For Speed-Torque Control
Setting the required data for speed-torque control Required control data setting for the control mode switching The control data shown below must be set to execute the control mode switching. n: Axis No. - 1 Setting item Setting Setting details Buffer memory address value Axis 1 to axis 16...
Page 197 Required control data setting for the torque control mode The control data shown below must be set to execute the torque control. n: Axis No. - 1 Setting item Setting Setting details Buffer memory address value Axis 1 to axis 16 ...
Page 198: Operation Of Speed-Torque Control
Operation of speed-torque control Switching of control mode (Speed control/Torque control) ■Switching method of control mode To switch the control mode to the speed control or the torque control, set "1" in "[Cd.138] Control mode switching request" after setting the control mode in "[Cd.139] Control mode setting". When the mode is switched to the speed control mode or the torque control mode, the control data used in each control mode must be set before setting "1"...
Page 199 ■Precautions at control mode switching • The start complete signal and the positioning complete signal do not turn ON at control mode switching. • When "30: Control mode switch", "31: Speed control", or "32: Torque control" is set in "[Md.26] Axis operation status", the BUSY signal turns ON.
Page 200 ■Operation for "Position control mode  Torque control mode switching" When the position control mode is switched to the torque control mode, the command torque immediately after the switching is the torque set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque control mode". Torque initial value selection ([Pr.90]: b4 to b7) Command torque to servo amplifier immediately after switching from position control mode to torque control mode 0: Command torque...
Page 201 ■Operation for "Speed control mode  Torque control mode switching" When the speed control mode is switched to the torque control mode, the command torque immediately after the switching is the torque set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque control mode". Torque initial value selection ([Pr.90]: b4 to b7) Command torque to servo amplifier immediately after switching from speed control mode to torque control mode...
Page 202 Switching of control mode (Continuous operation to torque control) ■Switching method of control mode To switch the control mode to the continuous operation to torque control mode, set "1" in "[Cd.138] Control mode switching request" after setting the control mode to switch to "[Cd.139] Control mode setting" (30: Continuous operation to torque control mode) from position control mode or speed control mode.
Page 203 • When the mode is switched from position control mode to continuous operation to torque control mode, only the switching from continuous operation to torque control mode to position control mode is possible. If the mode is switched to other control modes, the warning "Control mode switching not possible" (warning code: 0DABH) will occur, and the control mode is not switched.
Page 204 The following chart shows the operation timing for axis 1. ■4-axis module operation example Continuous operation Position control mode to torque control mode Position control mode Contact with target 1000 Torque 30.0% [Cd.138] Control mode switching request [Cd.139] Control mode setting BUSY signal [X10] [Md.26] Axis operation status [Md.124] Control mode switching status...
Page 205 ■Operation for "Speed control mode  Continuous operation to torque control mode switching" To switch to the continuous operation to torque control mode, set the control data used in the control mode before setting "1" in "[Cd.138] Control mode switching request". When the switching condition is satisfied at control mode switching request, "1: Position control mode - continuous operation to torque control mode, speed control mode - continuous operation to torque control mode switching"...
Page 206 The following chart shows the operation timing for axis 1. ■4-axis module operation example Continuous operation Speed control mode to torque control mode Speed control mode 10000 Contact with target 1000 -10000 Torque 30.0% [Cd.138] Control mode switching request [Cd.139] Control mode setting BUSY signal [X10] [Md.26] Axis operation status [Md.124] Control mode switching status...
Page 207 ■Operation for switching from "Position control mode" to "Continuous operation to torque control mode" automatically To switch to the continuous operation to torque control mode automatically when the conditions set in "[Cd.153] Control mode auto-shift selection" and "[Cd.154] Control mode auto-shift parameter" are satisfied, set the control data necessary in the continuous operation to torque control mode, "[Cd.153] Control mode auto-shift selection", and "[Cd.154] Control mode auto- shift parameter", and then set "30: Continuous operation to torque control mode"...
Page 208 The following chart shows the operation when "1: Feed current value pass" is set in "[Cd.153] Control mode auto-shift selection". Continuous operation to Position control mode torque control mode Contact with target 1000 Feed current value passes the address "adr" set in "[Cd.154] Control mode auto-shift parameter".
Page 209 Speed control mode ■Operation for speed control mode The speed control is executed at the speed set in "[Cd.140] Command speed at speed control mode" in the speed control mode. Set a positive value for forward rotation and a negative value for reverse rotation. "[Cd.140]" can be changed any time during the speed control mode.
Page 210 ■Stop cause during speed control mode The operation for stop cause during speed control mode is shown below. Item Operation during speed control mode "[Cd.180] Axis stop" turned ON. The motor decelerates to speed "0" according to the setting value of "[Cd.142] Deceleration time at speed control mode".
Page 211 Torque control mode ■Operation for torque control mode The torque control is executed at the command torque set in "[Cd.143] Command torque at torque control mode" in the torque control mode. "[Cd.143] Command torque at torque control mode" can be changed any time during torque control mode. The relation between the setting of command torque and the torque generation direction of servo motor varies depending on the setting of servo parameters "Travel direction selection (PA14)"...
Page 212 [Cd.144] [Cd.145] Torque time Torque time constant at torque constant at torque control mode control mode Torque (Negative direction) (Forward direction) [Pr.17] Torque limit setting value 30.0 The command torque to servo amplifier is stored in 20.0 "[Md.123] Torque during command". -10.0 -20.0 [Pr.17] Torque limit setting value...
Page 213 ■Speed during torque control mode The speed during the torque control mode is controlled with "[Cd.146] Speed limit value at torque control mode". At this time, "Speed limit" ([Md.119] Servo status2: b4) turns ON. n: Axis No. - 1 Monitor item Buffer memory address Axis 1 to axis 16 [Md.119] Servo status2: b4...
Page 214 Continuous operation to torque control mode ■Operation for continuous operation to torque control mode In continuous operation to torque control, the torque control can be executed without stopping the operation during the positioning in position control mode or speed command in speed control mode. During the continuous operation to torque control mode, the torque control is executed at the command torque set in "[Cd.150] Target torque at continuous operation to torque control mode"...
Page 215 ■Torque command setting method During the continuous operation to torque control mode, set time for the command torque to increase from 0% to "[Pr.17] Torque limit setting value" in "[Cd.151] Torque time constant at continuous operation to torque control mode (Forward direction)"...
Page 216 ■Precautions at continuous operation to torque control mode For functions of the servo amplifier that are not available during the continuous operation to torque control mode, refer to the manual of the servo amplifier to be connected. If vibration occurs during the continuous operation to torque control, lower the value of the servo parameter "Torque feedback loop gain (PB03)"...
Page 217 ■Stop cause during continuous operation to torque control mode The operation for stop cause during continuous operation to torque control mode is shown below. Item Operation during continuous operation to torque control mode "[Cd.180] Axis stop" turned ON. The speed limit value commanded to servo amplifier is "0" regardless of the setting value of "[Cd.147] Speed limit value at continuous operation to torque control mode".
Page 218: Servo Off Command Valid Function During Speed-Torque Control
Servo OFF command valid function during speed-torque control "Servo OFF command valid function" enables acceptance of "[Cd.100] Servo OFF command" and All axis servo ON [Y1] during the speed control mode, torque control mode, and continuous operation to torque control mode. This function enables the servo OFF without braking the servo amplifier by a dynamic brake.
Page 219 Item Operation during speed control mode "[Cd.100] Servo OFF command" turned ON. The servo OFF is executed and the speed control mode continues. At the stop due to servo OFF, it is not braked by the dynamic brake. After the servo ON, the speed control mode can be continued.
Page 220 Item Operation during continuous operation to torque control mode The current value reached the software stroke limit. An error (error code: 1A00H, 1A04H to 1A07H, 1A93H, 1A95H, 1BE6H) occurs. The mode switches to the position control mode at the current position, and the operation immediately stops. The position of the motor reached the hardware stroke (Deceleration processing is not executed.) limit.
Page 221 6 to 8 ms [Cd.138] Control mode switching request [Cd.139] Control mode setting BUSY signal [Md.26] Axis operation status Control mode [0, 0] [0, 1] ([Md.108] Servo status1: b2, b3) [Pr.112] Servo OFF command valid/invalid setting [Cd.100] Servo OFF command Servo ON ([Md.108] Servo status1: b1) *1 The switching time depends on the servo amplifier specifications.
Page 222 • Only when "[Md.26] Axis operation status" is set to "30: Control mode switching" or "[Md.124] Control mode switching status" is set to "0: Not during control mode switching", the servo OFF command is accepted. Request the servo OFF command after the control mode switching is completed. •...
Page 223: Advanced Synchronous Control
Advanced synchronous control "Advanced synchronous control" can be achieved using software instead of controlling mechanically with gear, shaft, speed change gear or cam, etc. "Advanced synchronous control" synchronizes movement with the input axis (servo input axis, command generation axis, or synchronous encoder axis), by setting "advanced synchronous control parameters"...
Page 224: Chapter 8 Control Sub Functions
CONTROL SUB FUNCTIONS The details and usage of the "sub functions" added and used in combination with the main functions are explained in this chapter. A variety of sub functions are available, including functions specifically for machine home position return and generally related functions such as control compensation, etc.
Page 225 Sub function Details Other functions Skip function This function stops the positioning being executed (decelerates to a stop) when the skip signal is input, and carries out the next positioning. M code output function This function issues a command for a sub work (clamp or drill stop, tool change, etc.) according to the code No.
Page 226: Functions For Compensating The Control
Functions for Compensating the Control The sub functions for compensating the control include the "backlash compensation function", "electronic gear function", and "near pass function". Each function is executed by parameter setting or program creation and writing. Backlash compensation function The "backlash compensation function" compensates the backlash amount in the mechanical system. Control details When the backlash compensation amount is set, an extra amount of command equivalent to the set backlash amount is output every time the movement direction changes.
Page 227 Setting method To use the "backlash compensation function", set the "backlash compensation amount" in the parameter shown in the following table, and write it to the Motion module. The set details are validated at the rising edge (OFF  ON) of the PLC READY signal [Y0]. Setting item Setting Setting details...
Page 228: Electronic Gear Function
Electronic gear function The "electronic gear function" adjusts the actual machine movement amount and number of pulse output to servo amplifier according to the parameters set in the Motion module. The "electronic gear function" has the following three functions ([A] to [C]). [A] During machine movement, the function increments in the Motion module values less than one pulse that could not be output, and outputs the incremented amount when the total incremented value reached one pulse or more.
Page 229 ■For "Ball screw" + "Reduction gear" When the ball screw pitch is 10 mm, the motor is the HK-KT (67108864 pulses/rev), and the reduction ratio of the reduction gear is 9/44 Motion module Machine pulse pulse × 16 Servo amplifier Command Control Control...
Page 230 ■When "pulse" is set as the control unit When using pulse as the control unit, set the electronic gear as follows. AP = "Number of pulses per rotation" AL = "Movement amount per rotation" AM = 1 When the motor is the HK-KT (67108864 pulses/rev) •...
Page 231 ■When "degree" is set as the control unit for a rotary axis When the rotary axis is used, the motor is HK-KT (67108864 pulses/rev), and the reduction ratio of the reduction gear is 3/11 Reduction ratio 3/11 First, find how many degrees the load (machine) will travel (S) when the motor turns one revolution (AP). AP (Number of pulses per rotation) = 67108864 [pulse] ...
Page 232 ■When "mm" is set as the control unit for conveyor drive (calculation including ) When the belt conveyor drive is used, the conveyor diameter is 135 mm, the pulley ratio is 1/3, the motor is the HK-KT (67108864 pulses/rev), and the reduction ratio of the reduction gear is 7/53 135 mm Belt conveyor Reduction ratio 7/53...
Page 233 ■Number of pulses/movement amount at linear servo use Motion module Linear servo motor Pulse Command Control Servo amplifier Pulse unit value AL × AM Pulse Feedback pulse Linear encoder Calculate the number of pulses (AP) and movement amount (AL  AM) for the linear encoder in the following conditions. Number of pulses (AP) Linear encoder resolution = Movement amount (AL ×...
Page 234 The method for compensating the error When the position control is carried out using the "Electronic gear" set in a parameter, this may produce an error between the command movement amount (L) and the actual movement amount (L'). With Motion module, this error is compensated by adjusting the electronic gear.
Page 235: Near Pass Function
Near pass function When continuous pass control is carried out using interpolation control, the near pass function is carried out. The "near pass function" is a function to suppress the mechanical vibration that occurs at the time of switching the positioning data when continuous pass control is carried out by interpolation control.
Page 236 Precautions during control • If the movement amount designated by the positioning data is small when the continuous path control is executed, the output speed may not reach the designated speed. • The movement direction is not checked during interpolation operation. Therefore, a deceleration stops are not carried out even if the movement direction changes.
Page 237: Functions To Limit The Control
Functions to Limit the Control Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit function", "hardware stroke limit function", and "forced stop function". Each function is executed by parameter setting or program creation and writing. Speed limit function The speed limit function limits the command speed to a value within the "speed limit value"...
Page 238 Precautions during control • If any axis exceeds "[Pr.8] Speed limit value" during 2- to 4-axis speed control, the axis exceeding the speed limit value is controlled with the speed limit value. The speeds of the other axes being interpolated are suppressed by the command speed ratio.
Page 239: Torque Limit Function
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 servo motor exceeds the "torque limit value". The "torque limit function" protects the deceleration function, limits the power of the operation pressing against the stopper, etc.
Page 240 Control details The following drawing shows the operation of the torque limit function. ■4-axis module operation example Each operation PLC READY signal [Y0] All axis servo ON [Y1] Positioning start signal [Y10] [Pr.17] Torque limit setting value [Cd.101] Torque output setting value [Cd.112] Torque change function 0 (Forward/reverse torque limit value same setting)
Page 241 Setting method • To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them to the Motion module. The set details are validated at the rising edge (OFF  ON) of the PLC READY signal [Y0]. Setting item Setting Setting details...
Page 242 • Parameters are set for each axis. • It is recommended that the parameters be set whenever possible with the engineering tool. Execution by a program uses many programs and devices. The execution becomes complicated, and the scan times will increase.
Page 243: Software Stroke Limit Function
Software stroke limit function In the "software stroke limit function" the address established by a machine home position 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.
Page 244 ■Current value changing When the current value is changed by a new current value command from 2000 to 1000, the feed current value will change to 1000, but the machine feed value will stay the same at 2000. • When the machine feed value is set at the limit The machine feed value of 5000 (feed current value: 4000) becomes the upper stroke limit.
Page 245 Relation between the software stroke limit function and various controls : Check valid : Check is not made when the feed current value is not updated (Page 429 Basic Setting) at the setting of "feed current value" in "[Pr.14] Software stroke limit selection" during speed control. : Check not carried out (check invalid).
Page 246 Axis 1 Deceleration stop is not carried out. Axis 1 stroke limit Arc address ([Da.7]) End point address ([Da.6]) Start point address Axis 2 The software stroke limit check is carried out for the following addresses during 2-axis circular interpolation control.
Page 247 Setting method To use the "software stroke limit function", set the required values in the parameters shown in the following table, and write them to the Motion module. The set details are validated at the rising edge (OFF  ON) of the PLC READY signal [Y0]. Setting item Setting Setting details...
Page 248 Invalidating the software stroke limit To invalidate the software stroke limit, set "[Pr.12] Software stroke limit upper limit value" and "[Pr.13] Software stroke limit lower limit value" to the same value, and write them to the Motion module. (Set the value within the setting range.) (To invalidate only the manual operation, set "1: software stroke limit invalid"...
Page 249: Hardware Stroke Limit Function
Hardware stroke limit function WARNING • When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic using b-contact. If it is set in positive logic using a-contact, a serious accident may occur. 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.
