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Mitsubishi Electric SV13/22 Programming Manual
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Mitsubishi Electric SV13/22 Programming Manual

Mitsubishi Electric SV13/22 Programming Manual

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MOTION CONTROLLER
(SV13/22)
(REAL MODE)
Programming Manual
type A172SHCPUN,A171SHCPUN
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Summary of Contents for Mitsubishi Electric SV13/22

  • Page 1 MOTION CONTROLLER (SV13/22) (REAL MODE) Programming Manual type A172SHCPUN,A171SHCPUN Downloaded from ManualsNet.com search engine...
  • Page 2 INTORODUCTION Thank you for purchasing the Mitsubishi Motion Controller. This instruction manual describes the handling and precautions of this unit. Incorrect handing will lead to unforeseen events, so we ask that you please read this manual thoroughly and use the unit correctly. Please make sure that this manual is delivered to the final user of the unit and that it is stored for future reference.
  • Page 3 For Sate Operations 1. Prevention of electric shocks WARNING Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.
  • Page 4 3. For injury prevention CAUTION Do not apply a voltage other than that specified in the user's manual, or the instruction manual for the product you are using on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity (+/−), as this may lead to destruction or damage.
  • Page 5 CAUTION Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system. Use wires and cables within the length of the range described in the instruction manual. The ratings and characteristics of the system parts (other than control unit, servo amplifier, servomotor) must be compatible with the control unit, servo amplifier and servomotor.
  • Page 6 (3) Transportation and installation CAUTION Transport the product with the correct method according to the weight. Use the servomotor suspension bolts only for the transportation of the servomotor. Do not transport the servomotor with machine installed on it. Do not stack products past the limit. When transporting the control unit or servo amplifier, never hold the connected wires or cables.
  • Page 7 CAUTION When coupling with the synchronization encoder or servomotor shaft end, do not apply impact such as by hitting with a hammer. Doing so may lead to detector damage. Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead to shaft breakage.
  • Page 8 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the control unit, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. The units must be disassembled and repaired by a qualified technician.
  • Page 9 CAUTION Do not touch the lead sections such as ICs or the connector contacts. Do not place the control unit or servo amplifier on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup. Do not perform a megger test (insulation resistance measurement) during inspection.
  • Page 10 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 11: Table Of Contents

    CONTENTS 1. GENERAL DESCRIPTION ...................... 1- 1 to 1-14 1.1 System Configuration ........................1- 3 1.1.1 A172SHCPUN/A171SHCPUN System overall configuration ............ 1- 3 1.1.2 System configuration precautions ..................... 1- 4 1.2 Table of Software Package ......................1- 6 1.3 Positioning Control by the Servo System CPU ................1- 7 2.
  • Page 12 4.3.15 Monitor output 1, 2 offset......................4-19 4.3.16 Pre-alarm data selection......................4-19 4.3.17 Zero speed ..........................4-20 4.3.18 Excessive error alarm level ....................4-20 4.3.19 Optional function 5........................4-20 4.3.20 PI-PID switching position droop....................4-20 4.3.21 Torque control compensation factor..................4-20 4.3.22 Speed differential compensation ....................
  • Page 13 7. POSITIONING CONTROL..................... 7- 1 to 7-146 7.1 Basics of Positioning Control ......................7- 1 7.1.1 Positioning speed ........................7- 1 7.1.2 Positioning speed under interpolation control................7- 2 7.1.3 Control units for 1-axis positioning control................. 7- 7 7.1.4 Control units for interpolation control..................7- 7 7.1.5 Control using degrees as control units ..................
  • Page 14 8. AUXILIARY AND APPLIED FUNCTIONS ................8- 1 to 8-20 8.1 Limit Switch Output Function ......................8- 2 8.1.1 Limit switch output data ......................8- 2 8.1.2 Limit switch output function ....................... 8- 2 8.2 M-Code Output Function........................8- 4 8.3 Backlash Compensation Function....................

  • Page 15: General Description

    1. GENERAL DESCRIPTION This manual describes the positioning control parameters required to execute positioning control with the motion controller (SV13/22 real mode), the devices used specifically for positioning, and the method used for positioning. The positioning control capabilities of the motion controller (SV13/22 real mode) are indicated in the table below.
  • Page 16 1. GENERAL DESCRIPTION Conventions Used in this Manual Positioning signals are always indicated in the following order: signal for A172SHCPUN → signal for A171SHCPUN. If only one positioning signal is indicated, this means that the signal is used in common by both CPUs. The explanatory text is written with reference to the A172SHCPUN: if you are not using an A172SHCPUN, the positioning signals should be read as the positioning signals for the CPU you are using.

  • Page 17: System Configuration

    1. GENERAL DESCRIPTION System Configuration 1.1.1 A172SHCPUN/A171SHCPUN System overall configuration (Note-1) Motion slot PLC module slot Manual pulse generator/ Extension cable synchronous encoder (A1SC B for interface module A1S6 and A168B) Battery Motion CPU A172 (A1S A6BAT SENC for A6 A1S input module or special function module Emergency stop input...

  • Page 18: System Configuration Precautions

    1. GENERAL DESCRIPTION 1.1.2 System configuration precautions The following table summarizes the notes on system configuration, system setup items, and relative checks that differ from those of the A171SCPU. Number of Product Module Relative Available System Setup Item Notes and Remarks Name Name Check...
  • Page 19 1. GENERAL DESCRIPTION POINT 1. When using the existing A171SCPU user program and parameters, perform the following procedure: (1) Start the programming S/W package by A172SHCPUN or A171SHCPUN, then read the sequence file and servo file created for A171SCPU via the File Read function. ↓...

  • Page 20: Table Of Software Package

    1. GENERAL DESCRIPTION Table of Software Package Operating System Software Programming Software Package Package Model Name Teaching Peripheral Devices Applicable version function Model Name For A172SH For A171SH For A172SH/A171SH For conveyor Japanese SW3RNC-GSV Without restriction assembly SV13  IBM PC/AT SW3RN-SV13D With English...

  • Page 21: Positioning Control By The Servo System Cpu

    1. GENERAL DESCRIPTION Positioning Control by the Servo System CPU A servo system CPU can execute positioning control and sequence control for 4 axes when using an A171SHCPUN, 8 axes when using an A172SHCPUN by means of a CPU for multi-axis positioning control (hereafter called the "PCPU") and a CPU for sequence control (hereafter called the "SCPU").
  • Page 22 1. GENERAL DESCRIPTION [Executing Positioning Control with a Servo System CPU] The servo system CPU executes positioning control in accordance with the servo programs designated by the sequence program of the SCPU. An overview of the method used for positioning control is presented below. Servo System CPU System SCPU Control Created and modified using a...
  • Page 23 1. GENERAL DESCRIPTION (3) The positioning specified by the designated servo program is executed. PCPU Control Created and modified using a Servo program peripheral device* Servo program No.15 (Program number allowing program <K 15> designation with the DSFRP SVST instruction.) ABS-1 Axis 10000...
  • Page 24 1. GENERAL DESCRIPTION [Executing JOG Operation with a Servo System CPU] The servo system CPU can be used to perform JOG operation on a designated axis in accordance with a sequence program. An overview of JOG operation is presented below. Servo System CPU System SCPU Control Created and modified using a...
  • Page 25 1. GENERAL DESCRIPTION PCPU Control Set and changed using a Positioning control peripheral device* parameters System settings System data such as axis allocations Fixed data decided, for example, by Fixed parameters the mechanical system Data decided by the specifications of the Servo parameters connected servo equipment Data required to execute acceleration,...
  • Page 26 1. GENERAL DESCRIPTION [Executing Manual Pulse Generator Operation with a Servo System CPU] When executing positioning control with a manual pulse generator connected to an A172SENC, manual pulse generator operation must be enabled by the sequence program. An overview of positioning control using manual pulse generator operation is presented below.
  • Page 27 1. GENERAL DESCRIPTION Servo PCPU amplifier Servo motor Manual pulse generator 1 − 13 Downloaded from ManualsNet.com search engine...
  • Page 28 1. GENERAL DESCRIPTION (1) Positioning control parameters The positioning control parameters are classified into the seven types shown below. Parameter data can be set and corrected interactively by using a peripheral device. Item Description Reference 1 System settings The system settings set the modules used, axis numbers, etc. Section 4.1 Fixed parameters are set for each axis.

  • Page 29: Performance Specifications

    2. PERFORMANCE SPECIFICATIONS 2. PERFORMANCE SPECIFICATIONS SCPU Performance Specifications Table 2.1 gives the performance specifications of the SCPU. Table 2.1 SCPU Performance Specifications Item A172SHCPUN A171SHCPUN Control method Stored program repeated operation I/O control method Refresh method/direct method (selectable) Sequence control dedicated language Programming language (Relay symbol language, logic symbol language, MELSAP II (SFC)) Sequence instructions...
  • Page 30 2. PERFORMANCE SPECIFICATIONS Table 2.1 SCPU Performance Specifications (Continued) Item A172SHCPUN A171SHCPUN No. of special-function registers (D) 256 points (D9000 to D9255) Max. 11 blocks Max. 3 blocks No. of expansion file register block (set by memory capacity) (set by memory capacity) Max.

  • Page 31: Pcpu Performance Specifications

    2. PERFORMANCE SPECIFICATIONS PCPU Performance Specifications Table 2.2 PCPU Performance Specifications Item A172SHCPUN A171SHCPUN 8 axes (simultaneous: 2 to 4 axes, 4 axes (simultaneous: 2 to 4 axes, Number of control axes independent: 8 axes) independent: 4 axes) Interpolation functions Linear interpolation (4 axes max.), circular interpolation (2 axes) PTP(point to point), speed control, speed/position control, fixed-pitch feed, constant speed Control modes...
  • Page 32 2. PERFORMANCE SPECIFICATIONS Table 2.2 PCPU Performance Specifications (Continued) Item A172SHCPUN A171SHCPUN A maximum of one manual pulse generator can be connected. Manual pulse generator operation A maximum of three manual pulse generators can be operated. function Setting of magnification: 1 to 100. It is possible to set the smoothing magnification. M-code output function provided M-function M-code completion wait function provided...

  • Page 33: Differences Between A172Shcpun/A171Shcpun And A171S(S3)

    2. PERFORMANCE SPECIFICATIONS Differences between A172SHCPUN/A171SHCPUN and A171S(S3) Item A172SHCPUN A171SHCPUN A171SCPU(S3) Number of control axes 8 axes 4 axes 4 axes 3.5 ms/1 to 3 axes Computing frequency 3.5ms/1 to 8 axes 3.5ms/1 to 4 axes SV13 7.1 ms/4 axes Equivalent to reinforced PLC CPU I/O memory of...

  • Page 34: Positioning Signals

    3. POSITIONING SIGNALS 3. POSITIONING SIGNALS The internal signals of the servo system CPU and the external signals sent to the servo system CPU are used as positioning signals. (1) Internal signals Of the devices available in the servo system CPU, the following four types are used for the internal signals of the servo system CPU.

  • Page 35: Internal Relays

    3. POSITIONING SIGNAL The following section describes the positioning devices. It indicates the device refresh cycles for signals with the positioning direction PCPU→SCPU and the device fetch cycles for those with the positioning direction SCPU→PCPU. Internal Relays (1) List of internal relays A172SHCPUN(SV13) A171SHCPUN(SV13) Device...
  • Page 36 3. POSITIONING SIGNAL (2) Axis status A172SHCPUN A171SHCPUN Axis Device Device Signal Name Number Number M1600 M1600 Signal Refresh Fetch Signal Name M1619 M1619 Direction Cycle Cycle Positioning start completed M1620 M1620 Positioning completed M1639 M1639 In-position Command in-position 3.5ms M1640 M1640 Speed control in progress...
  • Page 37 3. POSITIONING SIGNAL (4) Common devices A172SHCPUN A172SHCPUN Device Refresh Fetch Device Refresh Fetch Signal Name Signal Direction Signal Name Signal Direction Number Cycle Cycle Number Cycle Cycle M1960 M1960 M1961 M1961 M1962 M1962 M1963 M1963 M1964 M1964 M1965 M1965 M1966 M1966 M1967...

  • Page 38: Axis Status

    3. POSITIONING SIGNALS 3.1.1 Axis status (1) Positioning start completed signal (M1600+20n) (a) This signal comes ON when starting of positioning control of the axis designated by the DSFRP/SVST instruction in the sequence program is completed. It does not come ON when positioning control starts due to a zeroing, JOG operation or manual pulse generator operation.
  • Page 39 3. POSITIONING SIGNAL (2) Positioning completed signal (M1601+20n) (a) This signal comes ON when positioning control of the axis designated by the DSFRP/SVST instruction in the sequence program is completed. It does not come ON when positioning control is started, or stopped part way through, due to a zeroing, JOG operation, manual pulse generator operation, or speed control.
  • Page 40 3. POSITIONING SIGNAL (3) In-position signal (M1602+20n) (a) The in-position signal comes ON when the number of droop pulses in the deviation counter enters the "in-position range" set in the servo parameters. It goes off when axis motion starts. Number of Setting for in-position range droop pulses In-position signal...
  • Page 41 3. POSITIONING SIGNAL (5) Speed control in progress signal (M1604+20n) (a) The speed control in progress signal is ON during speed control and is used to determine whether speed control or position control is currently being executed. In speed/position switching control, it remains ON until the switch from speed control to position control is executed on receipt of the CHANGE signal from an external source.
  • Page 42 3. POSITIONING SIGNAL (8) Error detection signal (M1607+20n) (a) The error detection signal comes ON when a minor error or major error is detected and is used to determine whether or not errors have occurred. (Note-1) When a minor error is detected, the corresponding error code stored in the minor error code storage area.
  • Page 43 3. POSITIONING SIGNAL (10) Zeroing request signal (M1609+20n) This signal comes ON when it is necessary to confirm the home position address when the power is switched on or during positioning control. (a) When not using an absolute value system 1) The zeroing request signal comes ON in the following cases: •...
  • Page 44 3. POSITIONING SIGNAL (13) RLS signal (M1612+20n) (a)The RLS signal is controlled by the ON/OFF status of the lower stroke end limit switch input (FLS) to the A172SENC from an external source. • Lower stroke end limit switch input OFF ..RLS signal: ON •...
  • Page 45 3. POSITIONING SIGNAL (16) Servo READY signal (M1615+20n) (a) The servo READY signal comes ON when the servo amplifiers connected to each axis are in the READY status. (b) The signal goes OFF in the following cases. • When M2042 is OFF •...