Page 250 ■External input signal via CPU (buffer memory of the Motion module) Lower limit Upper limit Control range of Motion module Mechanical Mechanical stopper stopper Movement Movement Start Start direction direction Input module Deceleration stop Deceleration stop at lower limit switch at upper limit switch Motion module detection...
Page 251 Wiring the hardware stroke limit When using the hardware stroke limit function, wire the signal terminals corresponding to the upper/lower stroke limit of the device to be used as shown in the following drawing. ■External input signal of the servo amplifier Refer to the manual of the servo amplifier to be used for details on signal input availability and wiring.
Page 252: Forced Stop Function
Forced stop function WARNING • When the forced stop is required to be wired, ensure to wire it in the negative logic using b-contact. • Provide safety circuit outside the Motion module so that the entire system will operate safety even when "[Pr.82] Forced stop valid/invalid selection" is set "1: Invalid".
Page 253 Setting the forced stop To use the "Forced stop function", set the following data using a program. "[Pr.82] Forced stop valid/invalid selection" is validated at the rising edge (OFF  ON) of the PLC READY signal [Y0] and "[Cd.158] Forced stop input" checks in the operation cycle. "[Cd.158] Forced stop input"...
Page 254: Functions To Change The Control Details
Functions to Change the Control Details Functions to change the control details include the "speed change function", "override function", "acceleration/deceleration time change function", "torque change function" and "target position change function". Each function is executed by parameter setting or program creation and writing. Refer to "Combination of Main Functions and Sub Functions"...
Page 255: Speed Change Function
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.15] Speed change request) or external command signal.
Page 256 ■4-axis module operation example Positioning start signal BUSY signal [Cd.14] New speed value 1000 [Cd.15] Speed change request Positioning operation Speed change 0 flag ([Md.31] status: b10) • The warning "Deceleration/stop speed change" (warning code: 0D50H) occurs and the speed cannot be changed in the following cases.
Page 257 Setting method from the CPU module The following shows the data settings and program example for changing the control speed of axis 1 by the command from the CPU module. (In this example, the control speed is changed to "20.00 mm/min".) •...
Page 258 Setting method using an external command signal The speed can also be changed using an "external command signal". The following shows the data settings and program example for changing the control speed of axis 1 using an "external command signal". (In this example, the control speed is changed to "10000.00 mm/min".) •...
Page 259 Program example • Add the following program to the control program, and write it to the CPU module. Classification Label name Description Module label RD78GS_1.stnAxPrm_D[0].uExternalCommandFunctionMode_D Axis 1 External command function selection RD78GS_1.stnAxCtrl1_D[0].uExternalCommandValid_D Axis 1 External command valid RD78GS_1.stnAxCtrl1_D[0].udNewSpeed_D Axis 1 New speed value Global label, local label Defines the global label or the local label as follows.
Page 260: Override Function
Override function The override function changes the command speed by a designated percentage (0 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.13] Positioning operation speed override".
Page 261 Setting method The following shows the data settings and program example for setting the override value of axis 1 to "200%". • Set the following data. (Set using the program referring to the speed change time chart.) n: Axis No. - 1 Setting item Setting Setting details...
Page 262: Acceleration/Deceleration Time Change Function
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 by the "speed change function" and "override function". In a normal speed change (when the acceleration/deceleration time is not changed), the acceleration/deceleration time previously set in the parameters ([Pr.9], [Pr.10], and [Pr.25] to [Pr.30] values) is set in the positioning parameter data items [Da.3] and [Da.4], and control is carried out with that acceleration/deceleration time.
Page 263 Precautions during control • When "0" is set in "[Cd.10] New acceleration time value" and "[Cd.11] 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.
Page 264 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".) Setting method...
Page 265: Torque Change Function
Torque change function The "torque change function" is used to change the torque limit value during torque limiting. The torque limit value at the control start is the value set in "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value".
Page 266 ■4-axis module operation example Each operation PLC READY signal [Y0] All axis servo ON [Y1] Positioning start signal [Y10] [Pr.17] Torque limit setting value [Cd.101] Torque output setting value [Cd.112] Torque change function switching request [Cd.22] New torque value/ forward new torque value [Md.35] Torque limit stored value/forward torque limit stored value...
Page 267 ■4-axis module operation example Each operation PLC READY signal [Y0] All axis servo ON [Y1] Positioning start signal [Y10] [Pr.17] Torque limit setting value [Cd.101] Torque output setting value [Cd.112] Torque change function switching request [Cd.22] New torque value/ forward new torque value [Md.35] Torque limit stored value/forward torque limit stored value...
Page 268 Setting method To use the "torque change function", write the data shown in the following table to the Motion module using the program. The set details are validated when written to the Motion module. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address...
Page 269: Target Position Change Function
Target position change function The "target position change function" is a function to change a target position to a newly designated target position at any timing during the position control (1-axis linear control). A command speed can also be changed simultaneously. The target position and command speed changed are set directly in the buffer memory, and the target position change is executed by "[Cd.29] Target position change request flag".
Page 270 Precautions during operation • If the positioning movement direction from the stop position to a new target position is reversed, stop the operation once and then position to the new target position. (Page 267 When the direction of the operation is changed:) •...
Page 271 Setting method from the CPU module The following shows the data settings and program example for changing the target position of axis 1 by the command from the CPU module. (In this example, the target position value is changed to "300.0 m" and the command speed is changed to "10000.00 mm/min".) •...
Page 272: Functions Related To Start
Functions Related to Start A function related to start includes the "pre-reading start function". This function is executed by parameter setting or program creation and writing. Pre-reading start function The "pre-reading start function" does not start servo while the execution prohibition flag is ON if a positioning start request is given with the execution prohibition flag ON, and starts servo within operation cycle after OFF of the execution prohibition flag is detected.
Page 273 Precautions during control • After positioning data analysis, the system is put in an execution prohibition flag OFF waiting status. Any change made to the positioning data in the execution prohibition flag OFF waiting status is not reflected on the positioning data. Change the positioning data before turning ON the positioning start signal.
Page 274 Program example Refer to the following for the program example. Classification Label name Description Module label RD78GS_1.bnBusy_D[0] Axis 1 BUSY signal RD78GS_1.bnPositioningStart[0] Axis 1 Positioning start signal RD78GS_1.bnPositioningStart_D[0] RD78GS_1.stnAxMntr_D[0].uStatus_D.D Axis 1 Error detection RD78GS_1.stnAxMntr_D[0].uStatus_D.E Axis 1 Start complete RD78GS_1.stnAxCtrl1_D[0].uPositioningStartNo_D Axis 1 Positioning start No. RD78GS_1.stnAxCtrl2_D[0].uProhibitPositioning_D.0 Axis 1 Execution prohibition flag Global label, local label...
Page 275: Absolute Position System
Absolute Position System The Motion module can construct an absolute position system. The following describes precautions when constructing the absolute position system. The configuration of the absolute position system is shown below. Battery Servo motor Motor • Position command • Position command •...
Page 276 Home position return In the absolute position system, a home position can be determined through home position return. In the "Data set method" home position return method, the location to which the location of the home position is moved by manual operation (JOG operation/manual pulse generator operation) is treated as the home position.
Page 277: Functions Related To Stop
Functions Related to Stop Functions related to stop include the "stop command processing for deceleration stop function", "Continuous operation interrupt function" and "step function". Each function is executed by parameter setting or program creation and writing. Stop command processing for deceleration stop function The "stop command processing for deceleration stop function"...
Page 278 Precautions for control • In manual control (JOG operation, inching operation, manual pulse generator operation) and speed-torque control, the stop command processing for deceleration stop function is invalid. • The stop command processing for deceleration stop function is valid when "0: Normal deceleration stop" is set in "[Pr.37] Stop group 1 rapid stop selection"...
Page 279: Continuous Operation Interrupt Function
Continuous operation interrupt function 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: Interrupts continuous operation control or continuous path control"...
Page 280 Restrictions • When the "continuous operation interrupt request" is executed, the positioning will end. Thus, after stopping, the operation cannot be "restarted". When "[Cd.6] Restart command" is issued, the warning "Restart not possible" (warning code: 0D02H) will occur. • Even if the stop command is turned ON after executing the "continuous operation interrupt request", the "continuous operation interrupt request"...
Page 281: Step Function
Step function The "step function" is used to confirm each operation of the positioning control one by one. It is used in debugging work for major 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.
Page 282 Step start request Control stopped by a step operation can be continued by setting "step continues" (to continue the control) in the "step start information". (The "step start information" is set in the control data "[Cd.36] Step start information".) The following table shows the results of starts using the "step start information" during step operation. Stop status in the step operation [Md.26] Axis operation status [Cd.36] Step start information Step start results 1 step of positioning stopped normally...
Page 283 Using the step operation The following shows the procedure for checking positioning data using the step operation. Start Turn ON the step valid flag. Write "1" (carry out step operation) in "[Cd.35] Step valid flag". Set the step mode. Set in "[Cd.34] Step mode". Start positioning.
Page 284 Control details • The following drawing shows a step operation during a "deceleration unit step". ■4-axis module operation example [Cd.35] Step valid flag Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] Positioning complete signal ([Md.31] Status: b15) Positioning No.10 No.11...
Page 285 Step function settings To use the "step function", write the data shown in the following table to the Motion module using the program. Refer to the following for the timing of the settings. Page 281 Using the step operation The set details are validated when written to the Motion module. n: Axis No.
Page 286: Other Functions
Other Functions Other functions include the "skip function", "M code output function", "teaching function", "command in-position function", "acceleration/deceleration processing function", "deceleration start flag function", "speed control 10 × multiplier setting for degree axis function" and "operation setting for incompletion of home position return function". Each function is executed by parameter setting or program creation and writing.
Page 287 Precautions during control • If the skip signal is turned ON at the last of an operation, a deceleration stop will occur and the operation will be terminated. • When a control is skipped (when the skip signal is turned ON during a control), the positioning complete signals will not turn •...
Page 288 Setting method using an external command signal The skip function can also be executed using an "external command signal". The following shows the settings and program example for skipping the control being executed in axis 1 using an "external command signal". •...
Page 289: M Code Output Function
M code output function The "M code output function" is used to command sub work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal ([Md.31] Status: b12) is turned ON during positioning execution, a No. called the M code is stored in "[Md.25] Valid M code".
Page 290 M code ON signal OFF request When the M code ON signal is ON, it must be turned OFF by the program. To turn OFF the M code ON signal, set "1" (turn OFF the M code signal) in "[Cd.7] M code OFF request". n: Axis No.
Page 291 Precautions during control • During interpolation control, the reference axis M code ON signal is turned ON. • The M code ON signal will not turn ON if "0" is set in "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/Number of pitches".
Page 292 Reading M codes "M codes" are stored in the following buffer memory when the M code ON signal turns ON. n: Axis No. - 1 Monitor item Monitor Storage details Buffer memory address value Axis 1 to axis 16  [Md.25] Valid M code The M code No.
Page 293: Teaching Function
Teaching function The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation manual pulse generator operation) in the positioning data addresses ("[Da.6] Positioning address/movement amount", "[Da.7] Arc address"). Control details ■Teaching timing Teaching is executed using the program when the BUSY signal 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.) ■Addresses for which teaching is possible The addresses for which teaching is possible are "feed current values"...
Page 294 Teaching procedure The following shows the procedure for a teaching operation. • When teaching to "[Da.6] Positioning address/movement amount" (Teaching example on axis 1) Start Perform machine home position return on axis 1. Move the workpiece to the target Use a JOG operation, inching operation, or manual pulse generator operation. position using a manual operation.
Page 295 • When teaching to "[Da.7] Arc address", then teaching to "[Da.6] Positioning address/movement amount" (Teaching example for 2-axis circular interpolation control with sub point designation on axis 1 and axis 2) Start Perform a machine home position return on axis 1 and axis 2. Move the workpiece to the circular interpolation sub point using a Use a JOG operation, inching operation, or manual pulse generator operation.
Page 296 Teach arc end point address on Enter teaching data using "[Cd.38] Teaching data selection" and axis 2. "[Cd.39] Teaching positioning data No." for axis 2 in the same fashion as for axis 1. End teaching? Turn OFF the PLC READY signal [Y0].
Page 297 Teaching program example The following shows a program example for setting (writing) the positioning data obtained with the teaching function to the Motion module. ■Setting conditions When setting the feed current value as the positioning address, write it when the BUSY signal is OFF. ■4-axis module operation example The following example shows a program to carry out the teaching of axis 1.
Page 298: Command In-Position Function
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 sets "1". 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.
Page 299 Setting method To use the "command in-position function", set the required value in the parameter shown in the following table, and write it to the Motion module. The set details are validated at the rising edge (OFF  ON) of the PLC READY signal [Y0]. Setting item Setting Setting details...
Page 300: Acceleration/Deceleration Processing Function
Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration of each control to the acceleration/ deceleration curve suitable for device. Setting the acceleration/deceleration time changes the slope of the acceleration/deceleration curve. The following two methods can be selected for the acceleration/deceleration curve: •...
Page 301 ■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.35] S-curve ratio" (1 to 100%) set by the user. When a speed change request or override request is given during S-curve acceleration/deceleration processing, S-curve acceleration/deceleration processing begins at a speed change request or override request start.
Page 302: Deceleration Start Flag Function
Deceleration start flag function The "deceleration start flag function" turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete". This function can be used as a signal to start the operation to be performed by other equipment at each end of position control or to perform preparatory operation, etc.
Page 303 Precautions during control • The deceleration start flag function is valid for the control method of "1-axis linear control", "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "speed-position switching control" or "position-speed switching control". In the case of linear interpolation control, the function is valid for only the reference axis. Refer to "Combination of Main Functions and Sub Functions"...
Page 304 Checking of deceleration start flag The "deceleration start flag" is stored into the following buffer memory addresses. n: Axis No. - 1 Monitor item Monitor Storage details Buffer memory address value Axis 1 to axis 16  [Md.48] Deceleration start flag 0: Status other than below 2499+100n 1: Status from deceleration start to next operation start or manual...
Page 305: Speed Control 10 X Multiplier Setting For Degree Axis Function
Speed control 10 x multiplier setting for degree axis function The "Speed control 10 × multiplier setting for degree axis function" is provided to execute the positioning control by 10 × speed of the setting value in the command speed and the speed limit value when the setting unit is "degree". Control details When "Speed control 10 multiplier specifying function for degree axis"...
Page 306 Setting method Set "Valid/Invalid" by "[Pr.83] Speed control 10 × multiplier setting for degree axis". Normally, the speed specification range is 0.001 to 2000000.000 [degree/min], but it will be decupled and become 0.01 to 20000000.00 [degree/min] by setting "[Pr.83] Speed control 10 × multiplier setting for degree axis" to valid. To use the "Speed control 10 ×...
Page 307: Operation Setting For Incompletion Of Home Position Return Function
Operation setting for incompletion of home position return function The "Operation setting for incompletion of home position return function" is provided to select whether positioning control is operated or not when the home position return request flag is ON. Control details Possibility of positioning start when "[Pr.55] Operation setting for incompletion of home position return"...
Page 308 Setting method To use the "Operation setting for incompletion of home position return", set the following parameters using a program. n: Axis No. - 1 Setting item Setting Setting details Buffer memory address value Axis 1 to axis 16  [Pr.55] Operation setting for incompletion of Set the operation setting for incompletion of home...
Page 309: Servo On/Off
Servo ON/OFF Servo ON/OFF This function executes servo ON/OFF of the servo amplifiers connected to the Motion module. By establishing the servo ON status with the servo ON command, servo motor operation is enabled. The following two signals can be used to execute servo ON/OFF. •...
Page 310 Servo ON (Servo operation enabled) The following shows the procedure for servo ON. Make sure that the servo LED indicates "r_" (MR-J5(W)-G). (The initial value for "All axis servo ON [Y1]" is "OFF".) Set "0" for "[Cd.100] Servo OFF command". Turn ON "All axis servo ON [Y1]".
Page 311: Follow-Up Function
Follow-up function Follow-up function The follow up function monitors the number of motor rotations (actual current value) with the servo OFF and reflects the value in the feed current value. If the servo motor rotates during the servo OFF, the servo motor will not just rotate for the amount of droop pulses at switching the servo ON next time, so that the positioning can be performed from the stop position.
Page 312: Chapter 9 Common Functions
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 Motion module, such as parameter initialization and execution data backup. Read the setting and execution procedures for each common function indicated in this chapter thoroughly, and execute the appropriate function where required.
Page 313: Parameter Initialization Function
Parameter Initialization Function The "parameter initialization function" is used to return the setting data set in the buffer memory/internal memory and flash ROM/internal memory (nonvolatile) of Motion module to the default values. Parameter initialization means • Initialization is executed with a program. •...
Page 314 Precautions during control • Parameter initialization is only executed when the positioning control is not carried out (when the PLC READY signal [Y0] is OFF). The warning "In PLC READY" (warning code: 0D05H) will occur if executed when the PLC READY signal [Y0] is ON. •...
Page 315: Execution Data Backup Function
Execution Data Backup Function When the buffer memory data of Motion module is rewritten from the CPU module, "the data backed up in the flash ROM/ internal memory (nonvolatile)" of Motion module may differ from "the execution data being used for control (buffer memory data)".
Page 316 Precautions during control • Data can only be written to the flash ROM when the positioning control is not carried out (when the PLC READY signal [Y0] is OFF). The warning "In PLC READY" (warning code: 0D05H) will occur if executed when the PLC READY signal [Y0] is •...
Page 317: External Input Signal Select Function
External Input Signal Select Function The "external input signal select function" is used to select from the following signals when using each external input signal of each axis (upper/lower stroke limit signal (FLS/RLS), proximity dog signal (DOG), and stop signal (STOP)). •...
Page 318 ■When "2: Buffer memory" is set to the input type Use the control data shown below to operate the external input signals (upper/lower stroke limit signal, proximity dog signal, and stop signal). Setting item Setting Setting details Buffer memory address value Axis 1 to axis 16 ...
Page 319 ■External input signals when the MR-J5(W)-G is connected The data sent and received with the external input signal when connecting the Motion module to the MR-J5(W)-G is shown below. [Flow of upper/lower stroke limit signal (FLS/RLS) and proximity dog signal (DOG)] •...
Page 320 Program The following shows the program example to operate "[Cd.44] External input signal operation device" of axis 1, axis 4, axis 8, and axis 16 using the limit switch connected to the input module when "2: Buffer memory" is set in "[Pr.116] FLS signal selection"...
Page 321 ■List of labels to be used In the program examples, the labels to be used are assigned as follows. Classification Label name Description Module label RD78GS_1.stSysCtrl_D.uExternalInputOperationDevice1_D.0 Axis 1 FLS RD78GS_1.stSysCtrl_D.uExternalInputOperationDevice1_D.1 Axis 1 RLS RD78GS_1.stSysCtrl_D.uExternalInputOperationDevice1_D.2 Axis 1 DOG RD78GS_1.stSysCtrl_D.uExternalInputOperationDevice1_D.3 Axis 1 STOP RD78GS_1.stSysCtrl_D.uExternalInputOperationDevice1_D.C Axis 4 FLS RD78GS_1.stSysCtrl_D.uExternalInputOperationDevice1_D.D...
Page 322 Program example 9 COMMON FUNCTIONS 9.4 External Input Signal Select Function Downloaded from ManualsNet.com search engine...
Page 323 9 COMMON FUNCTIONS 9.4 External Input Signal Select Function Downloaded from ManualsNet.com search engine...
Page 324: History Monitor Function
History Monitor Function This function monitors start history and current value history stored in the buffer memory of the Motion module on the operation monitor of an engineering tool. Start history The start history logs of operations such as positioning operation, JOG operation, and manual pulse generator operation can be monitored.
Page 325 Current value history The current value history data of each axis can be monitored. The following shows about the current value history data of each axis. Monitor details Monitor item Latest backup data Feed current value The number of backup: Once Servo command value Encoder position within one revolution Encoder multiple revolution counter...
Page 326 ■Latest backup data The latest backup data outputs the following data saved in the fixed cycle to the buffer memory. • Feed current value • Servo command value • Encoder position within one revolution • Encoder multiple revolution counter • Time 1 (Year: month) data •...
Page 327: Virtual Servo Amplifier Function
Virtual Servo Amplifier Function This function executes the operation virtually without connecting servo amplifiers (regarded as connected). The synchronous control with virtually input command is possible by using the virtual servo amplifier axis as servo input axis of synchronous control. Also, it can be used as simulation operation for axes without servo amplifiers. Control details •...
Page 328 Item Storage details Buffer memory address Axis 1 to axis 16 [Md.119] Servo status2 • Zero point pass (b0): Always ON 2476+100n • Zero speed (b3): Changed depending on the command speed • Speed limit (b4): Turns ON when the speed exceeds the limit value at torque control mode.
Page 329 [Servo parameter specification] Servo parameter Description PA03 Absolute position detection system Fixed to "1: Enabled (absolute position detection system)". PA14 Travel direction selection Fixed to "0". PC07 Zero speed 50 r/min PC29 Function selection C-B 1000H _ _ _: Torque POL reflection selection 1: Disabled PC76 Function selection C-E...
Page 330: Mark Detection Function
Mark Detection Function Any data can be latched at the input timing of the mark detection signal (DI). Also, only data within a specific range can be latched by specifying the data detection range. The following three modes are available for execution of mark detection. Continuous detection mode The latched data is always stored to the first of mark detection data storage area at mark detection.
Page 331 Performance specifications Item Performance specifications RD78G4 RD78G8 RD78G16 Number of mark detection Up to 16 settings Input signal External input signal DOG and TPR1 (touch probe 1) of the servo amplifier Input signal detection When using the DOG signal of the servo amplifier: Detection at leading edge/detection at trailing edge are selectable in "b4: direction External command/switching signal"...
Page 332 • When using TPR1 of the servo amplifier By using the following signal of the touch probe function of the MR-J5(W)-G series, highly accurate calculation by estimation using the signal detection time is performed. For details on the signal and the accuracy of the signal detection time, refer to the manual of the servo amplifier. For MR-J5(W)-G: MR-J5 User's Manual (Function) [Touch probe status (Obj.
Page 333 *1 Set the servo parameters related to TPR1. Even if the servo parameters related to TPR2 or later are set, the Motion module does not detect the signal. *2 Since the Motion module uses the touch probe function at the connection with a single axis servo amplifier, the following CiA402 objects are automatically set to the PDO mapping.
Page 334 Operation for mark detection function Operations done at mark detection are shown below. • Calculations for the mark detection data are estimated at leading edge/trailing edge of the mark detection signal. However, when the specified number of detections mode is set, the current number of mark detection is checked, and then it is judged whether to execute the mark detection.
Page 335 How to use mark detection function An example for mark detection using the DOG signal of the MR-J5(W)-G is shown below. The mark detection target is axis 1 real current value, and the all range is detected in continuous detection mode. •...
Page 336 List of parameters and data The following shows the configuration of parameters and data for mark detection function. Buffer memory address Item Mark detection setting No. 54000 to 54019 Mark detection setting parameter Mark detection setting 1 [Pr.800] to [Pr.807], [Pr.811] 54020 to 54039 Mark detection setting 2 54040 to 54059...
Page 337 Mark detection setting parameters k: Mark detection setting No. - 1 Setting item Setting details/setting value Default Buffer memory address value Axis 1 to axis 16 [Pr.800] Mark detection signal Set the external input signal (high speed input request) for mark 54000+20k setting detection.
Page 338 [Pr.800] Mark detection signal setting Set the input signal for mark detection. Setting Setting details value Invalid 1 to 4 External command signal (DI) of axis 1 to axis 4 (4-axis module) 1 to 8 External command signal (DI) of axis 1 to axis 8 (8-axis module) 1 to 16 External command signal (DI) of axis 1 to axis 16 (16-axis module) 301 to 304...
Page 339 [Pr.802] Mark detection data type Set the data that latched at mark detection. The target data is latched by setting "0 to 14". Set the axis No. in "[Pr.803] Mark detection data axis No.". Optional 2 word buffer memory is latched by setting "-1". Set the buffer memory No. in "[Pr.804] Mark detection data buffer memory No.".
Page 340 [Pr.804] Mark detection data buffer memory No. Set the No. of optional 2 words buffer memory that latched at mark detection. Set this No. as an even No. If a value other than the above is set, the warning "Outside mark detection data buffer memory No. setting range" (warning code: 0D39H) occurs and the target mark detection is not available.
Page 341 Mark detection control data k: Mark detection setting No. - 1 Setting item Setting details/setting value Default Buffer memory address value Axis 1 to axis 16 [Cd.800] Number of mark detection Set "1" to execute "0" clear of number of mark detections. 54640+10k clear request "0"...
Page 342 Mark detection monitor data k: Mark detection setting No. - 1 Storage item Storage details/storage value Buffer memory address Axis 1 to axis 16 [Md.800] Number of mark detection The number of mark detections is stored. 54960+80k "0" clear is executed at power supply ON. Continuous detection mode: 0 to 65535 (Ring counter) Specified number of detection mode: 0 to 32 Ring buffer mode: 0 to (number of buffers - 1)
Page 343: Optional Data Monitor Function
Optional Data Monitor Function Registered monitor The data of the registered monitor is refreshed every operation cycle. This function is used to store the data (refer to following table) up to four points per axis to the buffer memory and monitor them.
Page 344 ■List of parameters and data The parameters and data used in the registered monitor of the optional data monitor function is shown below. • Extended parameter n: Axis No. - 1 Setting item Setting details/setting value Buffer memory address Axis 1 to axis 16 [Pr.91] Optional data monitor: Data type setting 1 •...
Page 345 • Axis monitor data n: Axis No. - 1 Storage item Storage details/storage value Buffer memory address Axis 1 to axis 16 [Md.109] Regenerative load ratio/Optional data • The content set in "[Pr.91] Optional data monitor: Data type 2478+100n monitor output 1 setting 1"...
Page 346: Event History Function
Event History Function The "event history function" is used to save the error information and the operation for the module as an event in the data memory or an SD card of the CPU module. The saved event information can be displayed with an engineering tool and the occurrence history can be checked in chronological order.
Page 347 Detailed information of error/warning event The items displayed in the detailed information, which vary depending on each error category, are configured by the items shown in the table below. Error category Detailed information 1 Detailed information 2 Detailed information 3 ...
Page 348 *1 Output only at positioning control. At the time other than the positioning control (during home position return or JOG operation, etc.), judge the timing of when an error occurred by the axis operation status. *2 For common parameters, an axis in which an event occurred is set to "Axis 1". *3 For an error code which is independent of an axis, the information for an axis in which an event occurred is not displayed.
Page 349 Details of start Start No. Occurred data No. Point No. at block No. at block start (Positioning start No.) start occurrence Test mode At start The number of operation Not displayed JOG operation (Analyzing) axes 1 axis: 1 Operating 2 to 4 axes: 9004 Test mode The number of operation Current value changing...
Page 350: Servo Transient Transmission Function
9.10 Servo Transient Transmission Function The "servo transient transmission function" reads and writes objects of a slave device with transient transmission. The transient transmission is appropriate for communication of the data that does not need to be read or written at a fixed cycle and the large data.
Page 351 ■Axis control data n: Axis No. - 1 Setting item Setting details/setting value Initial Buffer memory address value Axis 1 to axis 16 [Cd.160] Optional SDO transfer request 1 Requests the servo transient transmission. 534796+2048n • Changes to values are not accepted during processing. •...
Page 352 ■Sending/receiving timing The following shows sending/receiving timing of the servo transient transmission. • Sending/receiving timing of read/write (Normal operation) [Cd.160] Optional SDO transfer request 1 No request Write/read request (self) No request [Md.160] Optional SDO transfer result 1 [Cd.164] Optional SDO transfer data 1 Read data (at reading) (at writing)
Page 353: Test Mode
9.11 Test mode The "test mode" is used to execute the test operation and adjustment of axes using an engineering tool. This mode can execute the test operation and adjustment for multiple axes simultaneously. Therefore, a system such as a tandem configuration can be started up smoothly.
Page 354 Differences from normal operation The following shows differences between the normal operation and the operation during the test mode. Item During test mode During normal operation  JOG operation is executed based on the JOG operation is executed based on the setting values of the operation setting values on the JOG operation display.
Page 355 ■List of the parameters to be used during positioning operation Parameter item During test mode During normal operation Movement amount The setting values on the positioning The value set in the positioning data operation display Command speed Acceleration time constant The value set in the positioning parameters Deceleration time constant Rapid stop deceleration time...
Page 356 Stop operation of the test mode operation axes When the following stop causes occur for the test mode operation axes, the stop process is performed for the all axes in which the test mode is in operation. When the test operation is executed for multiple axes, the stop process is performed for the test mode operation axes in which a stop command or stop cause does not occur even if a stop command or stop cause occurs for each test mode operation axis.
Page 357: Software Installation To The Own Module
Carry out the installation again to install correct files. • Match the combination of the software versions with the description in the Mitsubishi Electric FA Global Website or the following pages: Page 667 List of Add-on Libraries, Page 669 List of Boot SoftwareIf the version combination is mismatched, an error "Add-on library load error"...
Page 358: File Configuration Of The Motion System Software
File configuration of the motion system software This section describes the configuration of the motion system software downloaded from the Mitsubishi Electric FA Global Website. The motion system software (sw12dnn-rmtufw_xx.zip) includes the following files. File Motion system software for RD78G (sw12dnn-rmtufw_xx.zip) Motion software package (RD78GSW.smpk)
Page 359: Installation Method Of The Motion System Software
Unzip the motion system software (.zip) downloaded from the store the motion system software Mitsubishi Electric FA Global Website and copy the entire folders file to the SD memory card. [instnew] and [instboot] to the root of the SD memory card.
Page 360 • Do not install by combining [instnew] and [instboot] from motion software packages of different versions. • If the installation could not be completed normally due to an error detected after starting the installation, the RUN LED goes off, and the PROGRAM LED and CARD READY LED flash (at 200 [ms] intervals). Solve the *1*2 error, and retry installation.
Page 361 Checking the software versions Versions of the installed software can be checked using the engineering tool (GX Works3). ■Checking using GX Works3 Software versions can be checked from the Product Information List window. [Diagnostics]  [System Monitor]  [Product Information List] Versions of the basic system software and boot software (for control/for network) are displayed.
Page 362: Chapter 10 Parameter Setting
PARAMETER SETTING This chapter describes the parameter setting of the Motion module. By setting parameters, the parameter setting by program is not needed. The parameter setting has two types including the module parameter setting and Simple Motion module setting. 10.1 Parameter Setting Procedure Add the Motion module in the engineering tool.
Page 363: Module Parameter
10.2 Module Parameter Set the module parameter. The module parameter has the following settings. Module parameter (Motion) • Refresh settings Module parameter (Network) • Required settings • Basic settings • Application settings *1 For details, refer to CHAPTER 2 "PARAMETER SETTINGS" in the following manual. MELSEC iQ-R Motion Module User's Manual (Network) Select the module parameter from the tree on the following window.
Page 364 Setting items The refresh setting has the following items. Item Reference Refresh at the set Transfer to Current feed value Page 486 [Md.20] Feed current value timing. the CPU. Machine feed value Page 487 [Md.21] Machine feed value Feedrate Page 488 [Md.22] Feedrate Axis error No.
Page 365 Item Reference Refresh at the set Transfer to Positioning data No. being executed Page 498 [Md.44] Positioning data No. being executed timing. the CPU. Block No. being executed Page 498 [Md.45] Block No. being executed Last executed positioning data No. Page 498 [Md.46] Last executed positioning data No.