  • Page 46: Axis Command Signals

    3. POSITIONING SIGNALS 3.1.2 Axis command signals (1) Stop command (M1800+20n) (a) The stop command is a signal used to stop an axis that is currently being driven and becomes effective at its leading edge (OFF→ON). (An axis for which the stop command is ON cannot be started.) Stop command Stop...
  • Page 47 3. POSITIONING SIGNAL (2) Rapid stop command (M1801+20n) (a) The rapid stop command is a signal used to rapidly stop an axis that is currently being driven and becomes effective at its leading edge (OFF→ON). (An axis for which the rapid stop command is ON cannot be started.) Rapid stop command...
  • Page 48 3. POSITIONING SIGNAL (3) Forward JOG start command (M1802+20n)/Reverse JOG start command (M1803+20n) (a) While the sequence program keeps M1802+20n ON, JOG operation is executed in the direction in which address numbers increase. When M1802+20n is turned OFF, a deceleration stop is executed in the deceleration time set in the parameter block.
  • Page 49 3. POSITIONING SIGNAL (6) Limit switch output enable command (M1806+20n) The limit switch output enable command is used to enable limit switch output. • ON..The limit switch output ON/OFF pattern can be output. • OFF ..Limit switch output goes OFF. (7) Error reset command (M1807+20n) The error reset command is used to clear the minor error code or major error code storage area of an axis for which the error detection signal has come ON...
  • Page 50 3. POSITIONING SIGNAL (9) External STOP input/invalid when starting command (M1809+20n) This signal is used to make external STOP signal input valid or invalid. • ON..External STOP input is set as invalid, and even axes for which STOP input is currently ON can be started. •...
  • Page 51 3. POSITIONING SIGNAL (12) FIN signal (M1819+20n) When an M-code is set in a point during positioning, travel to the next block does not take place until the FIN signal state changes as follows: OFF→ON→OFF Positioning to the next block begins after the FIN signal state changes as above.
  • Page 52 3. POSITIONING SIGNALS 3.1.3 Common Device POINTS (1) Internal relays for positioning control are not latched even inside the latch range. In this manual, in order to indicate that internal relays for positioning control are not latched, the expression used in this text is "M2000 to M2047".
  • Page 53 3. POSITIONING SIGNALS (d) When M2000 is switched from ON to OFF, the following processing is executed. 1) Processing details • The PCPU READY-completed flag (M9074) is turned OFF. • The axis being driven is decelerated to a stop. POINT The PLC READY flag (M2000) goes OFF when the servo system CPU is in the STOP status.
  • Page 54 3. POSITIONING SIGNALS 2) When positioning control is executed by turning ON the JOG operation command (M1802+20n or M1803+20n), the start accept flag goes OFF when positioning is stopped by turning the JOG operation command OFF. 3) The start accept flag is ON while the manual pulse generator enable flag (M2012: ON) is ON.
  • Page 55 3. POSITIONING SIGNALS (3) All axis servo ON accept flag (M2009) ..Signal sent from PCPU to SCPU The all axis servo start accept flag serves to notify that servo operation is possible. • ON ..The servomotor can be driven. •...
  • Page 56 3. POSITIONING SIGNALS M2016 OFF M2016 ON Pass points in Pass points in constant speed control constant speed control here, a speed change is here, a speed change is designated at P3) designated at P3) Speed switching Speed switching point designation point designation flag (M2016) flag (M2016)
  • Page 57 3. POSITIONING SIGNALS (8) Speed change flags (M2021+n)..Signal from PCPU to SCPU The speed change flags come ON when a speed change is executed in response to a control change (DSFLP/CHGV) instruction in the sequence program: use them for interlocks in speed change programs. Speed change command Delay due to sequence program DSFLP instruction...
  • Page 58 3. POSITIONING SIGNALS (10) System setting error flag (M2041)..Signal sent from PCPU to SCPU When the power is switched ON, or when the servo system CPU is reset, the system setting data set with a peripheral device is input, and a check is performed to determine if the set data matches the module mounting status (of the main base unit and extension base units).
  • Page 59 3. POSITIONING SIGNALS (12) Optional slot module error detection flag (M2047) ..... Signal from PCPU to SCPU This flag is used to determine whether the status of modules mounted on the main base unit and extension base units is "normal" or "abnormal". •...
  • Page 60 3. POSITIONING SIGNALS Data Registers (1) Data registers A172SHCPUN(SV13) A171SHCPUNSV(13) Device Device Purpose Purpose User device User device (800 points) (800 points) Axis monitor device D800 Axis monitor device (20 points x 4 axes) D800 (20 points x 8 axes) D880 Unusable (80 points) Control change...
  • Page 61 3. POSITIONING SIGNALS (2) Axis monitor devices Axis A172SHCPUN A171SHCPUN Signal Name Device No. Device No. D800 D800 Signal Refresh Cy- Fetch Signal Name Unit D819 D819 Direction Cycle Com- D820 D820 Feed current value mand unit D839 D839 Com- Real current value 3.5ms mand unit...

  • Page 62: Common Devices

    3. POSITIONING SIGNALS (4) Common devices A172SHCPUN A171SHCPUN Device Signal Di- Refresh Device Signal Di- Refresh Signal Name Fetch Cycle Signal Name Fetch Cycle rection Cycle rection Cycle D1008 D1008 Limit switch output disable SCPU 3.5ms →PCPU D1009 D1009 setting register (2 points) Limit switch output disable 3.5ms setting register (4 points)

  • Page 63: Monitoring Data Area

    3. POSITIONING SIGNALS 3.2.1 Monitoring data area The monitoring data area is used by the PCPU to store data such as the feed current value during positioning control, the real current value, and the number of droop pulses in the deviation counter. It can be used to check the positioning control status using the sequence program.
  • Page 64 3. POSITIONING SIGNALS (6) Servo error code register (D808+20n) ..Data from the PCPU to the SCPU (a) This register stores the relevant error code (see Appendix 2.4) when a servo error occurs. If another servo error occurs, the previous error code is overwritten by the new error code.
  • Page 65 3. POSITIONING SIGNALS REMARK (Note): See the following sections for details on M-codes and reading M-codes. • M-code ....... Section 8.2 • M-code reading ..Appendix 4.3 (11) Torque limit value register (D814+20n)..Data from the PCPU to the SCPU This register stores the value for the torque limit imposed on the servo system.
  • Page 66 3. POSITIONING SIGNALS (14) Constant speed control data set pointer (D819+20n) ..Data from the PCPU to the SCPU This pointer is used in constant speed control when specifying positioning data indirectly and substituting positioning data during operation. It stores a "point" that indicates which of the values stored in indirect devices has been input to the PCPU when positioning is being repeated by using a repeat instruction (FOR-TIMES, FOR-ON, FOR-OFF).
  • Page 67 3. POSITIONING SIGNALS [Input of positioning data to the PCPU] SCPU PCPU Data updating in accordance Positioning data input to the PCPU with sequence program at each point Positioning execution point Data set pointer for Updated data Indirect device D Point Updating constant speed control...
  • Page 68 3. POSITIONING SIGNALS [Internal processing] (1) On starting the operation, the positioning data of points 0 to 6 ((1) to (14)) is input to the PCPU. At this time, the last point of the data to be input - which is point "6" - is stored in the data set pointer for constant speed control.
  • Page 69 3. POSITIONING SIGNALS 3.2.2 Data storage area for control change The data storage area for control change is the area for storing current value change data, speed change data, and JOG operating speed data. <A172SHCPUN> Table 3.11 Data Storage Areas for Control Change Name Axis 1 Axis 2...
  • Page 70 3. POSITIONING SIGNALS (1) Current value change register (D960+6n)..Data from the SCPU to the PCPU (a) This register stores the feed current value after the change when the feed current value of a stopped axis is changed. (b) The ranges of values that can be set in the current value change register are indicated below.
  • Page 71 3. POSITIONING SIGNALS 3.2.3 Common device (1) Limit switch output disable setting register (D1008 to D1011) ..Data from the SCPU to the PCPU (a) This is a register for disabling the external output of limit switch output in 1 point units.
  • Page 72 3. POSITIONING SIGNALS (2) Registers for setting axis numbers controlled by manual pulse generators (D1012) ..Data from the SCPU to the PCPU (a) These registers store the axis numbers controlled by manual pulse generators. b12 b11 b8 b7 b4 b3 D1012 3 digits 2 digits...
  • Page 73 3. POSITIONING SIGNALS (4) 1 pulse input magnification setting registers for manual pulse generators (D1016 to D1023)........... Data from the SCPU to the PCPU (a) This register is used to set the magnification (from 1 to 100) per pulse for the number of input pulses from a manual pulse generator in manual pulse generator operation.

  • Page 74: Special Relays (Sp.m)

    3. POSITIONING SIGNALS Special Relays (SP.M) The servo system CPU has 256 special relay points from M9000 to M9255. Of there, the 7 points from M9073 to M9079 are used for positioning control, and their applications are indicated in Table 3.13. Table 3.13 Special Relays Device No.
  • Page 75 3. POSITIONING SIGNALS (3) In-test-mode(M9075) ..Signal from PCPU to SCPU (a) This flag is used to determine whether or not a test mode established from a peripheral device is currently effective. Use it, for example, for an interlock effective when starting a servo program with a DSFRP/SVST instruction in the sequence program.
  • Page 76 3. POSITIONING SIGNALS (6) Test mode request error flag (M9078) ..Signal sent from PCPU to SCPU (a) This flag comes ON if the test mode is not established when a test mode request is sent from a peripheral device (b) When M9078 comes ON, the error contents are stored in the test mode request error register (D9188).

  • Page 77: Special Registers (Sp.d)

    3. POSITIONING SIGNALS Special Register (SP.D) A servo system CPU has 256 special register points from D9000 to D9255. Of these, the 20 points from D9180 to D9199 are used for positioning control. The special registers used for positioning are shown in the table below (for the applications of special registers other than D9180 to D9199, see Appendix 3.2.) Table 3.14 Special Registers Device...
  • Page 78 3. POSITIONING SIGNALS (1) Limit switch output status storage register (D9180 to D9183) ..Data from PCPU to SCPU (a) This register stores the output status (ON/OFF) for limit switch output to AY42 with a peripheral device as "1" or "0". •...
  • Page 79 3. POSITIONING SIGNALS (2) PCPU error cause(D9184) ..Data from the PCPU to the SCPU This register is used to identify the nature of errors occurring in the PCPU part of the servo system. Operation when Error Error Code Error Cause Action to Take Occurs PCPU software fault 1...
  • Page 80 3. POSITIONING SIGNALS (4) Manual pulse generator axis setting error (D9187) ... Data from PCPU to SCPU When an error is detected in checking the setting at the leading edge of the manual pulse generator enable signal, the contents of the error are set in D9187 and the manual pulse generator axis setting error flag (M9077) comes (a) A172SHCPUN Axis...
  • Page 81 3. POSITIONING SIGNALS (5) Test mode request error (D9188) ..Data from PCPU to SCPU When there is an axis being operated in making a test mode request from a peripheral device, the test mode request error flag (M9078) comes ON and the data of each axis being operated or stopped is stored.
  • Page 82 3. POSITIONING SIGNALS (6) Error program No. (D9189) ..Data from the PCPU to the SCPU (a) Stores the number of the subprogram (range: 0 to 4095) affected by the error when the subprogram setting error flag (M9079) comes ON. (b) If, once an error program number has been stored, an error occurs in another servo program, the program number of the subprogram with the new error is stored.
  • Page 83 3. POSITIONING SIGNALS (a) Servo amplifier installation status 1) Installed/not installed status • "installed" status....The MR- -B is normal (i.e. communication with the servo amplifier is normal) • "not installed" status..No servo amplifier is installed. The servo amplifier power is OFF. Normal communication with the servo amplifier is not possible due, for example, to a connecting cable fault.
  • Page 84 3. POSITIONING SIGNALS REMARKS The travel value per manual pulse generator pulse is set in one of the following units. • Setting unit : 0.1 µ m inch : 0.00001 inch degree : 0.00001 degree PULSE : 1 PLS The range for the smoothing time constant is 56.8 ms to 3408 ms. (10) PC link communication error code (D9196) When an error occurs during PC link communication, the error code that corresponds to the error is stored in this device.

  • Page 85: Parameters For Positioning Control

    4. PARAMETERS FOR POSITIONING CONTROL 4. PARAMETERS FOR POSITIONING CONTROL System Settings (1) System settings such as base unit selection, unit allocation, axis number setting in programs, servo motor setting (model name), and servo amplifier setting (model name) are made according to the actual system. (No settings are required when the unit is used as a PC extension base.) (2) Data settings and modifications can be made interactively for some peripheral devices.

  • Page 86: Fixed Parameters

    4. PARAMETERS FOR POSITIONING CONTROL Fixed Parameters (1) The fixed parameters are set for each axis and their data is fixed in accordance with the mechanical system or other factors. (2) The fixed parameters are set with a peripheral device. (3) The fixed parameters to be set are shown in Table 4.1.

  • Page 87: Setting The Number Of Pulses Per Revolution/Travel Value Per Revolution/Unit Magnification

    4. PARAMETERS FOR POSITIONING CONTROL 4.2.1 Setting the number of pulses per revolution / travel value per revolution / unit magnification This section explains how to set the number of pulses per revolution, the travel value per revolution, and the unit magnification. (1) Setting method 1 (a) Finding the smallest position resolution (∆l).
  • Page 88 4. PARAMETERS FOR POSITIONING CONTROL (e) The number of pulses per revolution, travel value per revolution, and unit magnification for the example configuration shown here are calculated below. Gear ratio = Z = 1 : 25 Number of feedback pulses=8192[PLS/rev] Ball screw pitch=10[mm] Servo motor 10[mm]...

  • Page 89: Upper Stroke Limit Value/Lower Stroke Limit Value

    4. PARAMETERS FOR POSITIONING CONTROL Here, since the setting range of A is 1 to 65535 [PLS] and that of A 0.1 to 6553.5 [ µ m], reduce them to within their setting ranges. 19968 ×A 1587.5 Thus, = 19968 [PLS] (Note) = 1587.5 [ µ...

  • Page 90: Command In-Position Range

    4. PARAMETERS FOR POSITIONING CONTROL POINTS (1) Besides setting the stroke limit upper limit value/lower limit value in the fixed parameters, the stroke limit range can also be set by using the external limit signals (FLS, RLS). (2) When the external limit signal goes OFF, a deceleration stop is executed. The time taken to decelerate to a stop can be set by setting the "deceleration time"...