Page 366 Item Reference Refresh at the set Transfer to Command generation axis_Start positioning data No. Page 496 [Md.38] Start positioning data No. setting value timing. the CPU. setting value Command generation axis_In speed limit flag Page 497 [Md.39] In speed limit flag Command generation axis_In speed change processing Page 497 [Md.40] In speed change processing flag flag...
Page 367 ■When "Target" is "Device" The refresh read time is calculated from the number of items with refresh settings and their number of transfers (words). For the calculation method, refer to the following. MELSEC iQ-R CPU Module User's Manual (Application) For calculation, replace the items in a calculation formula with the following items in Description. The settings required for the Motion module are configured.
Page 368: Simple Motion Module Setting
10.3 Simple Motion Module Setting Set the required setting for the Motion module. Refer to the "Simple Motion Module Setting Function Help" of the engineering tool for details. Select the Simple Motion module setting from the tree on the following window. Navigation window ...
Page 369: Chapter 11 Specifications Of I/O Signals With Cpu Modules
SPECIFICATIONS OF I/O SIGNALS WITH CPU MODULES 11.1 List of Input/Output Signals with CPU Modules The Motion module uses the following input/output points for exchanging data with the CPU module. • 4-axis module/8-axis module/16-axis module...32 points The input/output signals of the Motion module are shown below. *1 The input/output signals, whose axis Nos.
Page 370 Signal direction: CPU module  Motion module Device No. Signal name PLC READY All axis servo ON Use prohibited  Axis 1 Positioning start Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12...
Page 371: Details Of Input Signals
11.2 Details of Input Signals The ON/OFF timing and conditions of the input signals are shown below. Device Signal name Details READY ON: READY • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting OFF: Not READY/Watch dog range is checked.
Page 372: Details Of Output Signals
11.3 Details of Output Signals The ON/OFF timing and conditions of the output signals are shown below. Device Signal name Details PLC READY OFF: PLC READY OFF (a) This signal notifies the Motion module that the CPU module is normal. ON: PLC READY ON •...
Page 373: Chapter 12 Data Used For Positioning Control
DATA USED FOR POSITIONING CONTROL The parameters and data used to carry out positioning control with the Motion module are explained in this chapter. With the positioning system using the Motion module, the various parameters and data explained in this chapter are used for control.
Page 374 The setting data is classified as follows. Classification Item Description Motion module Parameters Servo network composition parameters Parameters for the network. setting Perform settings for the devices used and the network according to the system configuration. Common parameters Parameters that are independent of axes and related to the overall system.
Page 375 • The following methods are available for data setting. In this manual, the method using the engineering tool will be explained. • Set using the engineering tool. • Create the program for data setting and execute it. • The basic parameters 1, detailed parameters 1, home position return parameters, "[Pr.83] Speed control 10 × multiplier setting for degree axis", "[Pr.90] Operation setting for speed-torque control mode", "[Pr.95] External command signal selection", "[Pr.122] Manual pulse generator speed limit mode", "[Pr.123] Manual pulse generator speed limit value"...
Page 376: Setting Items For Servo Network Composition Parameters
Control data The data is used by users to control the positioning system. The control data is classified as follows. Item Description System control data Writes/initializes the "positioning data" in the module. Sets the setting for operation of all axes. Axis control data Makes settings related to the operation, and controls the speed change during operation, and stops/restarts the operation for each axis.
Page 377: Setting Items For Common Parameters
Setting items for common parameters The setting items for the "common parameters" are shown below. The "common parameters" are independent of axes and related to the overall system. : Set as required ("" when not required) : Setting not required (When the value is the default value or within the setting range, there is no problem.) Common parameter Home position Major positioning control...
Page 378 Positioning parameter Home position return control  Detailed parameters 1 [Pr.11] Backlash compensation amount [Pr.12] Software stroke limit upper limit value   [Pr.13] Software stroke limit lower limit value  [Pr.14] Software stroke limit selection [Pr.15] Software stroke limit valid/invalid setting ...
Page 379 Major positioning control : Always set, : Set as required ("" when not required), : Setting restricted : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Major positioning control Position control 1 to 4 Speed-...
Page 380 Positioning parameter Major positioning control Position control 1 to 4 Speed- Other control axis position 1-axis linear 1/2/3/4- 2-axis 3-axis helical Current JUMP speed control axis circular interpolation value instruction, control position- 2/3/4-axis fixed- interpolation control changing speed linear feed control instruction, control...
Page 381 Positioning parameter Major positioning control Position control 1 to 4 Speed- Other control axis position 1-axis linear 1/2/3/4- 2-axis 3-axis helical Current JUMP speed control axis circular interpolation value instruction, control position- 2/3/4-axis fixed- interpolation control changing speed linear feed control instruction, control...
Page 382 Positioning parameter Major positioning control Position control 1 to 4 Speed- Other control axis position 1-axis linear 1/2/3/4- 2-axis 3-axis helical Current JUMP speed control axis circular interpolation value instruction, control position- 2/3/4-axis fixed- interpolation control changing speed linear feed control instruction, control...
Page 383 Manual control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Manual control Manual pulse Inching operation JOG operation...
Page 384 Positioning parameter Manual control Manual pulse Inching operation JOG operation generator operation Detailed parameters 2 [Pr.25] Acceleration time 1       [Pr.26] Acceleration time 2 [Pr.27] Acceleration time 3       [Pr.28] Deceleration time 1 [Pr.29] Deceleration time 2 ...
Page 385 Expansion control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not possible : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Expansion control Speed-torque control...
Page 386 Positioning parameter Expansion control Speed-torque control Detailed parameters 2 [Pr.25] Acceleration time 1   [Pr.26] Acceleration time 2 [Pr.27] Acceleration time 3   [Pr.28] Deceleration time 1 [Pr.29] Deceleration time 2   [Pr.30] Deceleration time 3  [Pr.31] JOG speed limit value ...
Page 387: Setting Items For Home Position Return Parameters
Setting items for home position return parameters When carrying out "home position return control", the "home position return parameters" must be set. The setting items for the "home position return parameters" are shown below. The "home position return parameters" are set for each axis. : Always set : Set as required : Setting not required (When the value is the default value or within the setting range, there is no problem.)
Page 388: Setting Items For Extended Parameters
Setting items for extended parameters The setting items for the "extended parameters" are shown below. The "extended parameters" are set for each axis. Extended parameter Related sub function [Pr.91] Optional data monitor: Data type setting 1 Page 341 Optional Data Monitor Function [Pr.92] Optional data monitor: Data type setting 2...
Page 389: Setting Items For Positioning Data
Setting items for positioning data Positioning data must be set for carrying out any "major positioning control". The table below lists the items to be set for producing the positioning data. One to 600 positioning data items can be set for each axis. : Always set : Set as required (""...
Page 390 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1B1EH to 1B20H) will occur at start.) : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning data Speed-position switching control Position-speed switching control...
Page 391 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1B1EH to 1B20H) will occur at start.) : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning data Other control Current value...
Page 392: Setting Items For Block Start Data
Setting items for block start data The "block start data" must be set when carrying out "high-level positioning control". The setting items for the "block start data" are shown below. Up to 50 points of "block start data" can be set for each axis. : Set as required (""...
Page 393: Types And Roles Of Monitor Data
Types and roles of monitor data The monitor data area in the buffer memory stores data relating to the operating state of the positioning system, which are monitored as required while the positioning system is operating. The following data are available for monitoring. Item Details System monitoring...
Page 394 ■Monitoring the speed Monitor details Corresponding item Monitor the During independent axis control Indicates the [Md.22] Feedrate current speed of each speed axis During When "0: Composite speed" is set for "[Pr.20] Indicates the interpolation Interpolation speed designation method" composite speed control When "1: Reference axis speed"...
Page 395 ■Monitoring the state Monitor details Corresponding item Monitor the latest error code that occurred with the axis [Md.23] Axis error No. Monitor the latest warning code that occurred with the axis [Md.24] Axis warning No. Monitor the valid M codes [Md.25] Valid M code Monitor the axis operation state [Md.26] Axis operation status...
Page 396: Types And Roles Of Control Data
Types and roles of control data Operation of the positioning system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the program.) Items that can be controlled are described below.
Page 397 ■Controlling the speed Control details Corresponding item When changing acceleration time during speed change, set new acceleration time [Cd.10] New acceleration time value When changing deceleration time during speed change, set new deceleration time [Cd.11] New deceleration time value Set acceleration/deceleration time validity during speed change [Cd.12] Acceleration/deceleration time change value during speed change, enable/disable Change positioning operation speed between 0 and 300% range...
Page 398 Control details Corresponding item Speed-torque Switch the control mode [Cd.138] Control mode switching request control Set the control mode to switch [Cd.139] Control mode setting Set the command speed during speed control mode [Cd.140] Command speed at speed control mode Set the acceleration time during speed control mode [Cd.141] Acceleration time at speed control mode...
Page 399: List Of Buffer Memory Addresses
12.2 List of Buffer Memory Addresses The following shows the relation between the buffer memory addresses and the various items. Do not use the buffer memory address that is not described here since they are for "Maker setting". References for the list of buffer memory addresses in this section are shown below. Buffer memory address Reference Buffer memory addresses for positioning data...
Page 400 ■Positioning parameters: Basic parameters 2 n: Axis No. - 1 Item Buffer memory address Axis 1 to axis 16 [Pr.8] Speed limit value 10+150n 11+150n [Pr.9] Acceleration time 0 12+150n 13+150n [Pr.10] Deceleration time 0 14+150n 15+150n ■Positioning parameters: Detailed parameters 1 n: Axis No.
Page 401 ■Positioning parameters: Detailed parameters 2 n: Axis No. - 1 Item Buffer memory address Axis 1 to axis 16 [Pr.25] Acceleration time 1 36+150n 37+150n [Pr.26] Acceleration time 2 38+150n 39+150n [Pr.27] Acceleration time 3 40+150n 41+150n [Pr.28] Deceleration time 1 42+150n 43+150n [Pr.29]...
Page 402 ■Home position return parameters: Home position return detailed parameters n: Axis No. - 1 Item Buffer memory address Axis 1 to axis 16 [Pr.51] Home position return acceleration time selection 82+150n [Pr.52] Home position return deceleration time selection 83+150n [Pr.55] Operation setting for incompletion of home position return 87+150n ■Extended parameters...
Page 403 ■Axis monitor data n: Axis No. - 1 Item Buffer memory address Axis 1 to axis 16 [Md.20] Feed current value 2400+100n 2401+100n [Md.21] Machine feed value 2402+100n 2403+100n [Md.22] Feedrate 2404+100n 2405+100n [Md.23] Axis error No. 2406+100n [Md.24] Axis warning No. 2407+100n [Md.25] Valid M code...
Page 404 Item Buffer memory address Axis 1 to axis 16 [Md.103] Motor rotation speed 2454+100n 2455+100n [Md.104] Motor current value 2456+100n [Md.108] Servo status1 2477+100n [Md.109] Regenerative load ratio/Optional data monitor output 1 2478+100n [Md.110] Effective load torque/Optional data monitor output 2 2479+100n [Md.111] Peak torque ratio/Optional data monitor output 3...
Page 405 Item Buffer memory address Axis 1 to axis 16 [Cd.8] External command valid 4305+100n [Cd.9] New current value 4306+100n 4307+100n [Cd.10] New acceleration time value 4308+100n 4309+100n [Cd.11] New deceleration time value 4310+100n 4311+100n [Cd.12] Acceleration/deceleration time change value during speed change, enable/disable 4312+100n [Cd.13] Positioning operation speed override...
Page 406 Item Buffer memory address Axis 1 to axis 16 [Cd.139] Control mode setting 4375+100n [Cd.140] Command speed at speed control mode 4376+100n 4377+100n [Cd.141] Acceleration time at speed control mode 4378+100n [Cd.142] Deceleration time at speed control mode 4379+100n [Cd.143] Command torque at torque control mode 4380+100n [Cd.144]...
Page 407 Memory area Item Buffer memory address Axis 1 to axis 16 No.2 [Da.1] Operation pattern 6010+1000n  [Da.2] Control method [Da.3] Acceleration time No. 6019+1000n [Da.4] Deceleration time No. 71010+1000n [Da.6] Positioning address/movement amount 71011+1000n [Da.7] Arc address No.3 6020+1000n [Da.8] Command speed ...
Page 408 [Block start data] ■Positioning data (Block start data) n: Axis No. - 1 Memory area Item Buffer memory address Axis 1 to axis 16 Start block 0 Block start data [Da.11] Shape 22000+400n 1st point [Da.12] Start data No. [Da.13] Special start instruction 22050+400n [Da.14]...
Page 409 Memory area Item Buffer memory address Axis 1 to axis 16 Start block 2 Block start data [Da.11] Shape 360000+600n 1st point [Da.12] Start data No. [Da.13] Special start instruction 360050+600n [Da.14] Parameter 2nd point [Da.11] Shape 360001+600n [Da.12] Start data No. [Da.13] Special start instruction 360051+600n...
Page 410 Mark detection function The following shows the relation between the buffer memory addresses for mark detection function and the various items. ■Mark detection parameters k: Mark detection setting No. - 1 Item Buffer memory address Axis 1 to axis 16 [Pr.800] Mark detection signal setting 54000+20k...
Page 411 Slave device operation The following shows the relation between the buffer memory addresses for slave device operation and the various items. ■Control data for slave device operation n: Axis No. - 1 Item Buffer memory address Axis 1 to axis 16 [Cd.160] Optional SDO transfer request 1 534796+2048n...
Page 412 Servo object specification area The following shows the relation between the buffer memory addresses for servo object specification area and the various items. ■Servo object specification area n: Axis No. - 1 Item Buffer memory address Axis 1 to axis 16 [Pr.512] Optional SDO 1 460024+256n...
Page 413: Basic Setting
12.3 Basic Setting The setting items of the setting data are explained in this section. Servo network composition parameters n: Axis No. - 1 Item Setting value, setting range Default Buffer memory address value Axis 1 to axis 16 [Pr.101] Virtual servo amplifier 0: Use real servo amplifier 58022+32n...
Page 414 [Pr.141] IP address Specify the IP address. Assign 1 [byte] each to octets 1 to 4. 1st octet 2nd octet 3rd octet 4th octet For 192.168.3.1 Setting value: HC0A80301 • When using the amplifier as an actual servo amplifier, always set an IP address. Axis control cannot be performed when it is set to the default value of "0".
Page 415: Common Parameters
Common parameters Item Setting value, setting range Default value Buffer memory address Value set with the engineering Value set with a tool program Axis 1 to axis 16 [Pr.82] 1: Invalid Forced stop valid/invalid 2: Valid (Buffer memory) selection [Pr.152] 0: No setting 58003 Maximum number of control...
Page 416 [Pr.152] Maximum number of control axes Set the maximum number of control axes. This is used to reduce the operation cycle when the actual number of axes used is lower than the maximum number of control axes of the relevant model. Maximum number of control axes Setting value No setting (Controls with the maximum number of control axes for each module.)
Page 417 [Pr.156] Manual pulse generator smoothing time constant • The smoothing process smooths the speed change in the manual pulse generator operation. Note that the input response is delayed by the time set by the smoothing processing. • When a value outside the range is set, the error "Outside manual pulse generator smoothing time constant range error" (error code: 1DC6H) occurs when the PLC READY signal [Y0] turns ON, preventing the READY signal [X0] from turning •...
Page 418: Basic Parameters 1
Basic parameters 1 This section describes the details on the basic parameter 1. n: Axis No. - 1 Item Setting value, setting range Default Buffer memory address value Value set with the Value set with a program Axis 1 to axis 16 engineering tool [Pr.1] 0: mm...
Page 419 [Pr.2] to [Pr.4] Electronic gear (Movement amount per pulse) The mechanical system value used when the Motion module performs positioning control. The settings are made using [Pr.2] to [Pr.4]. The electronic gear is expressed by the following equation. [Pr.2] Number of pulses per rotation (AP) Electronic gear = [Pr.3] Movement amount per rotation (AL) ×...
Page 420 [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 (m/rev) is PB and the deceleration rate is 1/n, then Movement amount per rotation (AL) = PB ...
Page 421 [Pr.7] Bias speed at start Set the bias speed (minimum speed) upon starting. When using a stepping motor, etc., set it to start the motor smoothly. (If the motor speed at start is low, the stepping motor does not start smoothly.) The specified "bias speed at start"...
Page 422 ■Precautionary notes • "[Pr.7] Bias speed at start" is valid regardless of motor type. Set "0" when using the motor other than the stepping motor. Otherwise, it may cause vibration or impact even though an error does not occur. • Set "[Pr.7] Bias speed at start" according to the specification of stepping motor driver. If the setting is outside the range, it may cause the following troubles by rapid speed change or overload.
Page 423: Basic Parameters 2
Basic parameters 2 This section describes the details on the basic parameter 2. n: Axis No. - 1 Item Setting value, setting range Default Buffer memory address value Value set with the Value set with a program Axis 1 to axis 16 engineering tool [Pr.8] The setting value range differs according to "[Pr.1] Unit setting".
Page 424: Detailed Parameters 1
Detailed parameters 1 n: Axis No. - 1 Item Setting value, setting range Default Buffer memory address value Value set with the engineering tool Value set with a program Axis 1 to axis 16 [Pr.11] The setting value range differs according to "[Pr.1] Unit setting". 17+150n Backlash compensation amount...
Page 425 Item Setting value, setting range Default Buffer memory address value Value set with the engineering tool Value set with a program Axis 1 to axis 16 [Pr.116] 1 (0001H): Servo amplifier 0001H 116+150n FLS signal selection 2 (0002H): Buffer memory [Pr.117] 0001H 117+150n...
Page 426 [Pr.11] 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, commands equivalent to the compensation amount will be output each time the direction changes during positioning.) [Pr.44] Home position return direction Workpiece (moving body)
Page 427 [Pr.12] Software stroke limit upper limit value Set the upper limit for the machine's movement range during positioning control. [Pr.1] setting value Value set with the engineering tool (unit) Value set with a program (unit) -2147483648 to 2147483647 (  10 m) 0: mm -214748364.8 to 214748364.7 (m)
Page 428 [Pr.16] Command in-position width Set the remaining distance that turns the command in-position flag ON. 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 the command in- position width, the command in-position flag turns ON.
Page 429 [Pr.18] M code ON signal output timing This parameter sets the M code ON signal output timing. Choose either WITH mode or AFTER mode as the M code ON signal output timing. ■4-axis module operation example An M code is output and the M code ON signal is WITH mode: AFTER mode*2: An M code is output and the M code ON signal is...
Page 430 [Pr.19] Speed switching mode Set whether to switch the speed switching mode with the standard switching or front-loading switching mode. • Speed of positioning data No.n > Speed of positioning data No.n + 1 Decelerates at deceleration time No. of Positioning data No.n + 1 •...
Page 431 ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 398 Positioning parameters: Detailed parameters 1 [Pr.21] Feed current value during speed control Specify whether you wish to enable or disable the update of "[Md.20] Feed current value" while operations are performed under the speed control (including the speed control in speed-position and position-speed switching control).
Page 432 [Pr.81] Speed-position function selection Select the mode of speed-position switching control. 0: INC mode 2: ABS mode If the setting is other than 0 and 2, operation is performed in the INC mode with the setting regarded as 0. ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 433: Detailed Parameters 2
Detailed parameters 2 n: Axis No. - 1 Item Setting value, setting range Default Buffer memory address value Value set with the engineering tool Value set with a Axis 1 to axis 16 program [Pr.25] 1 to 8388608 (ms) 1 to 8388608 (ms) 1000 36+150n Acceleration time 1...
Page 434 Item Setting value, setting range Default Buffer memory address value Value set with the engineering tool Value set with a Axis 1 to axis 16 program [Pr.83] 0: Invalid 63+150n Speed control 10 × 1: Valid multiplier setting for degree axis [Pr.84] 0, 1 to 327680 [pulse]...
Page 435 [Pr.31] JOG speed limit value Set the maximum speed for JOG operation. [Pr.1] setting value Value set with the engineering tool (unit) Value set with a program (unit) 1 to 2000000000 (  10 0: mm 0.01 to 20000000.00 (mm/min) mm/min) 1 to 2000000000 ( ...
Page 436 [Pr.34] Acceleration/deceleration process selection Set whether to use trapezoid acceleration/deceleration or S-curve acceleration/deceleration for the acceleration/deceleration process. Refer to the following for details. Page 298 Acceleration/deceleration processing function Speed Speed The acceleration and deceleration are linear. The acceleration and deceleration follow a Sin curve. Time Time <Trapezoid acceleration/deceleration>...
Page 437 [Pr.36] Rapid stop deceleration time Set the time to reach speed 0 from "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control) during the rapid stop. The illustration below shows the relationships with other parameters. 1) Positioning start 2) Rapid stop cause occurrence 3) Positioning stop •...
Page 438 [Pr.37] to [Pr.39] Stop group 1/2/3 rapid stop selection Set the method to stop when the stop causes in the following stop groups occur. Stop group Details Stop group 1 Stop with hardware stroke limit Stop group 2 Error occurrence of the CPU module, PLC READY signal [Y0] OFF Stop group 3 Axis stop signal from the CPU module, Error occurrence (excludes errors in stop groups 1 and 2: includes only the software stroke limit errors during JOG operation, speed control, speed-position switching control, and position-speed switching control)
Page 439 [Pr.41] 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.
Page 440 [Pr.83] Speed control 10 x multiplier setting for degree axis Set the speed control 10  multiplier setting for degree axis when you use command speed and speed limit value set by the positioning data and the parameter at "[Pr.1] Unit setting" setup degree by ten times at the speed. 0: Invalid 1: Valid Normally, the speed specification range is 0.001 to 2000000.000 [degree/min], but it will be decupled and become 0.01 to...
Page 441 • Processing at switching the servo ON signal from OFF to ON • When the difference between the last command position of the Motion module at switching the servo ON signal from ON to OFF and the current value at switching the servo ON signal from OFF to ON is equal to or less than the value set in the buffer memory for the restart allowable range setting, the positioning operation is judged as stopped and can be restarted.
Page 442 ■Setting method For performing restart at switching servo OFF to ON, set the restart allowable range in the following buffer memory. n: Axis No. - 1 Item Setting range Default Buffer memory address value Axis 1 to axis 16 [Pr.84] Restart allowable range when servo OFF to ON 0, 1 to 327680 [pulse] 64+150n 0: restart not allowed...
Page 443 [Pr.90] Operation setting for speed-torque control mode Operation setting of the speed control mode, torque control mode or continuous operation to torque control mode at the speed-torque control is executed. ■Torque initial value selection Set the torque initial value at switching to torque control mode or to continuous operation to torque control mode. Setting value Details 0: Command torque...
Page 444 [Pr.95] External command signal selection Set the external command signal. The DOG signal of the servo amplifier is used regardless of the setting value of "[Pr.118] DOG signal selection". Setting value Details 0: Not used External command signal is not used. 101: DOG signal of Axis 1 DOG signal of Axis 1 is used as external command signal.
Page 445 [Pr.123] Manual pulse generator speed limit value Set the maximum speed during manual pulse generator operation. • The "Manual pulse generator speed limit value" is included in detailed parameters 2. However, it will be valid at the leading edge (OFF to ON) of the PLC READY signal [Y0]. •...
Page 446: Home Position Return Basic Parameters
Home position return basic parameters n: Axis No. - 1 Item Setting value, setting range Default Buffer memory address value Value set with the engineering tool Value set with a Axis 1 to axis 16 program [Pr.43] 8: Driver home position return method 70+150n Home position return method...
Page 447 [Pr.44] Home position return direction Set the direction to start movement when starting machine home position return. Setting value Details 0: Positive direction (address Moves in the direction that the address increments. (Arrow 2)) increment direction) 1: Negative direction (address Moves in the direction that the address decrements.
Page 448 [Pr.46] Home position return speed Set the speed for home position return. Performs high-speed home position return with the home position return speed. [Pr.1] setting value Value set with the engineering tool (unit) Value set with a program (unit) 1 to 2000000000 (  10 0: mm 0.01 to 20000000.00 (mm/min) mm/min)
Page 449: Home Position Return Detailed Parameters
Home position return detailed parameters n: Axis No. - 1 Item Setting value, setting range Default Buffer memory address value Value set with the Value set with a program Axis 1 to axis 16 engineering tool [Pr.51] 0: [Pr.9] Acceleration time 0 82+150n Home position return acceleration time 1: [Pr.25] Acceleration time 1...
Page 450 [Pr.55] Operation setting for incompletion of home position return Set whether the positioning control is executed or not (When the home position return request flag is ON.). 0: Positioning control is not executed 1: Positioning control is executed • When the home position return request flag is ON, selecting "0: Positioning control is not executed" will result in the error "Start at home position return incomplete"...
Page 451: Extended Parameters
Extended parameters n: Axis No. - 1 Item Setting value, setting range Default Buffer memory value address Value set with the engineering tool Value set with a program Axis 1 to axis 16 [Pr.91] Set the index of the CiA402 object of the Example) When monitoring the 100+150n Optional data monitor: Data type...
Page 452 [Pr.91] to [Pr.94] Optional data monitor: Data type setting Set the index of the CiA402 object of the slave device. • Registered monitor addresses for the optional data monitor are imported after the power is turned ON or the CPU module is reset. •...
Page 453: Servo Object Specification Area
Servo object specification area [Pr.512] to [Pr.515] Optional SDO 1 to 4 Used in the servo transient transmission function. Refer to the following for details. Page 348 Servo Transient Transmission Function ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 410 Servo object specification area 12 DATA USED FOR POSITIONING CONTROL 12.3 Basic Setting...
Page 454: Positioning Data
12.4 Positioning data Before explaining the positioning data setting items [Da.1] to [Da.10], [Da.20] to [Da.22], [Da.27] to [Da.29], the configuration of the positioning data is shown below. The positioning data stored in the buffer memory of the Motion module is the following configuration. Data is controlled as positioning data No.1 to 600 for each axis.
Page 455 The following explains the positioning data setting items [Da.1] to [Da.10], [Da.20] to [Da.22] and [Da.27] to [Da.29]. (The buffer memory addresses shown are those of the "positioning data No.1".) n: Axis No. - 1 Item Setting value Default Buffer memory address value Value set with the Value set with a program...
Page 456 Item Setting value Default Buffer memory address value Value set with the Value set with a program Axis 1 to axis 16 engineering tool Positioning [Da.2] 24H: Helical 0000H 6000+1000n [Da.2] identifier Control method interpolation control with Setting value center point specified (INC, CW) 25H: Helical interpolation control with...
Page 457 Item Setting value Default Buffer memory address value Value set with the Value set with a program Axis 1 to axis 16 engineering tool [Da.9] Dwell time The setting value range differs according to "[Da.2] Control method". 6002+1000n Dwell time/ JUMP destination JUMP positioning data...
Page 458 [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 Setting Details value...
Page 459 [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.10] Deceleration time 0". 1: Use the value set in "[Pr.28] Deceleration time 1". 2: Use the value set in "[Pr.29] Deceleration time 2".
Page 460 ■Position-speed switching control • Set the amount of movement before the switching from position control to speed control. ●When "[Pr.1] Unit setting" is "mm" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges.
Page 461 ●When "[Pr.1] Unit setting" is "degree" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) ( ...
Page 462 ●When "[Pr.1] Unit setting" is "pulse" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) [Da.2] setting value Value set with the engineering tool (pulse)
Page 463 ●When "[Pr.1] Unit setting" is "inch" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) ( ...
Page 464 [Da.7] Arc address The arc address is data required only when carrying out 2-axis circular interpolation control or 3-axis helical interpolation control. • When carrying out circular interpolation with sub point designation, set the sub point (passing point) address as the arc address.
Page 465 ■When "[Pr.1] Unit setting" is "pulse" The table below lists the control methods that require the setting of the arc address and shows the setting range. (With any control method excluded from the table below, the arc address does not need to be set.) [Da.2] setting value Value set with the engineering tool (pulse) Value set with a program (pulse)
Page 466 [Da.8] Command speed Set the command speed for positioning. • If the set command speed exceeds "[Pr.8] Speed limit value", positioning will be carried out at the speed limit value. • If "-1" is set for the command speed, the current speed (speed set for previous positioning data No.) will be used for positioning control.
Page 467 [Da.9] Dwell time/JUMP destination positioning data No. Set the "dwell time" or "positioning data No." corresponding to "[Da.2] Control method". • When a method other than "JUMP instruction" is set for "[Da.2] Control method": Set the "dwell time". • When "JUMP instruction" is set for "[Da.2] Control method": Set the "positioning data No." for the JUMP destination. When the "dwell time"...
Page 468 [Da.10] M code/Condition data No./No. of LOOP to LEND repetitions/No. of pitches Set an "M code", a "condition data No.", the "Number of LOOP to LEND repetitions" or the "Number of pitches" depending on how "[Da.2] Control method" is set. *1 The condition data specifies the condition for the JUMP instruction to be executed.
Page 469 [Da.20] Axis to be interpolated No.1 to [Da.22] Axis to be interpolated No.3 Set the axis to be interpolated to execute the 2 to 4-axis interpolation operation. Set the circular interpolation axis and the linear interpolation axis to execute the 3-axis helical interpolation control. 2-axis interpolation Set the target axis No.
Page 470 [Da.28] ABS direction in degrees Set "[Cd.40] ABS direction in degrees" to each positioning data. Refer to the following for setting details. Page 428 [Pr.20] Interpolation speed designation method 0: Uses the setting value of "[Cd.40] ABS direction in degrees". 1: ABS circular right 2: ABS circular left 3: Takes a shortcut.
Page 471: Block Start Data
12.5 Block Start Data Before explaining the block start data setting items [Da.11] to [Da.14], the configuration of the block start data is shown below. The block start data stored in the buffer memory of the Motion module is the following configuration. 50th point Setting item Buffer memory...
Page 472 n: Axis No. - 1 Item Setting value Default Buffer memory address value Value set with the Value set with a program Axis 1 to axis 16 engineering tool [Da.11] 0: End 0000H 22000+400n Shape 1: Continue [Da.12] Positioning data No: 1 to 600 Start data No.
Page 473 [Da.13] Special start instruction Set the "special start instruction" for using "high-level positioning control". (Set how to start the positioning data set in "[Da.12] Start data No.".) Setting value Setting details 00H: Block start (Normal Start) Execute the random block positioning data in the set order with one start. 01H: Condition Start Carry out the condition judgment set in "condition data"...
Page 474: Condition Data
12.6 Condition Data Before explaining the condition data setting items [Da.15] to [Da.19] and [Da.23] to [Da.26], the configuration of the condition data is shown below. The condition data stored in the positioning data of the Motion module is the following configuration. No.10 Buffer memory Setting item...
Page 475 The following explains the condition data setting items [Da.15] to [Da.19] and [Da.23] to [Da.26]. (The buffer memory addresses shown are those of the "condition data No.1 (block No.7000)".) • To perform a high-level positioning control using block start data, set a number between 7000 and 7004 to "[Cd.3] Positioning start No."...
Page 476 n: Axis No. - 1 Item Setting value Default Buffer memory value address Value set with the Value set with a program Axis 1 to axis 16 engineering tool Condition [Da.15] 01: Device X 0000H 22100+400n [Da.15] Condition target identifier Condition 02: Device Y [Da.16] Condition operator...
Page 477 [Da.15] Condition target Set the condition target as required for each control. Setting value Setting details 01H: Device X Set the state (ON/OFF) of an I/O signal as a condition. 02H: Device Y 03H: Buffer memory (1-word) Set the value stored in the buffer memory as a condition. 03H: The target buffer memory is "1-word (16 bits)"...
Page 478 [Da.17] Address Set the address as required for "[Da.15] Condition target". [Da.15] 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) Value (Buffer memory address) Set the target "buffer memory address".
Page 479 [Da.19] Parameter 2 Set the parameters as required for "[Da.16] Condition operator" and "[Da.23] Number of simultaneous starting axes". [Da.16] Condition [Da.23] Number of Setting value Setting details operator simultaneous starting axes 01H: ** = P1   Not used. (There is no need to set.) 02H: ** ...
Page 480 [Da.24] Simultaneous starting axis No.1 to [Da.26] Simultaneous starting axis No.3 Set the simultaneous starting axis to execute the 2 to 4-axis simultaneous start. Simultaneous Details starting axis 2-axis interpolation Set the target axis No. in "[Da.24] Simultaneous starting axis No.1". 3-axis interpolation Set the target axis No.
Page 481: Monitor Data
12.7 Monitor Data The setting items of the monitor data are explained in this section. System monitor data Unless noted in particular, the monitor value is saved as binary data. [Md.1] In test mode flag Whether the mode is the test mode from the engineering tool or not is stored. •...
Page 482 [Md.4] Start No. The start No. is stored. Stored value Start No. 001 to 600(0001H to 0258H) Positioning operation 7000(1B58H) 7001(1B59H) 7002(1B5AH) 7003(1B5BH) 7004(1B5CH) 9010(2332H) JOG operation 9011(2333H) Manual pulse generator operation 9001(2329H) Machine home position return 9002(232AH) Fast home position return 9003(232BH) Current value changing 9004(232CH)
Page 483 [Md.54] Start (Year: month) The starting time (Year: month) is stored. Buffer memory configuration Stored contents Storage value Year (tens place) 0 to 9 Year (ones place) 0 to 9 Month (tens place) 0, 1 Month (ones place) 0 to 9 Refresh cycle: At start If a start signal is issued against an operating axis, a record relating to this event may be output before a record relating to an earlier start signal is output.
Page 484 [Md.60] Start (ms) The starting time (ms) is stored. 000 (ms) to 999 (ms) Buffer memory configuration Stored contents Storage value ms (hundreds 0 to 9 place) ms (tens place) 0 to 9 ms (ones place) 0 to 9 Refresh cycle: At start If a start signal is issued against an operating axis, a record relating to this event may be output before a record relating to an earlier start signal is output.
Page 485 [Md.8] Start history pointer Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing starting history records. The storage value (Pointer No.) is 0 to 63. Refresh cycle: At start If a start signal is issued against an operating axis, a record relating to this event may be output before a record relating to an earlier start signal is output.
Page 486 [Md.64] Network error number When a network error is detected, the error code corresponding to the error details is stored. • This area always stores the latest error code. (Whenever the network error occurs, a new error code replaces the stored error code.) •...