  • Page 91: Mr- -B Servo Parameters

    4. PARAMETERS FOR POSITIONING CONTROL 4.3.1 -B servo parameters The servo parameters to be set are indicated in Tables 4.2 through 4.4. (1) Basic parameters For the servo parameters of the MR-J2S-B, refer to the “SSCNET-Compatible MR-J2S- B Servo Amplifier Instruction Manual (SH-030001). Table 4.2 Servo Parameters (Basic Parameters) Setting Range Default...
  • Page 92 4. PARAMETERS FOR POSITIONING CONTROL (2) Adjustment parameters Table 4.3 Servo Parameter List (Adjustment Parameters) Setting Range Default Expla- inch degree PULSE Item Remarks natory Initial Value Units Setting Setting Setting Setting Section Units Units Units Units Range Range Range Range •...
  • Page 93 4. PARAMETERS FOR POSITIONING CONTROL Table 4.3 Servo Parameter List (Adjustment Parameters) (Continued) Setting Range Default Expla- inch degree PULSE Item Remarks natory Initial Value Units Setting Setting Setting Setting Section Units Units Units Units Range Range Range Range Optional •...
  • Page 94 4. PARAMETERS FOR POSITIONING CONTROL (3) Expansion parameters Table 4.4 Servo Parameters (Expansion Parameters) Setting Range Default Expla- inch degree PULSE Item Remarks natory Initial Units Setting Setting Setting Setting Section Value Units Units Units Units Range Range Range Range •...
  • Page 95 4. PARAMETERS FOR POSITIONING CONTROL Table 4.4 Servo Parameters (Expansion Parameters) (Continued) Setting Range Default Expla- inch degree PULSE Item Remarks natory Initial Units Setting Setting Setting Setting Section Value Units Units Units Units Range Range Range Range Number of gear teeth at motor side Number of...

  • Page 96: Position Control Gain 1, 2

    4. PARAMETERS FOR POSITIONING CONTROL 4.3.2 Position control gain 1, 2 (1) Position control gain 1 (a) Position control gain 1 is set in order to make the stabilization time shorter. (b) If the position control gain 1 is too high, it could cause overshoot and the value must therefore be adjusted so that it will not cause overshoot or undershoot.
  • Page 97 4. PARAMETERS FOR POSITIONING CONTROL 4.3.3 Position control gain 1, 2 (1) Position control gain 1 (a) In the speed control mode Normally, no change is necessary. (b) In the position control mode Set to increase the follow-up with respect to commands. (2) Speed control gain 2 (a) Speed control gain 2 is set when vibration occurs, for example in low-rigidity machines or machines with a large backlash.

  • Page 98: Speed Integral Compensation

    4. PARAMETERS FOR POSITIONING CONTROL 4.3.4 Speed integral compensation (1) This parameter is used to increase frequency response in speed control and improve transient characteristics. (2) If the overshoot in acceleration/deceleration cannot be made smaller by adjusting speed loop gain or speed control gain, increasing the setting for the speed integral compensation value will be effective.

  • Page 99: Load Inertia Ratio

    4. PARAMETERS FOR POSITIONING CONTROL 4.3.7 Load inertia ratio (1) This parameter sets the ratio of moment of load inertia for the servomotor. The ratio of moment of load inertia is calculated using the equation below: Moment of load inertia Ratio of moment of load inertia = Motor's moment of inertia (2) If automatic tuning is used, the result of automatic tuning is automatically set.

  • Page 100: Servo Responsiveness Setting

    4. PARAMETERS FOR POSITIONING CONTROL 4.3.9 Servo responsiveness setting (1) This parameter setting is used to increase servo responsiveness. Changing the set value to a higher value in the sequence 1, 2..., 5 improves servo responsiveness. For machines with high friction, use the set values in the range 8 through C. Response settings 1: Low-speed response Normal machine...

  • Page 101: Notch Filter

    4. PARAMETERS FOR POSITIONING CONTROL 4.3.10 Notch filter This parameter sets the notch frequency for the notch filter. Set Value Notch Frequency (Hz) Not used 1125 4.3.11 Electromagnetic brake sequence This parameter sets the time delay between actuation of the electromagnetic brake and base disconnection.

  • Page 102: Optional Function 2

    4. PARAMETERS FOR POSITIONING CONTROL (3) External emergency stop signal (applies only when using MR-J2S-B/MR-J2-B) The external emergency stop signal (EMG) can be made invalid. 0: External emergency stop signal is valid. 1: External emergency stop signal is invalid (automatically turned ON internally). Since the emergency stop signal at the MR-J2-B cannot be used, do not set "0".

  • Page 103: Monitor Output 1, 2 Offset

    4. PARAMETERS FOR POSITIONING CONTROL 4.3.15 Monitor output 1, 2 offset Set the offset value for the monitored items set when setting monitor outputs 1 and POINT (1) Optional function 2 (no-motor operation selection) No-motor operation differs from operation in which an actual motor is run in that, in response to signals input in no-motor operation, motor operation is simulated and output signals and status display data are created under the condition that the load torque zero and moment of load...

  • Page 104: Zero Speed

    4. PARAMETERS FOR POSITIONING CONTROL 4.3.17 Zero speed This parameter sets the speed at which the motor speed is judged to be zero. 4.3.18 Excessive error alarm level This parameter sets the range in which the alarm for excessive droop pulses is output.

  • Page 105: Parameter Block

    4. PARAMETERS FOR POSITIONING CONTROL Parameter Block (1) The parameter blocks serve to make setting changes easy by allowing data such as the acceleration/deceleration control to be set for each positioning processing. (2) A maximum of 16 blocks can be set as parameter blocks. (3) Parameter blocks can be set at a peripheral device.
  • Page 106 4. PARAMETERS FOR POSITIONING CONTROL POINT (1) The data set in the parameter block is used for positioning control zeroing, and JOG operation. (a) The parameter block No. used in positioning control is set from a peripheral device when creating a servo program. If no parameter block No.

  • Page 107: Relationships Among The Speed Limit Value, Acceleration Time

    4. PARAMETERS FOR POSITIONING CONTROL 4.4.1 Relationships among the speed limit value, acceleration time, deceleration time, and rapid stop deceleration time The speed limit value is the maximum speed during positioning/zeroing. The acceleration time is the time taken to reach the set speed limit value from the start of positioning.

  • Page 108: Allowable Error Range For Circular Interpolation

    4. PARAMETERS FOR POSITIONING CONTROL As shown below, the S-curve ratio setting serves to select the part of the sine curve to be used as the acceleration and deceleration curve. (Example) Positioning speed B/A 1.0 When the S curve ratio is 100% Positioning speed Sine curve...

  • Page 109: Sequence Programs And Sfc Programs

    5. SEQUENCE PROGRAMS AND SFC PROGRAMS 5. SEQUENCE PROGRAMS AND SFC PROGRAMS This section explains how to start a servo program using a sequence program or SFC program for positioning control, and gives other information. Cautions on Creating a Sequence Program or SFC Program The following cautions should be observed when creating a sequence program or SFC program.

  • Page 110: Servo Program Start Request Instruction (Dsfrp/Svst)

    5. SEQUENCE PROGRAMS AND SFC PROGRAMS Servo Program Start Request Instruction (DSFRP/SVST) There are two servo program start request instructions: the DSFRP instruction and the SVST instruction. When executing positioning control, up to 3 axes can be controlled with the DSFRP instruction and up to 4 axes can be controlled with the SVST instruction.
  • Page 111 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Data Settings] (1) Setting the axes to be started The axes to be started are set in (D) in the way shown below. Designate digits from 1 to 3. 1 axis to be started Make the setting for 1 axis (1 digit) 2-axis to interpolation to be started Make the setting for 2 axes (2 digits)
  • Page 112 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Error Details] In the following cases, an operation error occurs and the DSFRP instruction is not executed., • When the setting for (D) comprises 4 or more digits. • When the axis number given in any digit of (D) is a number other than 1 to 8 (A172SHCPUN).

  • Page 113: Start Request Instruction For 1 To 4/1 To 8 Axes (Svst)

    5. SEQUENCE PROGRAMS AND SFC PROGRAMS 5.2.2 Start request instruction for 1 to 4/1 to 8 axes (SVST) Usable Devices Carry Flag Error Flag Bit Devices Word (16 Bit) Devices Constants Pointers Level A0 A1 M9012 M9010 M9011 *1: Possible with indirect setting only SEQUENCE PROGRAM Setting data Setting range...
  • Page 114 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Data Settings] (1) Setting the axes to be started The axes to be started are set in (D) in the way shown below. Setting for 1 to 8 axes(A172SHCPUN) Setting for 1 to 4 axes (A171SHCPUN) ⋅...
  • Page 115 5. SEQUENCE PROGRAMS AND SFC PROGRAMS Example Make the following setting to designate the number of the servo program to be started with the data stored in data register D50: • Designation with a word device SVST J1J2J3 2) An index register (Z, V) can be used for index designation of the indirectly set word device.

  • Page 116: Current Value Change Instructions (Dsflp/Chga)

    5. SEQUENCE PROGRAMS AND SFC PROGRAMS Current Value Change Instructions (DSFLP/CHGA) These instructions are used to change the current value of a stopped axis. 5.3.1 DSFLP instruction Usable Devices Carry Flag Error Flag Bit Devices Word (16 Bit) Devices Constants Pointers Level A0 A1 M9012 M9010 M9011...
  • Page 117 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Operation Timing] Execution command DSFLP instruction Current value change completion Start accept flag [Data Settings] (1) Setting the axis for which the current value change is to be executed The axis for which the current value change set in (D) is executed is set as follows.
  • Page 118 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Error Details] (1) In the following cases, an operation error occurs and the DSFLP instruction is not executed. • When the setting for (D) is other than 1 to 4 or 1 to 8. •...

  • Page 119: Chga Instruction

    5. SEQUENCE PROGRAMS AND SFC PROGRAMS 5.3.2 CHGA instructions Usable Devices Carry Flag Error Flag Bit Devices Word (16 Bit) Devices Constants Pointers Level A0 A1 M9012 M9010 M9011 SEQUENCE PROGRAM Setting data Setting range [Execution J + No. of current J1 to J8 (A172SHCPUN) condition] value change axis...
  • Page 120 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Data Settings] (1) Setting the axis for which a current value change is to be executed The axis with respect to which the current value change set in (D) is to be executed is set as follows. Started axis No.
  • Page 121 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Error Details] (1) In the following cases an operation error occurs and the CHGA instruction is not executed. • When the setting for (D) is other than J1 to J8/J1 to J4. (2) In the following cases, a minor error (error on control change) occurs and the current value change/speed change is not executed.

  • Page 122: Speed Change Instructions (Dsflp/Chgv)

    5. SEQUENCE PROGRAMS AND SFC PROGRAMS Speed Change Instructions (DSFLP/CHGV) This instruction is used to change the speed of an axis during positioning or JOG operation. 5.4.1 DSFLP instruction Usable Devices Carry Flag Error Flag Bit Devices Word (16 Bit) Devices Constants Pointers Level A0 A1...
  • Page 123 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Operation Timing] Execution command DSFLP instruction Speed change completion Speed change flag [Data Settings] (1) Setting the axis for which the speed change is to be executed The axis for which the speed change set in (D) is executed is set as follows. Started axis No.
  • Page 124 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Error Details] (1) In the following cases an operation error occurs and the DSFLP instruction is not executed. • When the setting for (D) is other than 1 to 8/1 to 4. • When the setting for n is a value other than 1. •...

  • Page 125: Chgv Instruction

    5. SEQUENCE PROGRAMS AND SFC PROGRAMS 5.4.2 CHGV instructions Usable Devices Carry Flag Error Flag Bit Devices Word (16 Bit) Devices Constants Pointers Level A0 A1 M9012 M9010 M9011 SEQUENCE PROGRAM Setting data Setting range [Execution J + No. of current J1 to J8 (A172SHCPUN) condition] value change axis...
  • Page 126 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Data Settings] (1) Setting the axis for which a speed change is to be executed The axis with respect to which the speed change set in (D) is to be executed is set as follows. Started axis No.
  • Page 127 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Error Details] (1) In the following cases an operation error occurs and the CHGA instruction is not executed. • When the setting for (D) is other than J1 to J8/J1 to J4. (2) In the following cases, a minor error (error on control change) occurs and the speed change is not executed.

  • Page 128: Retracing During Positioning

    5. SEQUENCE PROGRAMS AND SFC PROGRAMS Retracing during Positioning When a negative speed is designated in the CHGV (or DSFLP) instruction at the start to make a speed change request, deceleration begins at that time and retracing starts on completion of deceleration. The following operations can be performed by the servo instructions.
  • Page 129 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Error Details] (1) While start is attempted in the control mode allowing retracing, a minor error 305 is returned and retracing is controlled according to a speed limit value so long as the absolute value of a negative change speed exceeds the speed limit value.
  • Page 130 5. SEQUENCE PROGRAMS AND SFC PROGRAMS POINTS (1) When the M-code FIN wait function is used during constant speed control, a retracing request made in the FIN wait status (stopped status) is ignored. (2) In the above example, retracing to P2 is performed when a retracing request is made immediately before P2 and P2 is passed during deceleration.

  • Page 131: Torque Limit Value Change Request (Chgt)

    5. SEQUENCE PROGRAMS AND SFC PROGRAMS Torque Limit Value Change Request (CHGT) In the real mode, the sequence program can change the torque limit value regardless of whether it is operating or being stopped. The following describes this process. 1. Torque limit value change request instruction (CHGT) Usable Devices Carry Flag Error...
  • Page 132 5. SEQUENCE PROGRAMS AND SFC PROGRAMS (2) Relation to the torque limit value designated in the servo program Start At normal start, a torque limit value is directed to the servo of the start axis according to the torque set by the servo program or the torque limit value of the designated parameter block.

  • Page 133: Sfc Program

    5. SEQUENCE PROGRAMS AND SFC PROGRAMS SFC Programs This section explains how to start servo programs using SFC programs. 5.7.1 Starting and stopping SFC programs SFC programs are started and stopped from the main sequence program. The methods for starting and stopping SFC programs are described below. (1) Starting SFC programs (a) An SFC program is started by turning M9101 (SFC program start/stop) ON in the main sequence program.

  • Page 134: Servo Program Start Request

    5. SEQUENCE PROGRAMS AND SFC PROGRAMS 5.7.2 Servo program start request A servo program can be started in one of two ways: by using the program start-up symbol intended for this purpose ([SV]), or by inputting a servo program start request instruction in the internal circuit of a normal step.( ) (1) When an [SV] step is created.
  • Page 135 5. SEQUENCE PROGRAMS AND SFC PROGRAMS POINT (1) When an [SV] step is created, the servo program start request ladder block is mandatorily inserted in the sequence SVST program. (2) When a DSFRP instruction is used, input it directly into the sequence program at a normal step ( ).
  • Page 136 5. SEQUENCE PROGRAMS AND SFC PROGRAMS (2) When a servo program start instruction is input inside a normal step ( ) <Main sequence program> <SFC program> Start command M9101 ON (When a normal M9101 step is used) Initial step Stop command Switching condition 1 M9101 Step 1 (creation of servo...
  • Page 137 5. SEQUENCE PROGRAMS AND SFC PROGRAMS POINTS (1) When a DSFRP or DSFLP instruction is used, input it directly into the internal circuit of a normal step ( ). (2) If an SVST/DSFRP instruction is edited and converted, a start accept bit (M2001+n) is automatically inserted into the switching conditions before and after the relevant SFC step to act as an interlock.

  • Page 138: Servo Programs For Positioning Control

    6. SERVO PROGRAMS FOR POSITIONING CONTROL 6. SERVO PROGRAMS FOR POSITIONING CONTROL Servo programs serve to designate the type of the positioning control, and the positioning data, required to execute positioning control with the servo system CPU. This section explains the configuration, and method for designating, servo programs.