Page 487 [Md.132] Operation cycle setting Stores the current operation cycle. Storage value Operation cycle 1004H 0.250 ms 1005H 0.500 ms 1006H 1.000 ms 1007H 2.000 ms 1008H 4.000 ms Refresh cycle: At power supply ON ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 400 System monitor data [Md.133] Operation cycle over flag This flag turns ON when the operation cycle time exceeds operation cycle.
Page 488: Axis Monitor Data
Axis monitor data [Md.20] Feed current value The address of the current command is stored. (Different from the actual motor position during operation) The current position address is stored. If "degree" is selected as the unit, the addresses will have a ring structure for values between 0 and 359.99999. As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 489 [Md.21] Machine feed value The address of the current position according to the machine coordinates is stored. (Different from the actual motor position during operation) Note that the current value changing function will not change the machine feed value. Under the speed control mode, the machine feed value is constantly updated always, irrespective of the parameter setting. The value will not be cleared to "0"...
Page 490 [Md.22] Feedrate The command output speed of the operating workpiece is stored. (May be different from the actual motor speed during operation) As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value. The decimal integer value can be converted into other units by multiplying said value by the following conversion values.
Page 491 [Md.24] Axis warning No. Whenever an axis warning is reported, a related warning code is stored. • This area always stores the latest warning code. (Whenever an axis warning is reported, a new warning code replaces the stored warning code.) •...
Page 492 [Md.26] Axis operation status This area stores the axis operation status. Storage value Axis operation status Step standby Error Standby Stopped Interpolation JOG operation Manual pulse generator operation Analyzing Special start standby Home position return Position control Speed control Speed control in speed-position switching control Position control in speed-position switching control Position control in position-speed switching control Speed control in position-speed switching control...
Page 493 ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 401 Axis monitor data [Md.28] Axis feedrate The speed which is actually output as a command at that time in each axis is stored. (May be different from the actual motor speed) "0"...
Page 494 [Md.29] Speed-position switching control positioning movement amount The movement amount for the position control to end after changing to position control with the speed-position switching control is stored. When the control method is "Reverse run: position/speed", the negative value is stored. As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 495 [Md.31] Status This area stores the states (ON/OFF) of various flags. Information on the following flags is stored. Flag Details In speed control flag This signal that comes ON under the speed control can be used to judge whether the operation is performed under the speed control or position control.
Page 496 Buffer memory configuration Stored items Storage value In speed control flag 0: OFF 1: ON Speed-position switching latch flag (12) (11) (10) Not used Not used Command in-position flag Home position return request flag Home position return complete flag Position-speed switching latch flag Axis warning detection Speed change 0 flag...
Page 497 [Md.33] Target speed • 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 of position control: The composite speed or reference axis speed is stored in the reference axis address, and "0"...
Page 498 [Md.35] Torque limit stored value/forward torque limit stored value "[Pr.17] Torque limit setting value", "[Cd.101] Torque output setting value", or "[Cd.22] New torque value/forward new torque value" is stored. • The value stored is 1 to 10000 ( 0.1%). • During positioning start, JOG operation start, manual pulse generator operation: "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value"...
Page 499 [Md.39] In speed limit flag Stores whether the in speed limit is in progress or not. Storage value In speed limit flag Not in speed limit (OFF) In speed limit (ON) • If the speed exceeds "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control) due to a speed change or override, the speed limit functions, and the in speed limit flag turns ON.
Page 500 [Md.43] Start data pointer being executed • This area stores a point No. (1 to 50) attached to the start data currently being executed. • This area stores "0" after completion of a positioning operation. Refresh cycle: Immediate ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 501 [Md.47] Positioning data being executed • The details of the positioning data currently being executed (positioning data No. given by "[Md.44] Positioning data No. being executed") are stored in the buffer memory addresses. Buffer memory Stored items Reference address 6000+1000n Positioning identifier Page 456 [Da.1] Operation pattern toPage 457 [Da.4] Deceleration time No.
Page 502 [Md.62] Amount of the manual pulser driving carrying over movement When "2: Output over value of speed limit later" is set in "[Pr.122] Manual pulse generator speed limit mode", this area stores the carrying over movement amount which exceeds "[Pr.123] Manual pulse generator speed limit value". As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 503 [Md.101] Real current value This area stores the current value "feed current value - (command pulse - feedback pulse)". (Depends on the setting unit) As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value. The decimal integer value can be converted into other units by multiplying said value by the following conversion values.
Page 504 [Md.102] Deviation counter value This area stores the droop pulse. As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value. The decimal integer value can be converted into other units by multiplying said value by the following conversion values. Low-order buffer memory Monitor value High-order buffer memory...
Page 505 [Md.103] Motor rotation speed This area stores the motor speed updated in real time. As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value. The decimal integer value can be converted into other units by multiplying said value by the following conversion values. Low-order buffer memory Monitor value High-order buffer memory...
Page 506 [Md.108] Servo status1 This area stores the servo status1. • READY ON: Indicates the ready ON/OFF. • Servo ON: Indicates the servo ON/OFF. • Control mode: Indicates the control mode of the servo amplifier. • Gain switching: Turns ON during the gain switching. •...
Page 507 [Md.110] Effective load torque/Optional data monitor output 2 • The continuous effective load current is indicated. • The effective value for the past 15 seconds is displayed considering a rated current as 100%. (Buffer memory) % • This area stores the content set in "[Pr.92] Optional data monitor: Data type setting 2" and "[Pr.592] Optional data monitor: Data type expansion setting 2"...
Page 508 [Md.114] Servo alarm • When a servo amplifier alarm/warning occurs, the alarm/warning No. is stored. • When "[Cd.5] Axis error reset" is set to "1" after removing the cause of an alarm/warning on the servo amplifier side, the servo alarm is cleared (set to "0"). For MR-J5(W)-G When the servo alarm [AL35.1 Command frequency error] occurs on the drive unit, "0035H"...
Page 509 [Md.116] Encoder option information The option information of encoder is indicated. Buffer memory configuration Stored items Storage value Compatible with continuous 0: Incompatible operation to torque control 1: Compatible Compatible with scale measurement mode Refresh cycle: Servo amplifier's power supply ON ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 510 [Md.120] Reverse torque limit stored value "[Pr.17] Torque limit setting value", "[Cd.101] Torque output setting value", or "[Cd.113] Reverse new torque value" is stored. • The value stored is 1 to 10000 ( 0.1%). • During positioning start, JOG operation start, manual pulse generator operation: "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value"...
Page 511 [Md.124] Control mode switching status This area stores the switching status of control mode. Storage value Control mode switching status Not during control mode switching Position control mode  continuous operation to torque control mode, speed control mode  continuous operation to torque control mode switching Waiting for the completion of control mode switching condition Refresh cycle: Operation cycle...
Page 512 [Md.190] Controller current value restoration complete status Storage value Controller current value restoration complete status Incomplete restoration Complete INC restoration Complete ABS restoration • When restoration is complete with the INC restoration method, "1" is set. • When restoration is complete with the ABS restoration method, "2" is set. •...
Page 513: Monitor Data For Slave Device Operation
Monitor data for slave device operation [Md.160] to [Md.163] Optional SDO transfer result Used in the servo transient transmission function. Refer to the following for details. Page 348 Servo Transient Transmission Function Refresh cycle: At command request ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 514: Control Data
12.8 Control Data The setting items of the control data are explained in this section. System control data [Cd.1] Flash ROM write request • Writes not only "positioning data (No.1 to 600)" and "block start data (No.7000 to 7004)" stored in the buffer memory/ internal memory area, but also "parameters"...
Page 515 [Cd.2] Parameter initialization request • Requests initialization of setting data. • The Motion module resets the value to "0" automatically when the initialization completes. (This indicates the completion of parameter initialization.) Refer to the following for initialized setting data. Page 311 Parameter Initialization Function Initialization: Resetting of setting data to default values Fetch cycle: 116 [ms] After completing the initialization of setting data, switch the power ON or reset the CPU module.
Page 516 [Cd.42] Stop command processing for deceleration stop selection Sets the stop command processing for deceleration stop function (deceleration curve re-processing/deceleration curve continuation). Fetch cycle: At deceleration stop causes occurrence ■Setting value • Set with a decimal. Setting value Details Deceleration curve re-processing Deceleration curve continuation ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 517 [Cd.44] External input signal operation device Operates the external input signal status (Upper/lower limit signal, proximity dog signal, stop signal) of the Motion module when "2" is set in "[Pr.116] FLS signal selection", "[Pr.117] RLS signal selection", "[Pr.118] DOG signal selection", and "[Pr.119] STOP signal selection".
Page 518 Buffer memory Details Setting value Buffer memory Details Setting value 5930 Axis 9 Upper limit signal When "[Pr.22] Input 5931 Axis 13 Upper limit signal When "[Pr.22] Input (FLS) signal logic selection" is (FLS) signal logic selection" is negative logic negative logic Axis 9 Lower limit signal Axis 13 Lower limit signal...
Page 519 [Cd.55] Input value for manual pulse generator via CPU • Set the values used as the input values for the manual pulse generator via the high-speed counter module in order. • Refer to the manual of the high-speed counter module for the input method. MELSEC iQ-R High-Speed Counter Module User's Manual (Startup) MELSEC iQ-R High-Speed Counter Module User's Manual (Application) Fetch cycle: 8.0 [ms]...
Page 520 [Cd.158] Forced stop input Set the forced stop input information. Fetch cycle: Operation cycle ■Setting value • Set with a hexadecimal. Setting value Details 0000H Forced stop ON (Forced stop) 0001H Forced stop OFF (Forced stop release) ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 521: Axis Control Data
Axis control data [Cd.3] Positioning start No. Sets the positioning start No. (Only 1 to 600 for the Pre-reading start function. For details, refer to Page 270 Pre-reading start function.) Fetch cycle: At start ■Setting value • Set with a decimal. Setting value Details 1 to 600...
Page 522 [Cd.5] Axis error reset • Clears the axis error detection, axis error No., axis warning detection and axis warning No. • When the axis operation state of the Motion module is "in error occurrence", the error is cleared and the Motion module is returned to the "waiting"...
Page 523 [Cd.7] M code OFF request • The M code ON signal turns OFF. • After the M code ON signal turns OFF, "0" is stored by the Motion module automatically. (Indicates that the OFF request is completed.) Fetch cycle: Operation cycle ■Setting value •...
Page 524 [Cd.10] New acceleration time value When changing the acceleration time during a speed change, use this data item to specify a new acceleration time. Fetch cycle: At change request ■Setting range • Set with a decimal. Setting range of [Cd.10] (unit) 0 to 8388608 (ms) When "[Cd.10] New acceleration time value"...
Page 525 [Cd.13] Positioning operation speed override • To use the positioning operation speed override function, use this data item to specify an "override" value. • If the command speed is set to less than the minimum unit using the override function, the speed is raised to the minimum unit and the warning "Less than minimum speed"...
Page 526 [Cd.15] Speed change request • After setting "[Cd.14] New speed value", set this data item to "1" to execute the speed change (through validating the new speed value). • The Motion module resets the value to "0" automatically when the speed change request has been processed. (This indicates the completion of speed change request.) Fetch cycle: Operation cycle ■Setting value...
Page 527 [Cd.17] JOG speed Use this data item to set the JOG speed. Fetch cycle: At start ■Setting range • Set with a decimal. • The setting value range differs according to "[Pr.1] Unit setting". Setting of "[Pr.1] Unit setting" Value set with a program (unit) 1 to 2000000000( ...
Page 528 [Cd.19] Home position return request flag OFF request • The program can use this data item to forcibly turn the home position return request flag from ON to OFF. • The Motion module resets the value to "0" automatically when the home position return request flag is turned OFF. (This indicates the completion of home position return request flag OFF request.) Fetch cycle: 16.0 [ms] This parameter is made valid when the increment system is valid.
Page 529 [Cd.22] New torque value/forward new torque value • When "0" is set in "[Cd.112] Torque change function switching request", a new torque limit value is set. (This value is set for the forward torque limit value and reverse torque limit value.) When "1" is set in "[Cd.112] Torque change function switching request", a new forward torque limit value is set.
Page 530 [Cd.24] Speed-position switching enable flag Sets whether the switching signal set in "[Cd.45] Speed-position switching device selection" is enabled or not. Fetch cycle: At switching request ■Setting value • Set with a decimal. Setting value Details Speed control will not be taken over by position control even when the signal set in "[Cd.45] Speed-position switching device selection"...
Page 531 [Cd.26] Position-speed switching enable flag Sets whether the switching signal set in "[Cd.45] Speed-position switching device selection" is enabled or not. Fetch cycle: At switching request ■Setting value • Set with a decimal. Setting value Details Position control will not be taken over by speed control even when the signal set in "[Cd.45] Speed-position switching device selection"...
Page 532 [Cd.28] Target position change value (New speed) • When changing the target position during a positioning operation, use this data item to specify a new speed. • The speed will not change if "0" is set. Fetch cycle: At change request ■Setting range •...
Page 533 [Cd.30] Simultaneous starting own axis start data No. Use this data item to specify a start data No. of own axis at multiple axes simultaneous starting. Fetch cycle: At start ■Setting range • Set with a decimal. Setting range of [Cd.30] 1 to 600 ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 534 [Cd.33] Simultaneous starting axis start data No.3 Use this data item to specify a start data No.3 for each axis that starts simultaneously. For 2 axis simultaneous starting and 3 axis simultaneous starting, the axis setting is not required. (Setting value is ignored.) Fetch cycle: At start ■Setting range...
Page 535 [Cd.36] Step start information • To continue the step operation when the step function is used, set "1" in the data item. • The Motion module resets the value to "0" automatically when processing of the step start request completes. Fetch cycle: 16.0 [ms] ■Setting value •...
Page 536 [Cd.39] Teaching positioning data No. • This data item specifies data to be produced by teaching. • If a value between 1 and 600 is set, a teaching operation is done. • The value is cleared to "0" when the Motion module is initialized, when a teaching operation completes, and when an illegal value (601 or higher) is entered.
Page 537 [Cd.43] Simultaneous starting axis • Set the number of simultaneous starting axes and target axis. When "2" is set as the number of simultaneous starting axes, set the target axis No. to the simultaneous starting axis No.1. When "3" is set as the number of simultaneous starting axes, set the target axis No.
Page 538 [Cd.46] Speed-position switching command Speed-position control switching is performed when "2" is set in "[Cd.45] Speed-position switching device selection". Other than setting value is ignored. This parameter is made valid only when "2" is set in "[Cd.45] Speed-position switching device selection" at start.
Page 539 [Cd.101] Torque output setting value Sets the torque output value. Set a ratio against the rated torque in 0.1% unit. Fetch cycle: At start • If "[Cd.101] Torque output setting value" is "0", "[Pr.17] Torque limit setting value" will be its value. •...
Page 540 [Cd.112] Torque change function switching request Sets "same setting/individual setting" of the forward torque limit value or reverse torque limit value in the torque change function. Fetch cycle: Operation cycle • Set "0" normally. (when the forward torque limit value and reverse torque limit value are not divided.) •...
Page 541 [Cd.133] Semi/Fully closed loop switching request Set the switching of semi closed control and fully closed loop control. Fetch cycle: Operation cycle (Fully closed loop control servo amplifier only) ■Setting value • Set with a decimal. Setting value Details Semi closed loop control Fully closed loop control ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 542 [Cd.139] Control mode setting Set the control mode to be changed in the speed-torque control. Fetch cycle: At control mode switching ■Setting value • Set with a decimal. Setting value Details Position control mode Speed control mode Torque control mode Continuous operation to torque control mode ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 543 [Cd.142] Deceleration time at speed control mode Set the deceleration time at speed control mode. (Set the time for the speed to decrease from "[Pr.8] Speed limit value" to "0".) Fetch cycle: At control mode switching ■Setting range • Set with a decimal. Setting range of [Cd.142] (Unit) 0 to 65535 (ms) ■Buffer memory address...
Page 544 [Cd.145] Torque time constant at torque control mode (Negative direction) Set the time constant at regeneration during torque control mode. (Set the time for the torque to decrease from "[Pr.17] Torque limit setting value" to "0".) Fetch cycle: At control mode switching ■Setting range •...
Page 545 [Cd.147] Speed limit value at continuous operation to torque control mode Set the speed limit value at continuous operation to torque control mode. Fetch cycle: Operation cycle (At continuous operation to torque control mode) ■Setting range • Set with a decimal. •...
Page 546 [Cd.150] Target torque at continuous operation to torque control mode Set the target torque at continuous operation to torque control mode. Set a ratio against the rated torque in 0.1% unit. Fetch cycle: Operation cycle (At continuous operation to torque control mode) ■Setting range •...
Page 547 [Cd.153] Control mode auto-shift selection Set the switching condition when switching to continuous operation to torque control mode. Fetch cycle: At control mode switching ■Setting value • Set with a decimal. Setting Details value No switching condition Switching is executed at switching request to continuous operation to torque control mode. Feed current value pass Switching is executed when "[Md.20] Feed current value"...
Page 548 [Cd.180] Axis stop • When the axis stop signal turns ON, the home position return control, positioning control, JOG operation, inching operation, manual pulse generator operation, speed-torque control, etc. will stop. • By turning the axis stop signal ON during positioning operation, the positioning operation will be "stopped". •...
Page 549 [Cd.183] Execution prohibition flag If the execution prohibition flag is ON when the positioning start signal turns ON, positioning control does not start until the execution prohibition flag turns OFF. Used with the "Pre-reading start function". (Page 270 Pre-reading start function) Fetch cycle: At start ■Setting value •...
Page 550: Control Data For Slave Device Operation
Control data for slave device operation [Cd.160] to [Cd.163] Optional SDO transfer request Used in the servo transient transmission function. Refer to the following for details. Page 348 Servo Transient Transmission Function Fetch cycle: Main cycle ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 409 Control data for slave device operation [Cd.164] to [Cd.167] Optional SDO transfer data Used in the servo transient transmission function.
Page 551: Memory Configuration And Data Process
12.9 Memory Configuration and Data Process The memory configuration and data transmission of the Motion module are explained in this section. The Motion module is equipped with four memories. By understanding the configuration and roles of the four memories, the internal data transmission process of the Motion module, such as "when the power is turned ON"...
Page 552 Details of areas Area name Description Parameter area Area where parameters, such as positioning parameters and home position return parameters, required for positioning control are set and stored. Monitor data area Area where the operation status of positioning system is stored. Control data area Area where data for operating and controlling positioning system is set and stored.
Page 553: Buffer Memory Area Configuration
Buffer memory area configuration The buffer memory of the Motion module has the area configuration as listed below. n: Axis No. - 1 k: Mark detection setting No. - 1 p: Pointer No. - -1 j: Synchronous encoder axis No. - 1 Buffer memory area configuration Buffer memory address Writing...
Page 554 Buffer memory area configuration Buffer memory address Writing possibility Axis 1 to axis 16 Synchronous control area Servo input axis parameter 32800+10n to 32805+10n Possible Servo input axis monitor data 33120+10n to 33127+10n Not possible Synchronous encoder axis parameter 34720+20j to 34735+20j Possible Synchronous encoder axis control data 35040+10j to 35047+10j...
Page 555: Data Transmission Timing
Data transmission timing The parameters of the Motion module are classified as the module parameter or Simple Motion module setting. Each parameter is reflected in the buffer memory of the Motion module at the following reflection timing. Parameter Operation Parameter setting value reflected in the buffer memory reflection Module parameter Simple Motion module setting...
Page 556: Data Transmission Process
Data transmission process The data is transmitted among the memories of the Motion module with steps (1) to (9) shown below. The data transmission patterns correspond to the numbers (1) to (9) in the following referential drawings. Data transmission pattern Referential drawing Transmitting data when power is turned ON or CPU module is reset Page 557 Pattern (1) to (4)
Page 557 (6) Writing the flash ROM by a request from the engineering tool The following transmission processes are carried out with [flash ROM write request] from the engineering tool. This transmission process is the same as (6) above. • The "parameters", "positioning data (No.1 to 600)", and "block start data (No.7000 to 7004)" in the buffer memory/internal memory area are transmitted to the flash ROM/internal memory (nonvolatile).
Page 558 ■Control details • When slave station parameter automatic setting is set to "Disabled" (1) Servo parameter reading and checking (2) Servo parameter writing Motion module Servo amplifier • When slave station parameter automatic setting is set to "Enabled" GX Works3 Project reading/writing (1) Slave station parameter automatic setting (2) Servo parameter reading and checking...
Page 559 Data transmission patterns ■Pattern (1) to (4) CPU module (4) FROM (2) TO command command Motion module (1) Valid at power supply Buffer memory/Internal memory ON/CPU module reset Parameter area (c) Parameter area (a) Parameter area (b) (2) Valid upon execution of the TO command Parameter area (c) Parameter area (b)
Page 560 ■Pattern (5) and (6) Engineering tool (6) Flash ROM write request CPU module (5) Flash ROM write request (6) Flash ROM write request (Set "1" in [Cd.1] with TO command) Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600)
Page 561 ■Pattern (7) and (8) Engineering tool (7) Read data (8) Write data CPU module (7) Read data (8) Write data Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Monitor data area...
Page 562: Chapter 13 Programming
PROGRAMMING This chapter describes the programs required to carry out positioning control with the Motion module. The program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, block start data, condition data, etc., must be set in the Motion module according to the control to be executed, and a setting program for the control data or a start program for the various controls must be created.) 13.1 Precautions for Creating Program...
Page 563: List Of Labels Used
13.2 List of Labels Used In the program examples, the labels to be used are assigned as follows. Module label Classification Label name Description Input signal RD78GS_1.bReady_D READY RD78GS_1.bSynchronizationFlag_D Synchronization flag RD78GS_1.bnBusy_D[0] Axis 1 BUSY signal Output signal RD78GS_1.bAllAxisServoOn_D All axis servo ON RD78GS_1.bPLC_Ready PLC READY signal [Y0] RD78GS_1.bPLC_Ready_D...
Page 564 Classification Label name Description Axis control data 1 RD78GS_1.stnAxCtrl1_D[0].uClearHomingRequestFlag_D Axis 1 Home position return request flag OFF request RD78GS_1.stnAxCtrl1_D[0].uClear_M_Code_D Axis 1 M code OFF request RD78GS_1.stnAxCtrl1_D[0].uEnablePV_Switching_D Axis 1 Position-speed switching enable flag RD78GS_1.stnAxCtrl1_D[0].uEnableVP_Switching_D Axis 1 Speed-position switching enable flag RD78GS_1.stnAxCtrl1_D[0].uExternalCommandValid_D Axis 1 External command valid RD78GS_1.stnAxCtrl1_D[0].uForwardNewTorque_D Axis 1 New torque value/forward new torque...
Page 565 Global label The following describes the global labels used in the program examples. Set the global labels as follows. • Global label that the assignment device is to be set • Global label that the assignment device is not to be set (The unused internal relay and data device are automatically assigned when the assignment device is not set.) 13 PROGRAMMING 13.2 List of Labels Used...
Page 566: Creating A Program
13.3 Creating a Program The "positioning control operation program" actually used is explained in this section. General configuration of program The general configuration of the positioning control operation program is shown below. Program name Remark Parameter setting program • The program is not required when the parameter, positioning data, block start data, and servo parameter are set using an engineering tool.
Page 567: Positioning Program Examples
13.4 Positioning Program Examples Parameter setting program The program is not required when the parameter is set by "Module Parameter" using an engineering tool. Set the local labels as follows. ■Setting for servo network configuration parameter (axis 1) ■Setting for basic parameter 1 (axis 1) 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from...
Page 568 ■Setting for detailed parameter 2 (axis 1) ■Setting for home position return basic parameter (axis 1) ■Unit "degree" setting (axis 1) program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 569 Positioning data setting program The program is not required when the data is set by "Positioning Data" using an engineering tool. Set the local labels as follows. 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 570 ■No.1 positioning data setting program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 571 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 572 ■No.2 positioning data setting program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 573 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 574 ■No.3 positioning data setting program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 575 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 576 ■No.4 positioning data setting program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 577 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 578 ■No.5 positioning data setting program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 579 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 580 ■No.6 positioning data setting program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 581 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 582 ■No.10 positioning data setting program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 583 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 584 ■No.11 positioning data setting program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 585 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 586 ■No.15 positioning data setting program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 587 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 588 Block start data setting program The program is not required when the data is set by "Block Start Data" using an engineering tool. Set the local labels as follows. 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 589 Home position return request OFF program The program is not required when "1: Positioning control is executed." is set in "[Pr.55] Operation setting for incompletion of home position return" by "Home Position Return Detailed Parameters" using an engineering tool. Set the local labels as follows. External command function valid setting program PLC READY signal [Y0] ON program Set the local labels as follows.
Page 590 All axis servo ON program Positioning start No. setting program Set the local labels as follows. ■Machine home position return ■Fast home position return ■Positioning with positioning data No.1 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 591 ■Speed-position switching operation (Positioning data No.2) In the ABS mode, new movement amount is not needed to be written. ■Position-speed switching operation (Positioning data No.3) ■High-level positioning control ■Fast home position return command and fast home position return command storage OFF Not required when fast home position return is not used.
Page 592 Positioning start program Set the local labels as follows. M code OFF program JOG operation setting program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 593 Inching operation setting program JOG operation/inching operation execution program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 594 Manual pulse generator operation program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 595 Speed change program Set the local labels as follows. Override program Set the local labels as follows. 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 596 Acceleration/deceleration time change program Set the local labels as follows. Torque change program Set the local labels as follows. 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 597 Target position change program Set the local labels as follows. 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 598 Servo parameter reading/writing program Set the local labels as follows. 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 599 Step operation program Set the local labels as follows. Skip program Set the local labels as follows. 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 600 Teaching program Set the local labels as follows. Continuous operation interrupt program Set the local labels as follows. 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 601 Restart program Set the local labels as follows. Parameter initialization program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 602 Flash ROM write program 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 603 Error reset program Set the local labels as follows. 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 604 Axis stop program Set the local labels as follows. 13 PROGRAMMING 13.4 Positioning Program Examples Downloaded from ManualsNet.com search engine...
Page 605: Chapter 14 Troubleshooting
TROUBLESHOOTING This chapter describes details of error occurred by using the Motion module and troubleshooting. 14.1 Troubleshooting Procedure When a trouble occurs, execute the troubleshooting in the order shown below. Check that each module is mounted correctly. (MELSEC iQ-R Module Configuration Manual) Check the LEDs of the power supply module and CPU module.
Page 606 The error status can be identified by the lighting status of the RUN LED and ERR LED as follows. RUN LED ERR LED Error status Description ON or flashing Major error An error in which the module stops operation because of a hardware error or memory error, etc. Flashing Moderate error An error related to module operation in which the module stops operation because of a...
Page 607: Troubleshooting Using The Module Status
Troubleshooting using the module status Error codes (warning codes) and error history occurred in the Motion module can be checked on the module diagnostics display of the engineering tool. 14 TROUBLESHOOTING 14.1 Troubleshooting Procedure Downloaded from ManualsNet.com search engine...
Page 608: Troubleshooting By Symptom
14.2 Troubleshooting by Symptom Troubleshooting when a motor does not rotate Check items and corrective actions for troubleshooting when a motor does not rotate are described below. Check item Action Is the PLC READY signal [Y0] ON? Review the program to turn ON the PLC READY signal [Y0]. Is the servo amplifier powered ON? Power on the servo amplifier.
Page 609 When a communication time-out occurs on the engineering tool Check items and corrective actions for when a communication time-out occurs on the engineering tool are described below. Check item Action Is the communication cycle set for the operation cycle time Check the positioning details, or change the setting of the network parameter "Communication sufficiently long? cycle interval setting"...
Page 610: Error And Warning Details
14.3 Error and Warning Details Error type There are the following errors: Parameter setting range errors and errors at operation start or during operation detected by the Motion module and errors detected by the servo amplifier. Motion module detection parameter setting range errors The parameters are checked when the power is turned ON and at the rising edge (OFF ...
Page 611: Error Code Classification
Error code classification Item Error code Classification of errors Minor errors 1080H Life detection error 1A00H to 1A3FH Positioning control common errors 1A40H to 1A7FH Home position return errors 1A80H to 1A8FH JOG, inching and manual pulse generator operation errors 1A90H to 1AEFH Positioning operation errors 1AF0H to 1AFFH...
Page 612: Warning Type
Warning type There are the following warnings: System warnings and axis warnings detected by the Motion module and warnings detected by the servo amplifier. Motion module detection system warnings • System control data setting warnings: An axis warning for axis 1 will occur. •...
Page 613: Warning Storage
Warning storage When an axis warning occurs, the warning code corresponding to the warning details is stored in "[Md.24] Axis warning No.". When an axis warning occurs in a positioning operation, etc., axis warning detection ([Md.31] Status: b9) for axis status storage turns ON.
Page 614: Clearing Errors And Warnings
Clearing errors and warnings Remove the cause of error or warning following the actions described in the sections below before canceling an error or warning state by resetting the error. Page 613 List of Warning Codes,Page 623 List of Error Codes How to clear errors or warnings ■When clearing errors for an individual axis An error or warning state is canceled after the following processing is carried out by setting "1"...
Page 615: List Of Warning Codes
14.4 List of Warning Codes Motion module detection warnings Warning code Warning name Error details and causes Remedy (Hexadecimal) 0D00H Start during operation • The start request is issued while the axis is BUSY. • Normalize the start request ON timing. •...
Page 616 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0D39H Outside mark detection data When the mark detection data type setting is "Optional Set a value with an even number within the buffer memory No. setting 2 word buffer memory", the mark detection data buffer setting range.
Page 617 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0D48H Outside manual pulse The manual pulse generator 1 pulse input Set the manual pulse generator 1 pulse input generator input magnification magnification is set to 0, 10001 or more, or negative magnification to within the setting range.
Page 618 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0D55H Insufficient remaining At a speed change request, the remaining distance is Give a request at the position where there is an distance shorter than the distance required for speed change. enough remaining distance.
Page 619 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0D61H Target position change not "[Cd.27] Target position change value (New address)" Correct the setting value. possible is out of range (0 to 359.99999 [degree]). [Operation status at warning occurrence] The target position change is not carried out.
Page 620 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0DABH Control mode switching not Control mode switching was performed in one of the • Review so that control mode switching is possible following ways when the servo is ON. performed between the position control mode •...
Page 621 Warnings related to synchronous control are described below. Warning code Warning name Error details and causes Remedy (Hexadecimal) 0E40H Input axis phase Phase compensation amount of input axis is equal or • Set a smaller phase compensation advance compensation amount over lower than the minimum value (-2147483648), or time.