  • Page 139: Servo Program Area

    6. SERVO PROGRAMS FOR POSITIONING CONTROL (3) Positioning data..This is the data required to execute servo instructions. The data required for execution is fixed for each servo instruction. For details, see Section 6.3. The follows applies for the servo program shown in Figure 6.1: •...

  • Page 140: Servo Instructions

    6. SERVO PROGRAMS FOR POSITIONING CONTROL Servo Instructions This section presents the servo instructions used in servo programs. (1) How to read the servo instruction tables Fig. 6.1 How to Read Servo Instruction Tables 7) 8) Positioning Data Circular Common Settings Parameter Block Others Interpolation...
  • Page 141 6. SERVO PROGRAMS FOR POSITIONING CONTROL (2) Servo instruction list The servo instructions that can be used in servo programs, and the positioning data set for the servo instructions, are indicated in Table 6.2. For details on the positioning data set for servo instructions, see Section 6.3. Table 6.2 Servo Instruction List Positioning Data Circular...
  • Page 142 6. SERVO PROGRAMS FOR POSITIONING CONTROL Table 6.2 Servo Instruction List (Continued) Positioning Data Circular Common Settings Parameter Block Others Interpolation Position- Instruc- tion Processing Details Control Symbol 1 axis fixed-pitch feed 4 to ∆ ∆ ∆ ∆ ∆ ∆ ∆...
  • Page 143 6. SERVO PROGRAMS FOR POSITIONING CONTROL Table 6.2 Servo Instruction List (Continued) Positioning Data Circular Common Settings Parameter Block Others Interpolation Position- Instruc- tion Processing Details Control Symbol 2 to ∆ ∆ ∆ ∆ ABS-1 3 to ∆ ∆ ∆ ∆...

  • Page 144: Positioning Data

    6. SERVO PROGRAMS FOR POSITIONING CONTROL Positioning Data The positioning data set for servo programs is shown in Table 6.3. Table 6.3 Positioning Data Setting Made With Peripheral Device Name Explanation Setting Range Default Value inch degree PULSE ! Sets the parameter block on the basis of which data such as that Parameter block for acceieration and deceleration processing and deceleration 1 to 16...
  • Page 145 6. SERVO PROGRAMS FOR POSITIONING CONTROL Settings Made Using the Sequence Program (Indirect Setting) Indirect Setting Processing in Event of Setting Error Setting Range Error Item Possible/Not Number of Control Using Starting not (Note-4) Data Possible Words Used Default Value Possible inch degree...
  • Page 146 6. SERVO PROGRAMS FOR POSITIONING CONTROL Table 6.3 Positioning Data (Continued) Setting Made With Peripheral Device Name Explanation Default Setting Range Value inch degree PULSE control unit 0.01 to 0.001 to 0.001 to 200.000 1 to 10000000 Speed limit value 6000000.00 600000.000 2147483.647...
  • Page 147 6. SERVO PROGRAMS FOR POSITIONING CONTROL Settings Made Using the Sequence Program (Indirect Setting) Indirect Setting Processing in Event of Setting Error (Note- Setting Range Error Item Data Possible/Not Number of Control Using Starting not Possible Words Used Default Value Possible inch degree...

  • Page 148: Method For Setting Positioning Data

    6. SERVO PROGRAMS FOR POSITIONING CONTROL Method for Setting Positioning Data This section explains how to set the positioning data used in a servo program. There are two ways to set positioning data, as follows: (1) Designating numerical values ....... see Section 6.4.1 (2) Indirect designation using word devices ..

  • Page 149: Setting By Using Word Devices (D, W)

    6. SERVO PROGRAMS FOR POSITIONING CONTROL 6.4.2 Setting by using word devices (D, W) The method of setting by using word devices is a method whereby a word device (D, W) number is designated in the positioning data designated for the servo program.

  • Page 150: Creating Sequence Programs To Start Servo Programs

    6. SERVO PROGRAMS FOR POSITIONING CONTROL Creating Sequence Programs to Start Servo Programs This section describes sequence programs that execute positioning control by using servo programs. 6.5.1 Case where the servo program is executed once only The general concept for a program that executes a designated servo program once only in response to the start request is shown in Figure 6.5.

  • Page 151: Case Where Different Servo Programs Are Executed Consecutively

    6. SERVO PROGRAMS FOR POSITIONING CONTROL 6.5.2 Case where different servo programs are executed consecutively The general concept for a program that, on completion of positioning in accordance with a servo program executed in response to a start request, executes the next servo program, is shown in Figure 6.6.

  • Page 152: Case Where The Same Servo Program Is Executed Repeatedly

    6. SERVO PROGRAMS FOR POSITIONING CONTROL 6.5.3 Case where the same servo program is executed repeatedly The general concept for a program that executes repeated positioning control in accordance with the same servo program is indicated in Figure 6.7. *The applications of 1) to 4) are indicated below. 1): DSFRP/SVST instruction execution request flag (devices that can be used: Y, M, L, S, B, F) 2): Start accept flag (set a number of flags corresponding to the number of axes...

  • Page 153: Basics Of Positioning Control

    7. POSITIONING CONTROL 7. POSITIONING CONTROL This section describes the positioning control methods. Basics of Positioning Control This section describes the common items for positioning control, which is described in detail from Section 7.2. 7.1.1 Positioning speed The positioning speed is set using a servo program. See Section 6 for details about servo programs.

  • Page 154: Positioning Speed Under Interpolation Control

    7. POSITIONING CONTROL 7.1.2 Positioning speed under interpolation control The positioning speed of the servo system CPU determines the travel speed of the controlled system. (1) One-axis linear control Under 1-axis control, the travel speed is the positioning speed of the designated axis.
  • Page 155 7. POSITIONING CONTROL (b) Long-axis speed designation The control of each axis is based on the positioning speed (long-axis speed: V) set for the axis whose positioning address is the greatest distance from the current position. The servo system CPU uses the travel value of each of the other axes (D to D ) to calculate the positioning speed of each axis (V to V...
  • Page 156 7. POSITIONING CONTROL POINTS (1) Speed limit value and positioning speed • The set speed limit value applies to the long-axis speed. • Note that the combined speed may exceed the speed limit value if long-axis speed designation is used. Example During 2-axes linear interpolation with the following settings, the combined speed exceeds the speed limit value.
  • Page 157 7. POSITIONING CONTROL (c) Reference-axis speed designation The servo system CPU uses the travel value of each axis (D to D ) to calculate the positioning speed of each axis (V to V ) from the set positioning speed of the reference axis (reference axis speed: V). Set the reference axis number, reference axis speed, and the travel value of each axis in the servo program.
  • Page 158 7. POSITIONING CONTROL POINTS (1) Reference axis speed and positioning speed of other axes • Note that the positioning speed of an axis with a greater travel value than the reference axis will exceed the set reference axis speed. (2) Indirect designation of reference axis •...

  • Page 159: Control Units For 1-Axis Positioning Control

    7. POSITIONING CONTROL 7.1.3 Control units for 1-axis positioning control Positioning control of 1-axis is conducted in the control units designated in the fixed parameters. (The control unit designation in the parameter block is ignored.) 7.1.4 Control units for interpolation control (1) The interpolation control units designated in the parameter block are checked against the control units designated in the fixed parameters.
  • Page 160 7. POSITIONING CONTROL (b) Combination of millimeters and inches (2)) • If interpolation control units are millimeters, positioning is conducted using position commands calculated from the address, travel value, positioning speed, and electronic gear, which have been converted to millimeters using the formula: inch set value ×...

  • Page 161: Control Using Degrees As Control Units

    7. POSITIONING CONTROL 7.1.5 Control using degrees as control units If the control units are degrees, the following items differ from when other control units are set. (1) Current address When degrees are set, the current addresses become ring addresses between 0°...
  • Page 162 7. POSITIONING CONTROL (3) Positioning control Positioning control using degrees as control units is described below. (a) Absolute data method (ABS instructions) The absolute data method uses the present value as reference to position the axis in the shortest distance to the designated address. Examples (1) Positioning occurs clockwise to travel from the current value of 315.00000°...

  • Page 163: Stop Processing And Restarting After A Stop

    7. POSITIONING CONTROL 7.1.6 Stop processing and restarting after a stop This section describes the stop processing after a stop cause is input during positioning, and restarting after a stop. (1) Stop processing (a) Stop processing methods Stop processing during positioning depends on the type of stop cause which was input.
  • Page 164 7. POSITIONING CONTROL Stops without deceleration processing. 3) Immediate stop ... (Process 3) Stop cause Stop (b) Order of priority for stops The order of priority for stops when a stop cause is input is as follows: Process 1 < Process 2 <Process 3 Example A rapid stop (Process 2) is started if a rapid stop cause is input during one of the following types of deceleration stop processing:...
  • Page 165 7. POSITIONING CONTROL (c) Stop commands and stop causes Some stop commands and stop causes affect individual axes and others affect all axes. However, during interpolation control, stop commands and stop causes which affect individual axes also stop the interpolation axes. For example, both Axis 1 and Axis 2 stop after input of a stop command or stop cause during interpolation control of Axis 1 and Axis 2.
  • Page 166 7. POSITIONING CONTROL (2) Restarting after a Stop (a) Control cannot be restarted after a stop command or stop cause (except changing speed to zero). However, restarting is possible using the VSTART instruction after a stop due to the external STOP input, the stop command (M1800+20n) turning ON, or the rapid stop command (M1801+20n) turning ON during speed/position switching control.
  • Page 167 7. POSITIONING CONTROL 2) Incremental method ..Positioning control of the travel value from the stop address. Axis Stop position due to stop command Travel from address 1 Travel from address 2 Address 2 (start address after stop) Address 1 (start address) Axis To use the incremental method to travel to the original address (calculated from start address + designated travel value) from address 2, requires the following...
  • Page 168 7. POSITIONING CONTROL [Processing in the Sequence Program] 1. Before starting, transfer the start address to the servo system CPU word devices. 2. Add the travel value to the start address to calculate the target address. 3. Subtract the stop address from the target address to calculate the residual travel value.

  • Page 169: Acceleration And Deceleration Processing

    7. POSITIONING CONTROL 7.1.7 Acceleration and deceleration processing Acceleration and deceleration are processed by the two methods described below. (1) Trapezoidal acceleration and deceleration processing The conventional linear acceleration and deceleration processing. The acceleration and deceleration graph resembles a trapezoid, as shown in the diagram below.

  • Page 170: 1-Axis Linear Positioning Control

    7. POSITIONING CONTROL The S-curve ratio can be set by a servo program using one of two methods. (a) Direct designation The S-curve ratio is designated directly as a numeric value from 0 to 100. <K 10> 2-axes linear positioning control INC -2 Axis 100000...
  • Page 171 7. POSITIONING CONTROL 1-Axis Linear Positioning Control Positioning control of the designated axis from the current stop position to a fixed position. Positioning control uses ABS-1 (absolute data method) and INC-1 (incremental method) servo instructions. Items Set by Peripherals Common Parameter Block Others Number of...
  • Page 172 7. POSITIONING CONTROL Control with INC-1 (incremental method) (1) Positioning control of a designated travel value from the current stop position. (2) The travel direction is designated by the sign of the travel value, as follows: • Positive travel value .....forward direction (increased address) •...
  • Page 173 7. POSITIONING CONTROL [Program Example] This program conducts positioning control using servo program No. 0 under the conditions below. (1) System configuration 1-axis linear positioning control of Axis 4. A172SHCPUN A172S A172B Positioning start command (X000) MR-[]-B MR-[]-B MR-[]-B MR-[]-B Axis 1 Axis 2 Axis 3...
  • Page 174 7. POSITIONING CONTROL (4) Servo program example The servo program No. 0 for positioning control is shown below. <K 0 > ABS -1 1-axis linear positioning control Axis 80000 Axis used Axis Speed 10000 Positioning address 80000 Commanded speed 10000 (5) Sequence program example The sequence program which runs the servo program is shown below.

  • Page 175: 2-Axes Linear Interpolation Control

    7. POSITIONING CONTROL 2-Axes Linear Interpolation Control Linear interpolation control from the present stop position with the2-axes designated in the sequence program positioning commands. 2-axes linear interpolation control uses ABS-2 (absolute data method) and INC-2 (incremental method) servo instructions. Items Set by Peripherals Common Parameter Block Others...
  • Page 176 7. POSITIONING CONTROL Control with INC-2 (incremental method) (1) Positioning control from the current stop position to the position which is the resultant of the designated travel directions and travel values of the respective axes. (2) The travel direction of each axis is designated by the sign of the travel value, as follows: •...
  • Page 177 7. POSITIONING CONTROL [Program Example] This program conducts 2-axes linear interpolation control under the conditions below. (1) System configuration 2-axes linear interpolation control of Axis 3 and Axis 4. A172S A172SHCPUN A172B Positioning start command (X000) MR-[]-B MR-[]-B MR-[]-B MR-[]-B Axis 1 Axis 2 Axis 3...
  • Page 178 7. POSITIONING CONTROL (4) Operation timing The operation timing for 2-axes linear interpolation control is shown below. Servo program No. 11 PLC ready (M2000) All axes servo start command (M2042) All axes servo start accept flag (M2009) Positioning start command (X000) SVST instruction Axis 3 start accept flag (M2003) Axis 4 start accept flag (M2004)

  • Page 179: 3-Axes Linear Interpolation Control

    7. POSITIONING CONTROL 3-Axes Linear Interpolation Control Linear interpolation control from the present stop position with the 3-axes designated in the sequence program positioning commands. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes ABS-3 Absolute data...
  • Page 180 7. POSITIONING CONTROL Control with INC-3 (incremental method) (1) Positioning control from the current stop position to the position which is the resultant of the designated travel directions and travel values of the respective axes. (2) The travel direction of each axis is designated by the sign of the travel value, as follows: •...
  • Page 181 7. POSITIONING CONTROL [Program Example] This program conducts 3-axes linear interpolation control under the conditions below. (1) System configuration 3-axes linear interpolation control of Axis 1, Axis 2, and Axis 3. A172SHCPUN A172S A172B Positioning start command (X000) MR-[]-B MR-[]-B MR-[]-B MR-[]-B Axis 1...
  • Page 182 7. POSITIONING CONTROL (4) Operation timing The operation timing for 3-axes linear interpolation control is shown below. Servo program No. 21 PLC ready (M2000) All axes servo start command (M2042) All-axis servo start accept flag (M2009) Positioning start command (X000) SVST instruction Axis 1 start accept flag (M2001) Axis 2 start accept flag (M2002)
  • Page 183 7. POSITIONING CONTROL (6) Sequence program The sequence program which runs the servo program is shown below. M9039 M2000 Turns ON PLC ready. M9074 Turns ON all axes servo start M2042 command. X000 M9074 M2009 M9076 Turns ON servo program No. 11 start command flag (M1) when X000 turns OFF →...

  • Page 184: 4-Axes Linear Interpolation Control

    7. POSITIONING CONTROL 4-Axes Linear Interpolation Control Linear interpolation control from the current stop position with the 4-axes designated in the sequence program positioning commands. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes ABS-4 Absolute data...
  • Page 185 7. POSITIONING CONTROL [Program Example] This program conducts 4-axes linear interpolation control under the conditions below. (1) System configuration 4-axes linear interpolation control of Axis 1, Axis 2, Axis 3, and Axis 4. A172SHCPUN A172S A172B Positioning start command (X000) MR-[]-B MR-[]-B MR-[]-B...
  • Page 186 7. POSITIONING CONTROL Axis 2 positioning direction (Forward direction) Axis 3 positioning direction (Forward direction) Positioning by No. 22 servo 5000 program (Forward direction) Axis 4 positioning 5000 direction (Forward direction) Axis 1 positioning direction (Reverse direction) 5000 (Forward direction) (Reverse direction) (Reverse direction) Fig.
  • Page 187 7. POSITIONING CONTROL (5) Servo program The servo program No. 22 for 4-axes linear interpolation control is shown below. <K 22> INC -4 4-axes linear interpolation control Axis 3000 Axis used Axis Axis Axis Axis Axis 4000 Positioning address 3000 Axis Axis 4000...

  • Page 188: Circular Interpolation Using Auxiliary Point Designation

    7. POSITIONING CONTROL Circular Interpolation Using Auxiliary Point Designation Circular interpolation control by designating the end point address and auxiliary point address (a point on the arc). Circular interpolation control using auxiliary point designation uses ABS (absolute data method) and INC (incremental method) servo instructions.
  • Page 189 7. POSITIONING CONTROL (3) The setting range for the end point address and auxiliary point address is –2 to +2 –1. −1. (4) The maximum arc radius is 2 − 1 Maximum arc − 2 − 1 Radius R Arc center point Fig.
  • Page 190 7. POSITIONING CONTROL [Program Example] This program conducts circular interpolation control using auxiliary point designation under the conditions below. (1) System configuration Circular interpolation control of Axis 1 and Axis 2 using auxiliary point designation. A172SHCPUN A172S A172B Positioning start command (X000) MR-[]-B MR-[]-B MR-[]-B...
  • Page 191 7. POSITIONING CONTROL (4) Operation timing The operation timing for circular interpolation control using auxiliary point designation is shown below. Servo program No. 31 PLC ready (M2000) All axes servo start command (M2042) All-axis servo start accept flag (M2009) Positioning start command (X000) SVST instruction Axis 1 start accept flag (M2001) Axis 2 start accept flag (M2002)

  • Page 192: Circular Interpolation Using Radius Designation

    7. POSITIONING CONTROL Circular Interpolation Using Radius Designation Circular interpolation control by designating the end point and arc radius. Circular interpolation control using radius designation uses ABS , ABS , and ABS (absolute data method) and INC , INC , INC , and (incremental method) servo instructions.
  • Page 193 7. POSITIONING CONTROL [Control Details] Details of control with the servo instructions are shown in the table below. Servomotor Max. Controllable Instruction Positioning Path Direction of Rotation Angle of Arc Positioning path Start End point θ <180 ° point Clockwise Radius R Center point 0°<...
  • Page 194 7. POSITIONING CONTROL Control with ABS , ABS , ABS , , and ABS (absolute data method) (1) Circular interpolation of an arc of the designated radius from the current stop address (pre-positioning address) to the designated end point address, using the home position as the reference.
  • Page 195 7. POSITIONING CONTROL Control with INC , INC , INC , , and INC (incremental method) (1) Circular interpolation of an arc of the designated radius from the current stop address (0, 0) to the designated end point address. (2) The center of the arc lies at the point of intersection of the designated radius and the perpendicular bisector of the start point address (current stop address) to the end point address.
  • Page 196 7. POSITIONING CONTROL [Program Example] This program conducts circular interpolation control using radius designation under the conditions below. (1) System configuration Circular interpolation control of Axis 1 and Axis 2 using radius designation. A172SHCPUN A172S A172B Positioning start command (X000) MR-[]-B MR-[]-B MR-[]-B...
  • Page 197 7. POSITIONING CONTROL (4) Operation timing The operation timing for circular interpolation control using radius designation is shown below. Servo program No. 41 PLC ready (M2000) All axes servo start command (M2042) All-axis servo start accept flag (M2009) Positioning start command (X000) SVST instruction Axis 1 start accept flag (M2001) Axis 2 start accept flag (M2002)

  • Page 198: 7.8 Circular Interpolation Using Center Point Designation

    7. POSITIONING CONTROL 7.8 Circular Interpolation Using Center Point Designation Circular interpolation control by designating the end point and arc center point. Circular interpolation control using center point designation uses ABS (absolute data method) and INC and INC (incremental method) servo instructions.
  • Page 199 7. POSITIONING CONTROL Control with ABS and ABS (absolute data method) (1) Circular interpolation of an arc with a radius equivalent to the distance between the start point and center point, between the current stop address (pre- positioning address used as the start point address) and the designated end point address, using the home position as the reference.
  • Page 200 7. POSITIONING CONTROL Control with INC and INC (incremental method) (1) Circular interpolation of an arc from the current stop address (start point address, 0, 0) with a radius equivalent to the distance between the start point (0, 0) and center point. Forward direction Path of circular interpolation (for INC End address...
  • Page 201 7. POSITIONING CONTROL [Program Example] This program conducts circular interpolation control using center point designation under the conditions below. (1) System configuration Circular interpolation control of Axis 1 and Axis 2 using center point designation. A172SHCPUN A172S A172B Positioning start command (X000) MR-[]-B MR-[]-B MR-[]-B...
  • Page 202 7. POSITIONING CONTROL (4) Operation timing The operation timing for circular interpolation control using center point designation is shown below. Servo program No. 51 PLC ready (M2000) All axes servo start command (M2042) All-axis servo start accept flag (M2009) Positioning start command (X000) SVST instruction Axis 1 start accept flag (M2001) Axis 2 start accept flag (M2002)

  • Page 203: 7.9 1-Axis Fixed-Pitch Feed Control

    7. POSITIONING CONTROL 7.9 1-Axis Fixed-Pitch Feed Control Positioning control to move the axis designated with the sequence program positioning commands by the designated travel value from the current stop position. Fixed-pitch feed control uses the FEED-1 servo instruction. Items Set by Peripherals Common Parameter Block Others...
  • Page 204 7. POSITIONING CONTROL [Program Example] This program conducts repeated 1-axis fixed-pitch feed control under the conditions below. (1) System configuration Fixed-pitch feed control of Axis 4. A172SHCPUN A172S A172B Start command (X000) MR-[]-B MR-[]-B MR-[]-B MR-[]-B Axis 1 Axis 2 Axis 3 Axis (2) Fixed-pitch feed control conditions...
  • Page 205 7. POSITIONING CONTROL (4) Servo program The servo program No. 300 for fixed-pitch feed control is shown below. <K 300> FEED-1 1-asix fixed-pitch feed control Axis 80000 Axis used Axis 4 Speed 10000 Travel value 80000 Dwell 1000 Commanded speed 10000 Dwell 1000...

  • Page 206: Fixed-Pitch Feed Control Using 2-Axes Linear Interpolation

    7. POSITIONING CONTROL 7.10 Fixed-Pitch Feed Control Using 2-Axis Linear Interpolation Fixed-pitch feed control using 2-axes linear interpolation from the current stop position with the 2-axes designated in the sequence program positioning commands. Fixed-pitch feed control using 2-axes linear interpolation uses the FEED-2 servo instruction.
  • Page 207 7. POSITIONING CONTROL POINT (1) Do not set the travel value to zero for fixed-pitch feed control. The following results if the travel value is set to zero: (a) If both axes are set to zero, the fixed-pitch feed ends with no feed taking place.
  • Page 208 7. POSITIONING CONTROL (3) Operation timing The operation timing for fixed-pitch feed control using 2-axes linear interpolation is shown below. Servo program No.310 10000 PLC ready (M2000) All axes servo start command (M2042) All-axis servo start accept flag (M2009) Start command (X000) SVST instruction Axis 2 start accept flag (M2002) Axis 3 start accept flag (M2003)

  • Page 209: Fixed-Pitch Feed Control Using 3-Axes Linear Interpolation

    7. POSITIONING CONTROL 7.11 Fixed-Pitch Feed Control Using 3-Axes Linear Interpolation Fixed-pitch feed control using 3-axes linear interpolation from the current stop position with the 3-axes designated in the sequence program positioning commands. Fixed-pitch feed control using 3-axes linear interpolation uses the FEED-3 servo instruction.
  • Page 210 7. POSITIONING CONTROL POINT (1) Do not set the travel value to zero for fixed-pitch feed control. The following results if the travel value is set to zero: (a) If all 3-axes are set to zero, the fixed-pitch feed ends with no feed taking place.
  • Page 211 7. POSITIONING CONTROL (3) Operation timing The operation timing for fixed-pitch feed control using 3-axes linear interpolation is shown below. Servo program No.320 1000 PLC ready (M2000) All axes servo start command (M2042) All-axis servo start accept flag (M2009) Start command (X000) SVST instruction Axis 1 start accept flag (M2001) Axis 2 start accept flag (M2002)

  • Page 212: Speed Control (I)

    7. POSITIONING CONTROL 7.12 Speed Control (I) (1) Speed control of the axes designated in the sequence program positioning commands. (2) Control includes positioning loops for control of servo amplifiers. (3) Speed control (I) uses the VF (forward) and VR (reverse) servo instructions. Items Set by Peripherals Common Parameter Block...
  • Page 213 7. POSITIONING CONTROL (3) Stop commands and stop processing The stop commands and stop processing for speed control are listed in Figure 7.1. Fig. 7.1 Stop Commands and Stop Processing Stop Stop Command Stopped Axis Stop Processing Condition Deceleration stop according to the deceleration time on STOP input External STOP signal designated in the parameter block or by...
  • Page 214 7. POSITIONING CONTROL [Program Example] This program conducts speed control (I) under the conditions below. (1) System configuration Speed control (I) of Axis 1. A172S A172SHCPUN A172B Start/stop command (X000) MR-[]-B MR-[]-B MR-[]-B MR-[]-B Axis Axis Axis Axis (2) Speed control (I) conditions (a) The speed control (I) conditions are shown below.
  • Page 215 7. POSITIONING CONTROL (4) Servo program The servo program No. 91 for speed control (I) is shown below. <K 91 > Speed control (I) (Forward) Axis Axis used Axis 1 Speed 3000 Positioning speed 3000 (5) Sequence program The sequence program which runs the servo program is shown below. M9039 M2000 Turns ON PLC ready.

  • Page 216: Speed Control (Ii)

    7. POSITIONING CONTROL 7.13 Speed Control (II) (1) Speed control of the axes designated in the sequence program positioning commands. (2) Control does not include positioning loops for control of servo amplifiers. Use stopper control to prevent errors becoming excessive. (3) Speed control (II) uses the VVF (forward) and VVR (reverse) servo instructions.
  • Page 217 7. POSITIONING CONTROL [Program Example] This program conducts speed control (II) under the conditions below. (1) System configuration Speed control (II) of Axis 3. A172S A172SHCPUN A172B Start/stop command (X000) MR-[]-B MR-[]-B MR-[]-B MR-[]-B Axis Axis Axis Axis (2) Speed control (II) conditions (a) The speed control (II) conditions are shown below.
  • Page 218 7. POSITIONING CONTROL (4) Servo program The servo program No. 55 for speed control (II) is shown below. <K 55> Speed control(II) Forward Axis Axis used ……………..…… Axis 3 Speed 4000 Axis 3 Positioning speed … 4000 (5) Sequence program The sequence program which runs the servo program is shown below.

  • Page 219: Speed/Position Switching Control

    7. POSITIONING CONTROL 7.14 Speed/Position Switching Control 7.14.1 Starting speed/position switching control Speed/position switching control of the axes designated in the sequence program positioning commands. Speed/position switching control uses the VPF (forward), VPR (reverse), and VPSTART (restart) servo instructions. Items Set by Peripherals Common Parameter Block Others...
  • Page 220 7. POSITIONING CONTROL REMARKS (Note): The external CHANGE signal is an external input to the A172SENC DOG/CHENGE terminal. When "normally open contact input" is set in the system settings, CHANGE input occurs when the DOG/CHANGE signal comes ON, and when "normally closed contact input" is set, CHANGE input occurs when the DOG/CHANGE signal goes OFF.
  • Page 221 7. POSITIONING CONTROL POINT If control is started by turning M1812+20n ON, leave M1812+20n ON until positioning control is completed. The feed current value cannot be guaranteed if M1812+20n is turned OFF during control. (4) Changing travel value during speed control After speed/position switching control is started, the travel value for position control can be changed while speed control is in progress.
  • Page 222 7. POSITIONING CONTROL (b) The sequence program sets the travel value in the travel value change data register while speed control is in progress. When the external CHANGE signal turns ON, the contents of the travel value change data register are set as the travel value.
  • Page 223 7. POSITIONING CONTROL (3) If travel value under position control is less than deceleration distance (a) If the position control travel value is less than the deceleration distance at the controlled speed, deceleration processing starts immediately when CHANGE is input. (b) The difference between travel value for the deceleration stop and position control is the overrun.
  • Page 224 7. POSITIONING CONTROL (2) Positioning conditions (a) The positioning conditions are shown below. Item Setting Servo program number No. 101 Controlled axis Axis 4 Positioning control 40000 travel value Commanded speed 1000 (b) Positioning start command ......leading edge of X000 (OFF →...
  • Page 225 7. POSITIONING CONTROL (5) Sequence program The sequence program which runs the servo program is shown below. M9039 M2000 Turns ON PLC ready M9074 Turns ON all axes servo start command. M2042 X0000 M9074 M2009 M9076 Detects leading edge of X000 (OFF¨ ON) M101 Turns ON speed/position switching enable flag SET M1865...

  • Page 226: Restarting Speed/Position Switching Control

    7. POSITIONING CONTROL 7.14.2 Restarting speed/position switching control Restarting (continuing) speed/position switching control after a stop due to a stop command. Control is restarted using the VPSTART servo instruction. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction...
  • Page 227 7. POSITIONING CONTROL (b) If the stop occurred during position control, then position control continues until the positioning reaches the set travel value. The travel value after the restart is calculated as follows: Travel value Travel value Set travel = = = = + + + + after restart value (P)
  • Page 228 7. POSITIONING CONTROL [Program Example] This program restarts speed/position switching control after a stop, under the conditions below. (1) System configuration Speed/position switching control of Axis 4. A172S A172SHCPUN A172B Start command (X000), restart (X001), stop command (X002) CHANGE signal MR-[]-B MR-[]-B MR-[]-B...
  • Page 229 7. POSITIONING CONTROL (3) Operation timing The operation timing for speed/position switching control and restarting is shown below. CHANGE signal accept 1000 Position Speed control control PLC ready(M2000) All axes servo start command(M2042) All-axis servo start accept flag(M2009) Start command(X000) Restart command(X001) SVST instruction SVST instruction Axis 4 start accept flag(M2004)
  • Page 230 7. POSITIONING CONTROL (5) Sequence program The sequence program which runs the servo programs is shown below. M9039 Turns ON PLC ready. M2000 M9074 M2042 Turns ON all axes servo start command. X0000 M9074 M2009 M9076 Detects leading edge of X000 (OFF ¨ ON) M101 Turns ON speed/position switching enable M1865...