Page 622 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0E84H Cam axis phase Phase compensation amount of cam axis is equal or • Set a smaller cam axis phase compensation compensation amount over lower than the minimum value (-2147483648), or advance time.
Page 623 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0E98H Cam open area capacity over • The free area in the cam open area is insufficient • Decrease the number of cam data (number of during the cam data writing operation. cams, cam resolution, and coordinate •...
Page 624: Servo Amplifier Detection Warning
Warning code Warning name Error details and causes Remedy (Hexadecimal) 0EB3H Outside cam position "[Cd.617] Cam position calculation: Cam axis current Set a value within the range of 0 to "Cam axis calculation cam axis current value per cycle" is outside the range of 0 to "Cam axis length per cycle".
Page 625: List Of Error Codes
14.5 List of Error Codes Motion module detection error Error code Error name Error details and causes Remedy (Hexadecimal)   0000H Normal 1080H Flash ROM write number Data is written to the flash ROM continuously 25 times Review the program so that data is not written error or more from the program.
Page 626 Error code Error name Error details and causes Remedy (Hexadecimal) 1A06H Hardware stroke limit (-) Start is requested when the hardware stroke limit • Check the wiring of lower limit signal RLS. (lower limit signal (RLS)) is turned OFF. • Check if the specification of the limit switch [Operation status at error occurrence] and the setting of "[Pr.22] Input signal logic The system does not start.
Page 627 Error code Error name Error details and causes Remedy (Hexadecimal) 1A30H Hold error The "CPU error output mode setting" of module Change the setting of the module parameter parameter (network) is "Hold". (network) "Output Mode upon CPU Error" to [Operation status at error occurrence] "Clear".
Page 628 Error code Error name Error details and causes Remedy (Hexadecimal) 1A82H Overcarrying movement The movement amount which exceeds the detailed • Adjust input pulses so as not to occur the amount overflow in manual parameter 2 "Manual pulse generator speed limit movement amount, which exceeds the pulse generator value"...
Page 629 Error code Error name Error details and causes Remedy (Hexadecimal) 1A95H Software stroke limit - The command position exceeds the lower limit of the At operation start: Set the feed current value software stroke limit. within the software stroke limit by the manual [Operation status at error occurrence] control operation.
Page 630 Error code Error name Error details and causes Remedy (Hexadecimal) 1A9BH Interpolation mode error Set the "Interpolation speed designation method" Set the "Interpolation speed designation correctly. method" correctly. [Operation status at error occurrence] At start: The system does not operate. During operation: The system stops with the setting (deceleration stop/rapid stop) of the detailed parameter 2 Rapid stop selection (stop group 3).
Page 631 Error code Error name Error details and causes Remedy (Hexadecimal) 1AA5H Illegal setting of ABS The setting value of "[Cd.40] ABS direction in degrees" • Set "0" when the software stroke limits are direction in unit of degree is other than 0 when the software stroke limit is valid. valid.
Page 632 Error code Error name Error details and causes Remedy (Hexadecimal) 1B03H Condition data error An unusable condition operator is set for the set Normalize the block start data. condition. [Operation status at error occurrence] The operation is terminated. 1B04H Condition data error •...
Page 633 Error code Error name Error details and causes Remedy (Hexadecimal) 1B15H Outside linear movement When "[Pr.20] Interpolation speed designation method" Review the positioning address. amount range performs a linear interpolation in setting a "composite speed", the axis movement amount for each positioning data exceeds 1073741824(2 [Operation status at error occurrence] At start: The system does not operate.
Page 634 Error code Error name Error details and causes Remedy (Hexadecimal) 1B1AH Software stroke limit - The setting value of "[Da.6] Positioning address/ At operation start, during operation: Correct movement amount" exceeds "[Pr.13] Software stroke "[Da.6] Positioning address/movement amount". limit lower limit value". At operation start: Set the feed current value [Operation status at error occurrence] within the software stroke limit by the manual...
Page 635 Error code Error name Error details and causes Remedy (Hexadecimal) 1B21H Outside operation pattern The operation pattern set value is 2. Correct the operation pattern. range [Operation status at error occurrence] At start: The system does not operate. During operation: The system stops with the setting (deceleration stop/rapid stop) of the detailed parameter 2 Rapid stop selection (stop group 3).
Page 636 Error code Error name Error details and causes Remedy (Hexadecimal) 1B27H Sub point setting error Start point is equal to sub point in the circular Correct the sub address (arc address). interpolation or helical interpolation with sub points designated. [Operation status at error occurrence] At start: The system does not operate.
Page 637 Error code Error name Error details and causes Remedy (Hexadecimal) 1B31H Outside address range In ABS1, ABS2, ABS3 and ABS4, the setting value of a Correct the positioning address. positioning address is outside the range of 0 to 359.99999 degrees. [Operation status at error occurrence] At start: The system does not operate.
Page 638 Error code Error name Error details and causes Remedy (Hexadecimal) 1B63H Outside unit magnification • The setting value of the basic parameter 1 "[Pr.4] • Set AL and AM values which make "[Pr.3] Movement amount per rotation (AL)"  "[Pr.4] range Unit magnification (AM)"...
Page 639 Error code Error name Error details and causes Remedy (Hexadecimal) 1BA3H Software stroke limit lower In the unit of "degree", the setting value of the detailed Correct the setting value, turn the PLC READY limit parameter 1 "Software stroke limit lower limit value" is signal [Y0] from OFF to ON.
Page 640 Error code Error name Error details and causes Remedy (Hexadecimal) 1BB1H Acceleration time 1 setting The setting value of the detailed parameter 2 "[Pr.25] Correct the setting value, turn the PLC READY error Acceleration time 1" is outside the setting range. signal [Y0] from OFF to ON.
Page 641 Error code Error name Error details and causes Remedy (Hexadecimal) 1BB7H JOG speed limit value error The setting value of the detailed parameter 2 "[Pr.31] When the PLC READY signal [Y0] is not turned JOG speed limit value" is outside the setting range. ON after the setting value is corrected, turn the [Operation status at error occurrence] PLC READY signal [Y0] from OFF to ON.
Page 642 Error code Error name Error details and causes Remedy (Hexadecimal) 1BBEH Acceleration/deceleration The setting value of the detailed parameter 2 "[Pr.34] Correct the setting value, turn the PLC READY process selection setting Acceleration/deceleration process selection" is outside signal [Y0] from OFF to ON. error the setting range.
Page 643 Error code Error name Error details and causes Remedy (Hexadecimal) 1BC3H Stop group 3 rapid stop The setting value of the detailed parameter 2 "[Pr.39] Correct the setting value, turn the PLC READY selection error Stop group 3 rapid stop selection" is outside the setting signal [Y0] from OFF to ON.
Page 644 Error code Error name Error details and causes Remedy (Hexadecimal) 1BCDH Speed control 10 × multiplier The setting value of the detailed parameter 2 "[Pr.83] Correct the setting value, turn the PLC READY setting for degree axis error Speed control 10 × multiplier setting for degree axis" is signal [Y0] from OFF to ON.
Page 645 Error code Error name Error details and causes Remedy (Hexadecimal) 1C14H Home position return speed The setting value of the home position return basic After the setting value is set to equal to or less error parameter "[Pr.46] Home position return speed" than "[Pr.8] Speed limit value", turn the PLC exceeds "[Pr.8] Speed limit value".
Page 646 Error code Error name Error details and causes Remedy (Hexadecimal) 1C47H Communication cycle The MR-J5(W)-G series which does not support the Check the version of the MR-J5(W)-G series communication cycle of 31.25/62.5 s was connected. unsupported driver and apply the latest version. connection [Operation status at error occurrence] The target station cannot be connected to the drive...
Page 647 Error code Error name Error details and causes Remedy (Hexadecimal) 1ED0 Driver error Errors occur in the driver. Check the contents of the error and take actions [Operation status at error occurrence] according to "[Md.114] Servo alarm" and The motor stops. "[Md.115] Servo alarm detail number".
Page 648 Error code Error name Error details and causes Remedy (Hexadecimal) 3219H Insufficient add-on The system memory of the add-on SimpleMotion is Install the software again. SimpleMotion memory insufficient. [Operation status at error occurrence] The motion system does not start. 3301H Faults Hardware is faulty.
Page 649 Errors related to synchronous control are described below. Error code Error name Error details and causes Remedy 1A28H Start not possible Start is requested during the forced stop of controller. Remove the cause of forced stop. [Operation status at error occurrence] The system does not start positioning.
Page 650 Error code Error name Error details and causes Remedy 1DFAH Synchronous encoder via • "[Pr.141] IP address" of the axis No. selected as After you solve the problem, switch the power off servo amplifier invalid error "Synchronous encoder via servo amplifier" in and then on, or reset the PLC.
Page 651 Error code Error name Error details and causes Remedy 1E38H Composite main shaft gear The composite value is overflowed (sign reverse) Lower the input values of main input axis and operation overflow because the input values of main input axis and sub sub input axis.
Page 652 Error code Error name Error details and causes Remedy 1E53H Speed change gear overflow Overflow (sign reversion) occurred in input values, • Set a smaller absolute value for the because the speed change ratio of speed change gear synchronous parameter "[Pr.436] Speed is too large.
Page 653: Servo Amplifier Detection Error
Error code Error name Error details and causes Remedy 1E77H Outside cam axis current The synchronous parameter "[Pr.468] Cam axis Set within the range of 0 to (Cam axis length per value per cycle (Initial current value per cycle (Initial setting)" is set to a value cycle - 1).
Page 654: Appendices
APPENDICES Appendix 1 Module Label The functions of the Motion module can be set by using module labels. Default module label The names of the default module labels are defined with the following configuration. ■Module label of I/O signals "Module name"_"[x]"."Label name"_"[ax]" •...
Page 655 MEMO APPX Appendix 1 Module Label Downloaded from ManualsNet.com search engine...
Page 656: Appendix 2 How To Determine Buffer Memory Addresses
Appendix 2 How to Determine Buffer Memory Addresses This section describes how to determine the buffer memory addresses of positioning data, block start data, and condition data. Positioning data Positioning data has the following structure. Data is controlled as positioning data No.1 to 600 for each axis. data No.100 data No.99 Items in a single unit of positioning data are shown...
Page 657 For each variable, substitute a number following the description below. Variable Description The axis No. of the buffer memory address to be determined. Substitute a number from 1 to 32. The positioning data No. of the buffer memory address to be determined. Substitute a number from 1 to 100. Substitute one of the following numbers according to the buffer memory address to be determined.
Page 658 ■[Da.11] Shape, [Da.12] Start data No. Use the following calculation formula. • 22000 + (400  (Ax - 1)) + (200  M) + (P - 1) For each variable, substitute a number following the description below. Variable Description The axis No. of the buffer memory address to be determined. Substitute a number from 1 to 32. The start block No.
Page 659 Condition data Condition data consists of five start blocks from Start block 0 to 4, and the condition data No.1 to 10 are assigned to each block. The start blocks are assigned to each axis. Condition data has the following structure. No.10 Buffer memory Setting item...
Page 660: Appendix 3 Devices Compatible With Cc-Link Ie Tsn
Appendix 3 Devices Compatible with CC-Link IE TSN MR-J5(W)-G (cyclic synchronous mode) connection method This section describes how to configure settings when connecting MR-J5(W)-G in the cyclic synchronous mode (csp, csv, and cst) and use various functions. For details of wiring and parameters of MR-J5(W)-G, refer to the MR-J5(W)-G manuals. Setting method ■Parameter setting value for using MR-J5(W)-G To perform motion control with MR-J5(W)-G, set the parameters of MR-J5(W)-G as shown below.
Page 661 Set the following values for the signal logic selection of the servo amplifier. Name Default Setting value value PC79.0 DI status read selection Eh: The supported pin No. is shown below. bit1: Returns the ON/OFF status of the DI1 pin. bit2: Returns the ON/OFF status of the DI2 pin.
Page 662 *1 The mapping changes according to the settings of "[Pr.91] Optional data monitor: Data type setting 1" to "[Pr.94] Optional data monitor: Data type setting 4" and "[Pr.591] Optional data monitor: Data type expansion setting 1" to "[Pr.594] Optional data monitor: Data type expansion setting 4".
Page 663: Mr-J5(W)-G (Other Than Cyclic Synchronous Mode) Connection Method
MR-J5(W)-G (other than cyclic synchronous mode) connection method This section describes how to configure settings when connecting MR-J5(W)-G in a mode other than the cyclic synchronous mode and use various functions. For details of wiring and parameters of MR-J5(W)-G, refer to the MR-J5(W)-G manuals. For network settings, refer to CHAPTER 2 "PARAMETER SETTINGS"...
Page 664 Set the PDO mapping pattern selection for the station to be used in a mode other than the cyclic synchronous mode in "Detail Setting" of "PDO Mapping Setting". The second station is used for the mode other than the cyclic synchronous mode, so configure the PDO mapping setting for the second station.
Page 665 Set the transfer ranges between the link device and the CPU module device of the station for which a mode other than cyclic synchronous mode is set. Navigation window  "Parameter"  "Module Information"  Target module  [Module Parameter (Network)]  [Basic Settings] ...
Page 666 Application The following figure describes the process for driving a motor in a mode other than the cyclic synchronous mode. The motor starts operating in the mode other than the cyclic synchronous mode. Connect the Motion module and MR-J5(W)-G with a LAN cable. Power ON the Motion module and MR-J5(W)-G.
Page 667: Mr-Jet-G Connection Method
MR-JET-G connection method This section describes how to configure settings when connecting MR-JET-G and use various functions. For details of wiring and parameters of MR-JET-G, refer to the MR-JET-G manuals. Parameter setting value for using MR-JET-G To perform motion control with MR-JET-G, set the parameters of MR-JET-G as shown below. When the parameters are not set as shown below, the error "Servo parameter invalid"...
Page 668: Related Function
Related function Safety communication The safety CPU modules and firmware of MR-J5-G-RJ that can be used for safe communications in combination with the Motion module are as follows. Model name Version RnSFCPU R08SFCPU/R16SFCPU/R32SFCPU/R120SFCPU: 20 or later MR-J5-G-RJ B2 or later For details, refer to the following.
Page 669: Appendix 4 List Of Add-On Libraries
Appendix 4 List of Add-on Libraries The following shows the versions of each add-on corresponding to the software version of the Motion module. Motion Add-on library name module baseSystem MotionEngine Axis MotionControl_ MotionControl_ AbsSystem software General Sync version 1.16.1.0 1.15.1.0 1.15.1.0 1.15.1.0 1.15.1.0...
Page 670 Add-on library name Name Description Dependent add-on Dependent add-on (required) (with functional restrictions)  ExternalSignal External signal Enables external signals. [baseSystem] [SignalIO] [Axis] Program_ST ST language execution An add-on for executing the ST [baseSystem] [PLCopenMC_General] language  Logging Logging Provides the logging function. [baseSystem] [SignalIO] ...
Page 671: Appendix 5 List Of Boot Software
Appendix 5 List of Boot Software The following shows the versions of each boot corresponding to the software version of the Motion module. Motion module Boot name software version Network boot software Boot software APPX Appendix 5 List of Boot Software Downloaded from ManualsNet.com search engine...
Page 672 MEMO APPX Appendix 5 List of Boot Software Downloaded from ManualsNet.com search engine...
Page 673: Appendix 6 Restrictions By The Version
Appendix 6 Restrictions by the Version The software versions corresponding to the Motion module are shown below. Model Version GX Works3 RD78G 1.075D or later There are restrictions on the supported versions of CPU modules and engineering tools depending on the Motion module function.
Page 674 Item Detail Function Supports the mark detection (servo amplifier TPR1 input). Add-on library SimpleMotion 1.19  Firmware of the CPU module GX Works3 1.080J GX Works3 Motion Control FB library   Motion control setting function  Item Detail Function Supports the inter-module synchronization function.
Page 675: Index
INDEX ....502 Deviation counter value ... . .484 Digital oscilloscope running flag .
Page 676 ....340 Interrupt request during continuous operation Number of mark detection ........525 .
Page 677 ....506 Servo alarm detail number ....536 Servo OFF command .
Page 678: Revisions
Japanese manual number: IB-0300571-C This manual confers no industrial property 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.
Page 679: Warranty
WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
Page 680: Trademarks
TRADEMARKS  CANopen is a European Union trademark of CAN in Automation e.V. Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.  PLCopen is a registered trademark owned by PLCopen The company names, system names, and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies.
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Page 682 IB(NA)-0300572ENG-B(2201)MEE MODEL: RD78-U-SMAP-E HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

This manual is also suitable for:

Melsec iq-r rd78g4 Melsec iq-r rd78g8 Melsec iq-r rd78g16

Mitsubishi Electric MELSEC iQ-R Series User Manual

Chapter 1 Start and Stop

Chapter 2 Home Position Return Control

Chapter 3 Major Positioning Control

Chapter 4 High-Level Positioning Control

Chapter 5 Manual Control

Chapter 6 Inter-Module Synchronization Function

Chapter 7 Expansion Control

Chapter 8 Control Sub Functions

Chapter 9 Common Functions

Chapter 10 Parameter Setting

Chapter 11 Specifications of I/O Signals with Cpu Modules

Chapter 12 Data Used for Positioning Control

Chapter 13 Programming

Chapter 14 Troubleshooting

Appendix 1 Module Label

Appendix 2 How to Determine Buffer Memory Addresses

Appendix 3 Devices Compatible with CC-Link IE TSN

Appendix 4 List of Add-On Libraries

Appendix 5 List of Boot Software

Appendix 6 Restrictions by the Version

Quick Links

Troubleshooting

Related Manuals for Mitsubishi Electric MELSEC iQ-R Series

Summary of Contents for Mitsubishi Electric MELSEC iQ-R Series