  • Page 231: Speed-Switching Control

    7. POSITIONING CONTROL 7.15 Speed-Switching Control (1) After a single control start, the speed is switched for positioning control to the preset speed-switching points. (2) The speed-switching points and speed are set by the servo program. (3) Repeated instructions permit repeated control between any speed-switching points.
  • Page 232 7. POSITIONING CONTROL [Control Details] Starting and ending speed-switching control Speed-switching control is started and ended using the following instructions: (1) VSTART Starts speed-switching control. (2) VEND Ends speed-switching control. End address and travel value to end point The speed-switching control end address and travel value to the end point, positioning method, and positioning speed to the end point are set using the following instructions: (1) ABS-1/INC-1...
  • Page 233 7. POSITIONING CONTROL Operation timing and the procedure to write servo programs The method to write servo programs for speed-switching control and the operation timing are shown in Figure 7.30. [Servo program] Start <K > Start speed-switching VSTART control ABS-2 Axis 75000 …P1...
  • Page 234 7. POSITIONING CONTROL [Cautions] (1) The number of controllable axes cannot be changed while control is in progress. (2) Designation of position switching points can use a combination of the absolute data method (ABS ) and the incremental method (INC ). (3) A speed-switching point cannot be designated as an address which results in a change in travel direction.
  • Page 235 7. POSITIONING CONTROL [Program Example] This program executes speed-switching control under the conditions below. (1) System configuration Speed-switching control of Axis 2 and Axis 3. A172S A172SHCPUN A172B Start command (X000) MR-[]-B MR-[]-B MR-[]-B MR-[]-B Axis Axis Axis Axis (2) Positioning conditions (a) The speed-switching control conditions are shown below.
  • Page 236 7. POSITIONING CONTROL (4) Servo program The servo program No. 500 for speed-switching control is shown below. <K500> Start speed-switching control VSTART ABS-2 2-axes linear interpolation control (absolute data method) Axis 100000 Axis used ……………Axis 2, Axis 3 Axis 50000 Speed 2000 Axis 2……100000...

  • Page 237: Setting Speed-Switching Points Using Repeat Instructions

    7. POSITIONING CONTROL 7.15.2 Setting speed-switching points using repeat instructions Repeated execution between any speed-switching points. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes A x i s p o s i t i o n i n g d i r e c t i o n 5 0 0 0 0 A x i s...
  • Page 238 7. POSITIONING CONTROL (3) FOR-OFF (loop-out trigger condition setting) (a) The set repeated range is executed while the designated bit device is OFF. (b) The following devices are available to set the loop-out trigger condition: 1) Input (X) 2) Output (Y) 3) Internal relay (M)/Special relay (SP.M) 4) Latch relay (L) 5) Link relay (B)
  • Page 239 7. POSITIONING CONTROL (3) Operation under condition 3 Minor error 215 generated X010→ON 2000 X011→OFF 1000 100000 200000 Error generated because the distance to the stop position exceeds the travel value. [Program example] This program executes repeated speed-switching control under the conditions below.
  • Page 240 7. POSITIONING CONTROL (3) Operation timing and speed-switching positions The operation timing for speed-switching control and the speed-switching points are shown below. Axis 3 positioning direction 100000 50000 Axis 2 50000 100000 150000 200000 positioning direction 50000 PLC ready(M2000) All axes servo start command (M2042) All-axis servo start accept flag(M2009) Start command (X000) SVST instruction...
  • Page 241 7. POSITIONING CONTROL (4) Servo program The servo program No. 501 for speed-switching control is shown below. <K 501> VSTART Start speed-switching control INC-2 2-axes linear interpolation control (incremental method) Axis 230000 Axis 100000 Axis used Axis 2, Axis 3 Speed 10000 End address...

  • Page 242: Constant-Speed Control

    7. POSITIONING CONTROL 7.16 Constant-Speed Control (1) After a single control start, positioning control is executed using the designated positioning method and positioning speed to the preset pass point. (2) The positioning method and positioning speed can be changed for each pass point.
  • Page 243 7. POSITIONING CONTROL [Operation Timing] The operation timing for constant-speed control is shown below. [Example: Operation timing for 2-axes constant-speed control] direction Axis 3 positioning 80000 60000 Positioning speed 100000 Axis 2 positioning direction for 2-axes linear 40000 60000 interpolation Speed after speed switching 15000...
  • Page 244 7. POSITIONING CONTROL [Caution] (1) The number of controllable axes cannot be changed while control is in progress. (2) Positioning control to the pass points can use a combination of the absolute data method (ABS ) and the incremental method (INC ). (3) A pass point can be designated as an address which results in a change in travel direction.
  • Page 245 7. POSITIONING CONTROL 2) If DSFLP/CHGV changed speed<servo program set speed The speed changed by the DSFLP/CHGV instructions is valid. Speed change due to commanded speed in servo program (speed set by the DSFLP/CHGV instructions is valid) Speed change by DSFLP/CHGV instructions (no change as speed exceeds servo program commanded speed) (5) An overrun occurs if the distance remaining to the final positioning point when the final positioning point is detected is less than the deceleration distance at...

  • Page 246: Setting Pass Points Using Repeated Instructions

    7. POSITIONING CONTROL 7.16.1 Setting Pass points using Repeated Instructions This section describes the method of designating the pass points used for repeated execution between pass points. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes...
  • Page 247 7. POSITIONING CONTROL (3) FOR-OFF (loop-out trigger condition setting) (a) The set repeated range is executed while the designated bit device is OFF. (b) The following devices are available to set the loop-out trigger condition: 1) Input (X) 2) Output (Y) 3) Internal relay (M)/Special relay (SP.M) 4) Latch relay (L) 5) Link relay (B)
  • Page 248 7. POSITIONING CONTROL [Program Example] This program executes repeated constant-speed control under the conditions below. (1) System configuration Constant-speed control of Axis 2 and Axis 3. A172S A172SHCPUN A172B Start command (X000) MR-[]-B MR-[]-B MR-[]-B MR-[]-B Axis Axis Axis Axis (2) Positioning conditions (a) The constant-speed control conditions are shown below.
  • Page 249 7. POSITIONING CONTROL (3) Operation timing The operation timing for constant-speed control is shown below. Axis 3 positioning direction 100000 80000 60000 40000 Radius 20000 20000 50000 100000 150000 200000 Axis 2 positioning direction 10000 PLC ready(M2000) All axes servo start command (M2042) All-axis servo start accept flag (M2009)
  • Page 250 7. POSITIONING CONTROL (4) Servo program The servo program No. 510 for constant-speed control is shown below. <K 510> CPSTART2 Start constant-speed control Axis Axes used Axis 2, Axis 3 Axis Positioning speed 10000 Speed 10000 ABS-2 Pass point setting Axis 40000 Axis...

  • Page 251: Speed Switching During Instruction Execution

    7. POSITIONING CONTROL 7.16.2 Speed switching during instruction execution The speed can be designated for each pass point during a constant-speed control instruction. The speed change from a point can be designated directly or indirectly in the servo program. [Cautions] (1) The speed can be changed during servo instruction execution for 1- to 4-axes constant-speed control.
  • Page 252 7. POSITIONING CONTROL [Program Example] This program turns ON M2016 during constant-speed control instruction execution and changes the speed, under the conditions below. (1) System configuration Switches speed for Axis 1 and Axis 2. A172SHCPUN A172S A172B Start command MR-[]-B MR-[]-B MR-[]-B MR-[]-B...
  • Page 253 7. POSITIONING CONTROL (3) Operation timing and speed-switching positions The operation timing and positions for speed switching are shown below. Axis 2 positioning direction 40000 20000 Center point Axis 1 positioning direction 20000 40000 15000 10000 Speed-switching designation flag (M2016) PLC ready (M2000) All axes servo start command (M2042) All-axis servo start accept flag (M2009)
  • Page 254 7. POSITIONING CONTROL (4) Servo program The servo program No. 310 for speed switching is shown below. <K 310> CPSTART2 Axis Axis Speed 10000 ABS-2 P1 designation Axis 20000 Axis 10000 P2 designation Axis 30000 Axis 20000 Center 30000 Center 10000 ABS-2 P3 designation...

  • Page 255: 1-Axis Constant-Speed Control

    7. POSITIONING CONTROL 7.16.3 1-axis constant-speed control Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes − ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ CPSTART1 Start − − ∆ CPEND ∆...
  • Page 256 7. POSITIONING CONTROL [Program Example] This program executes repeated 1-axis constant-speed control under the condi- tions below. (1) System configuration Constant-speed control for Axis 4. A172SHCPUN A172S A172B Positioning start command MR-[]-B MR-[]-B MR-[]-B MR-[]-B Axis 1 Axis 2 Axis 3 Axis (2) Positioning conditions (a) The constant-speed control conditions are shown below.
  • Page 257 7. POSITIONING CONTROL (4) Operation timing The operation timing for servo program No. 500 is shown below. 1) repeated 10000 -10000 PLC ready(M200) All axes servo start command (M2042) All-axis servo start accept flag (M2009) Start command (X000) SVST instruction Axis 4 start accept flag (M2004) (5) Servo program The servo program No.
  • Page 258 7. POSITIONING CONTROL (6) Sequence program The sequence program which runs the servo program is shown below. M9039 M2000 Turns ON PLC ready. M9074 Turns ON all axes servo start M2042 command. X000 M9074 M2009 M9076 M560 Turns ON servo program No. 500 start command flag (M561) when M560 X000 turns OFF →...

  • Page 259: 2- To 4-Axes Constant-Speed Control

    7. POSITIONING CONTROL 7.16.4 2- to 4-axes constant-speed control Constant-speed control for the 2, 3, or 4-axes designated with the sequence pro- gram positioning commands. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes ∆...
  • Page 260 7. POSITIONING CONTROL [Control Details] Starting and Ending 2- to 4-Axes Constant-Speed Control 2-, 3-, or 4-axes constant-speed control is started and ended using one of the fol- lowing instructions: (1) CPSTART2 Starts 2-axes constant-speed control. Sets the axis numbers used and the commanded speed. (2) CPSTART3 Starts 3-axes constant-speed control.
  • Page 261 7. POSITIONING CONTROL [Program Example] (1) This program executes 2-axes constant-speed control under the conditions below. (a) System configuration Constant-speed control for Axis 2 and Axis 3. A172SHCPUN A172S A172B Start command (X000) MR-[]-B MR-[]-B MR-[]-B MR-[]-B Axis 1 Axis 2 Axis 3 Axis 4 (b) Positioning conditions...
  • Page 262 7. POSITIONING CONTROL (c) Servo program Servo program No. 505 for constant-speed control is shown below. <K 505> Start constant-speed control CPSTART Axis used Axis Axis Axis Axis Positioning speed 10000 Speed 10000 2-Axes linear interpolation control ABS-2 30000 Axis Axis 40000 Positioning address...
  • Page 263 7. POSITIONING CONTROL [Program Example] (2) This program executes 4-axes constant-speed control under the conditions below. (a) System configuration Constant-speed control for Axis 1, Axis 2, Axis 3, and Axis 4. A172SHCPUN A172S A172B Start command (X000) MR-[]-B MR-[]-B MR-[]-B MR-[]-B Axis 1 Axis 2...
  • Page 264 7. POSITIONING CONTROL Axis 2 positioning direction (Forward direction) 10000 Axis 3 positioning direction (Forward direction) 10000 5000 5000 Axis 1 positioning Axis 4 positioning direction direction (Forward direction) (Forward direction) (Reverse direction) 5000 10000 (Reverse direction) Fig. 7.32 Positioning by 4-Axes Constant-Speed Control (c) Positioning conditions 1) The constant-speed control conditions are shown below.
  • Page 265 7. POSITIONING CONTROL (d) Servo program The servo program No. 506 for constant-speed control is shown below. <K 506> CPSTART4 Start constant-speed control Axis Axes used Axis 1,Axis 2,Axis 3,Axis 4, Axis Axis Axis Positioning speed 10000 Speed 10000 4-axes linear interpolation control(P1) INC-4 Axis1 3000...

  • Page 266: Pass Point Skip Function

    7. POSITIONING CONTROL 7.16.5 Pass point skip function This is a function whereby, by setting a skip signal for each pass point associated with a constant speed control instruction, positioning at the current point can be canceled and positioning carried out at the next point. [Data setting] (1) Skip signal devices The following devices can be designated as skip signal devices.
  • Page 267 7. POSITIONING CONTROL CAUTION The operation that takes place on execution of a skip designated during constant speed control, when an axis for which "degree" is designated as the unit and which has no stroke range is in- cluded, is described here. If, under these conditions, there is an ABS instruction following the skip, the final positioning point and the travel distance in the program as a whole will be the same ragardless of whether the skip is executed or not.

  • Page 268: Fin Signal Wait Function

    7. POSITIONING CONTROL 7.16.6 FIN signal wait function This is a function whereby, when the FIN wait function is selected and an M-code is set for each point on the way, the end of processing of each point on the way is synchronized with the FIN signal, and positioning at the subsequent point is carried out when the FIN signal comes ON.
  • Page 269 7. POSITIONING CONTROL POINTS The fixed acceleration/deceleration method is a type of acceleration/ deceleration processing whereby even if the command speed changes, the time taken up by acceleration/deceleration remains fixed. Fixed acceleration/ deceleration time. (1) When the fixed acceleration/deceleration method is used, the following processing and parameters are invalidated.

  • Page 270: Position Follow-Up Control

    7. POSITIONING CONTROL 7.17 Position Follow-Up Control After a single control start, positioning occurs to the address set with the word de- vice of the servo system CPU designated in the servo program. Position follow-up control is started using the PFSTART servo program instruction. Items Set by Peripherals Common Parameter Block...
  • Page 271 7. POSITIONING CONTROL [Cautions] (1) The number of controllable axes is limited to one. (2) Only the absolute data method (ABS ) is used for positioning control to the pass points. (3) The speed can be changed after control is started. The changed speed remains valid until the stop command is input.
  • Page 272 7. POSITIONING CONTROL (3) Operation timing The operation timing for position follow-up control is shown below. Command in-position set value Positioning address (D50) PLC ready (M2000) PCPU ready (M9074) All axes servo start command (M2042) All-axis servo start accept flag (M2009) Start command (X000) SVST instruction Start accept flag (M2001+n)
  • Page 273 7. POSITIONING CONTROL (5) Sequence program The sequence program which runs the servo program is shown below. M9039 M2000 Turns ON PLC ready. M9074 Turns ON all axes servo start M2042 command. X0000 Transfers No. 100 servo program DMOV to D50 when X000 turns M1640 M2003 OFF →...

  • Page 274: Simultaneous Start

    7. POSITIONING CONTROL 7.18 Simultaneous Start After a single control start, the designated servo programs start simultaneously. Use the START instruction to simultaneously start servo programs. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes ∗...
  • Page 275 7. POSITIONING CONTROL [Program Example] This program executes simultaneous start under the conditions below. (1) System configuration Simultaneous start of Axis 1, Axis 2, Axis 3, and Axis 4. A172SHCPUN A172S A172B Start command (X000) MR-[]-B MR-[]-B MR-[]-B MR-[]-B involved in Axis simultaneous start Axis 1...
  • Page 276 7. POSITIONING CONTROL (5) Sequence program The sequence program which runs the servo program is shown below. M9039 M2000 Turns ON PLC ready. M9074 Turns ON all axes servo start M2042 command. X0000 M9074 M2009 M9076 M121 Turns ON servo program No. 121 start command flag (M122) when M121 X000 turns OFF →...

  • Page 277: Jog Operation

    7. POSITIONING CONTROL 7.19 JOG Operation Runs the set JOG operation. Individual start or simultaneous start can be used for JOG operation. JOG operation can be run from a sequence program or in a peripheral device test mode. (For information on running JOG operation in a peripheral device test mode, refer to the operation manual for the appropriate peripheral device.) To carry out JOG operation, the JOG operation must be set for each axis.

  • Page 278: Individual Start

    7. POSITIONING CONTROL 7.19.2 Individual start Starts JOG operation for the designated axes. JOG operation is controlled by the following JOG operation signals: • Forward JOG operation ... M1802+20n • Reverse JOG operation ... M1803+20n [Control Details] (1) JOG operation continues at the speed value stored in the JOG operation speed setting register while the JOG operation signal remains ON and a deceleration stop occurs when the JOG operation signal turns OFF.
  • Page 279 7. POSITIONING CONTROL [Cautions] (1) Forward JOG operation occurs if the forward JOG signal (M1802+20n) and re- verse JOG signal (M1803+20n) turn ON simultaneously for a single axis. When the axis decelerated to a stop after the forward JOG signal had turned OFF, reverse JOG operation is not performed if the reverse JOG signal is ON.
  • Page 280 7. POSITIONING CONTROL [Program Example] This program executes JOG operation under the conditions below. (1) System configuration JOG operation of Axis 4. A172SHCPUN A172S A172B Forward JOG operation command (X000) Reverse JOG operation command (X001) MR-[]-B MR-[]-B MR-[]-B MR-[]-B Axis 1 Axis 2 Axis 3 Axis 4...

  • Page 281: Simultaneous Start

    7. POSITIONING CONTROL 7.19.3 Simultaneous start Simultaneously starts JOG operation designated for multiple axes. [Control Details] (1) JOG operation continues at the speed value stored in the JOG operation speed setting register for each axis while the JOG simultaneous start command (M2015) remains ON, and a deceleration stop occurs when M2015 turns OFF.
  • Page 282 7. POSITIONING CONTROL [Program Example] This program executes simultaneous start of JOG operations under the conditions below. (1) System configuration JOG operation of Axis 1, Axis 2, and Axis 4. A172SHCPUN A172S A172B JOG operation command MR-[]-B MR-[]-B MR-[]-B MR-[]-B Axis 1 Axis 2 Axis 3...

  • Page 283: Manual Pulse Generator Operation

    7. POSITIONING CONTROL 7.20 Manual Pulse Generator Operation Positioning control according to the number of pulses input from the manual pulse generator. Simultaneous operation of 1 to 3-axes is possible with one manual pulse generator; the number of modules that can be connected is as shown below. Number Connectable to the Manual Pulse Generator [Control Details]...
  • Page 284 7. POSITIONING CONTROL (3) Setting the axes controlled by the manual pulse generator (a) The axes controlled by the manual pulse generator are set in the manual pulse generator axis setting register (D1012). The value is set as a maximum of three decimal digits, with each digit rep- resenting an axis from Axis 1 to Axis 4 / Axis 1 to Axis 8.
  • Page 285 7. POSITIONING CONTROL (5) At the leading edge of the manual pulse generator enable flag, a check is made in the manual pulse generator 1-pulse input magnification setting registers of the manual pulse generator input magnifications set for the appropriate axes. If an out-of-range value is detected, the manual pulse generator axis setting er- ror register (D9187) and manual pulse generator axis setting error flag (M9077) are set and a value of 1 is used for the magnification.
  • Page 286 7. POSITIONING CONTROL (7) Details of errors occurring during the setting of data for manual pulse generator operation are shown in the table below. Error Details Error Processing • Digit ignored where error occurred. A digit was set outside the •...
  • Page 287 7. POSITIONING CONTROL [Procedure for Manual Pulse Generator Operation] The procedure for manual pulse generator operation is shown below. Start Set manual pulse generator 1-pulse input magnification Set manual pulse generator using a sequence program operation axes Turn ON manual pulse generator enable flag Positioning by manual pulse generator...
  • Page 288 7. POSITIONING CONTROL [Program Example] This program executes manual pulse generator operation under the conditions below. (1) System configuration Manual pulse generator operation of Axis 1. A172SHCPUN A172S A172B • Manual pulse generator operation enable (X000) • Manual pulse generator operation complete (X001) Manual pulse generator MR-[]-B...

  • Page 289: Zeroing

    7. POSITIONING CONTROL 7.21 Zeroing (1) Use zeroing at power on and other times where confirmation that axes are at the machine home position is required. (2) The following three methods of zeroing are available: • Proximity dog method Used when not using an absolute position •...
  • Page 290 7. POSITIONING CONTROL (1) Setting the travel value after proximity dog (a) This parameter sets the travel value after the proximity dog turns ON for ze- roing using the count method. (b) After the proximity dog turns ON, the home position is the first zero point after travel by the set travel value is complete.

  • Page 291: Zeroing By The Proximity Dog Method

    7. POSITIONING CONTROL 7.21.2 Zeroing by the proximity dog method (1) Proximity dog method Using the proximity dog method, the home position is the first zero point after the proximity dog turns OFF. (2) Zeroing by the proximity dog method The zeroing operation using the proximity dog method is shown in Fig.
  • Page 292 7. POSITIONING CONTROL (b) Adjust the position where the proximity dog turns OFF, such that the zeroing second travel value becomes half the travel value for one revolution of the motor. A home position discrepancy equivalent to one revolution of the motor may occur if the zeroing travel value is less than half the travel value for one revolution of the motor.

  • Page 293: Zeroing By The Count Method

    7. POSITIONING CONTROL 7.21.3 Zeroing by the count method (1) Count method Using the count method, the home position is the first zero point after a designated distance (travel value after proximity dog turns ON) after the proximity dog turns ON. The travel value after the proximity dog turns ON is set in the table of zeroing data shown in section 7.21.1.

  • Page 294: Zeroing By The Data Set Method

    7. POSITIONING CONTROL 7.21.4 Zeroing by the data set method (1) Data set method The data set method is a zeroing method which does not use the proximity dogs. This method can be used with the absolute position system. (2) Zeroing by the data set method The address present value becomes the home position address when the zeroing operation is run with the DSFRP instruction.

  • Page 295: Zeroing Servo Program

    7. POSITIONING CONTROL 7.21.5 Zeroing servo program Zeroing uses the ZERO servo instruction. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes − ∆ ZERO ! : Must be set [Control Details] (1) Zeroing is carried out using the method designated in the zeroing data (see Section 7.21.1).
  • Page 296 7. POSITIONING CONTROL [Program Example] This program carries out zeroing using servo program No. 0, under the conditions below. (1) System configuration Zeroing of Axis 4. A172SHCPUN A172S A172B Zeroing command (X000) MR-[]-B MR-[]-B MR-[]-B MR-[]-B Axis 1 Axis 2 Axis 3 Axis 4 (2) Servo program example...

  • Page 297: High-Speed Oscillation

    7. POSITIONING CONTROL 7.22 High-Speed Oscillation Positioning of a designated axis is Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes − ∆ ∆ ∆ ∆ ∆ ! : Must be set ∆ : Set if required [Control details] The designated axis caused to oscillate on a designated sine wave.
  • Page 298 7. POSITIONING CONTROL [Notes] (1) If the amplitude setting is outside the permissible range, the servo program setting error "25" occurs and operation does not start. (2) If the starting angle setting is outside the permissible range, the servo program setting error "26"...
  • Page 299 8. AUXILIARY AND APPLIED FUNCTIONS 8. AUXILIARY AND APPLIED FUNCTIONS This section describes the auxiliary and applied functions available for positioning control by the servo system CPU. (1) Limit switch output function ............. Section 8.1 (2) M-code output function............Section 8.2 (3) Backlash compensation function ..........

  • Page 300: Auxiliary And Applied Functions

    8. AUXILIARY AND APPLIED FUNCTIONS Limit Switch Output Function The limit switch output function allows the A1SY42 output module or AY42 output module to output ON/OFF signals corresponding to the positioning address set for each axis. 8.1.1 Limit switch output data Initial Item Settings...
  • Page 301 8. AUXILIARY AND APPLIED FUNCTIONS (2) Limit Switch Enable/Disable Setting The following devices can be used to enable or disable the limit switch output from each axis or each point. Table 8.1 Limit Switch Enable/Disable Settings Setting Set Data/Device Processing Set Data Valid Timing Unit Used...

  • Page 302: M-Code Output Function

    8. AUXILIARY AND APPLIED FUNCTIONS M-Code Output Function An M-code is a code number between 0 and 255 which can be set for each positioning control. During positioning control execution, these M-codes are read by the sequence program to check the current servo program and to command auxiliary operations, such as clamping, drill rotation, and tool changing.
  • Page 303 8. AUXILIARY AND APPLIED FUNCTIONS (3) Resetting M-codes The M-codes can be reset by clearing the M-code output devices to zero. Use this method during positioning control to carry out operations unrelated to the servo program, such as when it has been difficult to output the M-code during the previous positioning control.

  • Page 304: Backlash Compensation Function

    8. AUXILIARY AND APPLIED FUNCTIONS Backlash Compensation Function The backlash compensation function compensates for the backlash amount in the mechanical system. When the backlash compensation amount is set, extra pulses equivalent to the backlash compensation amount are output after a change in travel direction resulting from positioning control, JOG operation, or manual pulse generator operation.
  • Page 305 8. AUXILIARY AND APPLIED FUNCTIONS (2) Backlash compensation processing The details of backlash compensation processing are shown in the table below. Table 8.2 Details of Backlash Compensation Processing Condition Processing • No backlash compensation if travel direction = zeroing First motion after power on direction.

  • Page 306: Torque Limit Function

    8. AUXILIARY AND APPLIED FUNCTIONS Torque Limit Function The torque limit function controls the torque generated by the servomotor within the set range. The torque is controlled to the set torque limit value if the torque required during positioning control exceeds the set limit value. (1) Torque limit value set range Set the torque limit value between 1% and 500% of the rated torque.
  • Page 307 8. AUXILIARY AND APPLIED FUNCTIONS Examples [Setting the torque limit value for speed switching control (VSTART)] (1) Servo program Torque setting to end point Parameter block 3 (P.B.3) set at start <K 11> F1 COMMAND SELECT POINT VSTART ITEM SET P.B.

  • Page 308: Electronic Gear Function

    8. AUXILIARY AND APPLIED FUNCTIONS Electronic Gear Function The electronic gear function changes the travel value per pulse. The electronic gear is set by setting the travel value per pulse (see Section 4.2.1). Using the electronic gear function allows positioning control without the need to select the encoder to match the mechanical system.
  • Page 309 8. AUXILIARY AND APPLIED FUNCTIONS The relationship between the commanded speed (positioning speed set in the servo program) and actual speed (actual positioning speed) is shown below for different electronic gear settings. • if electronic gear setting = 1, commanded speed = actual speed •...

  • Page 310: Absolute Positioning System

    8. AUXILIARY AND APPLIED FUNCTIONS Absolute Positioning System The absolute positioning system can be used for positioning control when using an absolute-position-compatible servomotor and MR-[ ]-B. Zeroing is not necessary using the absolute positioning system because after the machine position is initially established at system startup, the absolute position is sensed each time the power is turned on.
  • Page 311 8. AUXILIARY AND APPLIED FUNCTIONS (2) In the absolute positioning system, the absolute position may be lost under the following conditions: Re-establish the absolute position using zeroing or by aligning the machine position and using current value change. (a) After removing or replacing the battery unit. (b) On occurrence of a servo battery error (detected at servo amplifier power on).
  • Page 312 8. AUXILIARY AND APPLIED FUNCTIONS POINTS (1) The address setting range for absolute position system is −2147483648 to 2147483647. It is not possible to restore position commands that exceed this limit, or current values, after a power interruption. When performing an infinite feed operation, solve this problem by setting the units to degrees or by setting a rotary table (when using SV22).

  • Page 313: Skip Function

    8. AUXILIARY AND APPLIED FUNCTIONS Skip Function Based on an external input, the skip function halts the current positioning and executes the next positioning control. The servo system CPU can run the skip function according to the external STOP signal and the sequence program. (1) The procedure for using the skip function based on the external STOP signal and the sequence program is shown below.

  • Page 314: Teaching Function

    8. AUXILIARY AND APPLIED FUNCTIONS Teaching Function The teaching function allows the operator to teach the servo system CPU when the target position (address) is unknown or to align with an object. (1) Teaching methods Two teaching methods are available: "address teaching" and "program teaching."...

  • Page 315: High-Speed Reading Of Designated Data

    8. AUXILIARY AND APPLIED FUNCTIONS High− − − − Speed Reading of Designated Data This function stores the designated positioning data in the designated device (D, W) with the signal from an input module mounted on the motion base as the trigger.

  • Page 316: Servo Program Cancel/Start Function

    8. AUXILIARY AND APPLIED FUNCTIONS Servo Program Cancel/ / / / Start Function 8.10 This is a function for stopping a servo program being executed by means of a deceleration stop caused turning the cancel signal ON. When used in combination with "start"...
  • Page 317 8. AUXILIARY AND APPLIED FUNCTIONS [ [ [ [ Program example] ] ] ] A program example is shown bellow. <K 0> ABS-1 Axis 30000 Speed 5000 Cancel signal …. X0 Cancel X0000 Start …………….. K2 Start 8 − 19 Downloaded from ManualsNet.com search engine...

  • Page 318: Enhanced Current Value Control

    8. AUXILIARY AND APPLIED FUNCTIONS 8.11 Enhanced Current Value Control The following functions have been added to provide enhanced current value control when the ABS encode is used. (1) Enhanced functions (a) Function for checking the validity of an encoder during operation •...

  • Page 319: Appendices

    APPENDICES APPENDICES APPENDIX1 SCPU ERROR CODE LIST If an error occurs when the PLC is switched to the RUN status or is in the RUN status, the error indication and error code (including the step number) are stored in a special register by the self-diagnosis function. When an error occurs, refer to Table 1.1 for its cause and the corrective action to take.
  • Page 320 APPENDICES Table 1.1 Error Code List (Continued) Contents of Special Error Message Register Error Contents and Cause Corrective Action Status D9008 (BIN Value) "CHK FORMAT ERR." (1) An instruction other than an LDX, LDIX, ANDX, or (1) Check if any of items (1) to (6) in ANIX instruction (including NOP) has been included the column to the left apply to the in the same ladder block as a CHK instruction.
  • Page 321 APPENDICES Table 1.1 CPU Error Code List (Continued) Contents of Special Error Message Register Error Contents and Cause Corrective Action Status D9008 (BIN Value) "UNIT VERIFY ERR." The I/O information does not match a loaded module (1) The bit in special registers D9116 when the power is switched ON.
  • Page 322 APPENDICES Table 1.1 CPU Error Code List (Continued) Contents of Special Error Message Register Error Contents and Cause Corrective Action Status D9008 (BIN Value) "SP.UNIT ERROR" (1) A location where there is no special function module (1) Read the error step using a pe- has been accessed (when the FROM, TO instruction ripheral device, check the contents Stopped...

  • Page 323: Appendix2 Error Codes Stored By The Pcpu

    APPENDICES APPENDIX2 ERROR CODES STORED BY THE PCPU The errors that are detected at the PCPU are servo program setting errors and positioning errors. (1) Servo program setting errors Servo program setting errors are errors in the positioning data set in the servo program and are checked for when a servo program is started.
  • Page 324 APPENDICES <A172SHCPUN> Table 2.2 Error Code Registers, Error Flags Device Error Code Register Error Detection Error Signal Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Class Minor error D806 D826 D846 D866 D886 D906 D926...

  • Page 325: Servo Program Setting Errors (Stored In D9190)

    APPENDICES Servo Program Setting Errors (Stored in D9190) The error codes, error contents, and corrective actions for servo program setting errors are shown in Table 2.4. The "*" in error codes marked with an asterisk indicates the axis number (1 to 4/1 to 8). Error Code Stored in Error Name...
  • Page 326 APPENDICES Table 2.4 Servo Program Setting Error List (Continued) Error Code Stored in Error Name Error Contents Error Processing Corrective Action D9190 Torque limit value The torque limit value is set outside the range 1 Control is executed at the default value of Set the torque limit value in the setting error to 500.

  • Page 327: Minor Errors

    APPENDICES Minor Errors Minor errors are those that occur in the sequence program or servo program. The error codes for these errors are from 1 to 999. Minor errors include set data errors, positioning control start-up errors, positioning control errors, and control change errors. (1) Set data errors (1 to 99) These errors occur when the data set in the parameters for positioning control is not correct.
  • Page 328 APPENDICES (2) Positioning control start-up errors (100 to 199) The errors shown in this section are those detected when positioning control is started. Error codes, causes, processing, and corrective actions are shown in Table 2.6 below. *: When interpolation control is being executed, the error codes are stored in the error code storage areas of all the axes involved in the interpolation.
  • Page 329 APPENDICES Table 2.6 Positioning Control Start-Up Error List (100 to 199) (Continued) Control Mode Error Error Error Cause Corrective Action Code Processing • The set JOG speed is 0. • Set a correct speed Positioning control does (within the specified range). not start.
  • Page 330 APPENDICES (3) Positioning control errors (200 to 299) The errors shown in this section are those detected during positioning control. Error codes, causes and corrective actions are shown in Table 2.7. Table 2.7 Positioning Control Start-Up Error List (200 to 299) Control Mode Error Error...
  • Page 331 APPENDICES Table 2.7 Positioning Control Error List (200 to 299) (Continued) Control Mode Error Error Error Cause Corrective Action Code Processing • During positioning, an overrun occurs • Set a speed at which overrun does not Axis motion because the deceleration distance for the decelerates occur.
  • Page 332 APPENDICES (4) Errors occurring at current value changes and speed changes (300 to 399) The errors shown in this section are those that occur on execution of current value changes and speed changes. Error codes, causes, processing, and corrective actions are shown in table 2.8. Table 2.8 List of Errors that Occur at Current Value/Speed Changes Control Mode Error...
  • Page 333 APPENDICES (5) System errors (900 to 999) Table 2.9 System Error List (900 to 999) Control Mode Error Error Error Cause Corrective Action Code Processing • When the servo amplifier power is switched • Correct the motor type setting in the ON, the motor type set in the "system system settings.

  • Page 334: Major Errors

    APPENDICES Major Errors Major errors are caused by external input signals or by control commands from the SCPU. The error codes for major errors are 1000 to 1999. Major errors consist of control start-up errors, positioning errors, absolute system errors, and system errors. (1) Positioning control start-up errors (1000 to 1099) The errors shown in this section are those detected when positioning control is started.
  • Page 335 APPENDICES (2) Positioning control errors (1100 to 1199) The errors shown in this section are those detected during positioning. Error codes, error causes, error processing, and corrective actions are shown in Table 2.11. Table 2.11 Positioning Control Error List (1100 to 1199) Control Mode Error Error...
  • Page 336 APPENDICES (3) Absolute System Errors (1200 to 1299) The errors shown in this section are those detected in an absolute system. Error codes, error causes, error processing, and corrective actions are shown in Table 2.11. Table 2.12 Absolute System Error List (1200 to 1299) Control Mode Error Error...

  • Page 337: Servo Errors

    APPENDICES Servo Errors (1) Servo amplifier errors (2000 to 2799) The servo amplifier errors are errors detected by the servo amplifier and are assigned error codes 2000 to 2799. In the following tables, the types of servo amplifier are indicated for MR-[ ]-B. The servo error detection signal (M1608+20n) comes ON when a servo error occurs.
  • Page 338 APPENDICES Table 2.14 Servo Amplifier Error List (2000 to 2799) Error Cause Error Error When Error Checked Corrective Action Code Processing Name Description • The power supply voltage is less than • Measure the input voltage (R, S, T) with a 160 VAC.
  • Page 339 APPENDICES Table 2.14 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Error When Error Checked Corrective Action Code Processing Name Description • The frequency of ON/OFF switching of • Reduce the frequency of acceleration and the power transistor for regeneration is deceleration or feed speed while checking the too high.
  • Page 340 APPENDICES Table 2.14 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Error When Error Checked Corrective Action Code Processing Name Description • Error in data received from the servo • Check the connection of the motion bus cable. •...
  • Page 341 APPENDICES Table 2.14 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Error When Error Checked Corrective Action Code Processing Name Description • The droop pulses of the deviation • Check if there has been a collision at the counter exceeded the error excessive machine.
  • Page 342 APPENDICES Table 2.14 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Error When Error Checked Corrective Action Code Processing Name Description • Out-of-range parameter setting has • Check the servo parameter setting range. been designated. Incorrect parameter values are ignored and the values before setting are retained.
  • Page 343 APPENDICES Table 2.14 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Error When Error Checked Corrective Action Code Processing Name Description • The set parameter values are incorrect. • When the servo amplifier • Check and change the set parameter values, •...

  • Page 344: Pc Link Communication Errors

    APPENDICES PC Link Communication Errors Table 2.15 PC Link Communication Error Codes Error Codes Error Description Action to Take Stored in D9196 • Check whether the PC has been switched A receiving packet for PC link communication does not arrive. •...

  • Page 345: 2.6 Led Indications When Errors Occur At The Pcpu

    APPENDICES 2.6 LED Indications when Errors Occur at the PCPU When the errors listed below occur, they are indicated by the "ERROR" LED on the front panel of the A172SHCPUN, and the LED on the front panel of the A171SHCPUN. The error message can be read on the error list monitor screen of the peripheral device.

  • Page 346: Appendix3 Special Relays And Special Registers

    APPENDICES APPENDIX3 SPECIAL RELAYS AND SPECIAL REGISTERS Special Relays (SP, M) The special relays are internal relays with fixed applications in the programmable controller. Accordingly, they must not be turned ON and OFF in sequence programs (those marked (Note-1) and (Note-2) in the table are exceptions). Table 3.1 Special Relay List Number Name...
  • Page 347 APPENDICES Table 3.1 Special Relay List (Continued) Number Name Stored Data Explanation Writes the clock data stored in D9025 to D9028 to the clock devices (Note- M9025 OFF No processing Clock data set request after execution of the END instruction in the scan in which M9025 is Data set request switched ON.
  • Page 348 APPENDICES Table 3.1 Special Relay List (Continued) Number Name Stored Data Explanation OFF STEP RUN not in effect M9054 STEP RUN flag ON when the RUN/STOP key switch is set to the RUN position. STEP RUN in effect Status latch completion OFF Not completed Comes when...

  • Page 349: Special Registers (Sp.d)

    APPENDICES Special Registers (SP.D) The special registers are data registers used for specific purposes in the programmable controller. Therefore, do not write data to the special registers in the program (with the exception of those whose numbers are (Note-2) in the table). Of the special relays, those from D9180 to D9199 are used for positioning control.
  • Page 350 APPENDICES Table 3.2 Special Register List Number Name Stored Data Explanation The CPU operation states indicated in the figure below are stored in D9015. B12 B11 B8 B7 B4 B3 Remains unchanged in key switch remote run/stop mode STOP CPU operating Remote RUN/STOP by parameter setting D9015 Operating states of CPU...
  • Page 351 APPENDICES Table 3.2 Special Register List Number Name Stored Data Explanation The year (last two digits) and month are stored in BCD code in D9025 as shown below. B4 B3 (Note- Example D9025 Clock data Clock data (year, month) : July, 1993 H 9307 Year Month...
  • Page 352 APPENDICES Table 3.2 Special Register List Number Name Stored Data Explanation D9091 Detailed error Self-diagnostic detailed error The detailed error number when a self-diagnostic error occurs is stored. D9092 numbers numbers Output module numbers of the (in units of 16 points) of output modules whose fuses have blown or whose external power supply has been switched OFF are entered in a bit pattern.
  • Page 353 APPENDICES POINTS (1) All special register data is cleared by the power-off, latch clear, and reset operations. The data is retained when the RUN/STOP key switch is set to STOP. (2) The contents of the special relays (Note-1) in the table above are not cleared even after the normal status is restored.
  • Page 354 APPENDICES Table 3.3 Special Register List Number Name Stored Data Explanation The status of output (ON/OFF) to limit switch output AY42 set with a peripheral device is stored as "1" or "0". 1: ON 0: OFF These registers can be used to output limit switch output data to an external device using the sequence program.
  • Page 355 APPENDICES Table 3.3 Special Register List (Continued) Number Name Stored Data Explanation On switching the power ON or resetting, the servo amplifier type set in the system settings is set in these devices. (1) When an A172SHCPUN is used b15 to b12 b11 to b8 b7 to b4 b3 to b0 Axis 4...
  • Page 356 APPENDICES Table 3.3 Special Register List (Continued) Number Name Stored Data Explanation Stores the data of axes being operated when the test mode request error flag (M9078) comes ON. (1) When an A172SHCPUN is used D9188 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Stores the operating/stopped...

  • Page 357: Appendix4 Example Programs

    APPENDICES APPENDIX4 EXAMPLE PROGRAMS Word Data 1 Word Shift to Left (1) A program for shifting to the left a range of devices that comprises n points and starts with a designated word device is shown here. Shift range (n) D+(n-1) D+(n-2) D+(n-3) D +2 Before...
  • Page 358 APPENDICES Example (1) A program that shifts the contents of D683 to D689 one word to the left at the leading edge (OFF→ON) of XB is shown here. [Operation] Shift range D689 D688 D687 D686 D685 D684 D683 Before −100 −336 −32765 3802...

  • Page 359: Word Data 1 Word Shift To Right

    APPENDICES Word Data 1 Word Shift to Right (1) A program for shifting to the right a range of devices that comprises n points and starts with a designated word device is shown here. Shift range (n) D+(n-1) D+(n-2) D+(n-3) Before execution 0 is entered here...
  • Page 360 APPENDICES Example (1) A program that shifts the contents of D683 to D689 one word to the right at the leading edge (OFF→ON) of XB is shown here. [Operation] Shift range D689 D688 D687 D686 D685 D684 D683 Before −100 −336 −32765 3802...

  • Page 361: Reading M-Codes

    APPENDICES Reading M-Codes An example of a program for reading an M-code on completion of positioning start or on completion of positioning is shown here. The distinction between positioning start completion and positioning completion is made with the following signals. •...

  • Page 362: Error Code Reading

    APPENDICES Error Code Reading A program that reads the error code when an error occurs is shown here. The following signals are used to determine whether or not an error has occurred: • Minor errors, major errors....Error detection signal (M1607+20n) •...
  • Page 363 APPENDICES Magnitude Comparison and Four Fundamental Operations of 32-Bit Monitor Data When a machine value, real current value or deviation counter value is used to perform magnitude comparison or four fundamental operations, the value must be transferred to another device memory once and the device memory of the transfer destination be used to perform processing as described below.
  • Page 364 APPENDICES (2) Four fundamental operations example To divide the real current value by the set value Execution command DMOVP S D / D1 D2 D3 1) S, D1, D2 and D3 indicate the following. S : Real current value D1 : Device memory for temporary storage D2 : Division D3 : Operation result storage device APP −...

  • Page 365: Appendix 5 Setting Range Of Indirectly Designated Devices

    APPENDICES APPENDIX 5 SETTING RANGE OF INDIRECTLY DESIGNATED DEVICES All settings by servo programs (positioning address, commanded speed, M-code, etc.) can be designated indirectly by PLC devices, excluding the axis numbers. (1) Device range The number of device words and device range in indirect designation are shown below.
  • Page 366 APPENDICES POINT Be sure to designate even-numbered devices for 2-word designation items. Be sure to use the DMOV(P) instruction when setting data in these devices by sequence programs. (2) Device data fetch Data for indirectly designated devices is fetched by the PCPU at the start of the servo program.

  • Page 367: Appendix 6 Processing Times

    APPENDICES APPENDIX 6 PROCESSING TIMES The following tables list the processing time of each instruction for positioning control in the servo system CPU. (1) Motion operation cycle (ms) A172SH A171SH Number of set axes 1 to 8 1 to 4 Operation cycle 3.5ms 3.5ms...
  • Page 368 APPENDICES (4) Axis status SV13D SV13G Axis Device Device Signal Name Number Number M1600 M1600 Signal Refresh Fetch Signal Name M1619 M1619 Direction Cycle Cycle Positioning start completed M1620 M1620 Positioning completed M1639 M1639 In-position Command in-position 3.5ms M1640 M1640 Speed control in progress M1659 M1659...
  • Page 369 APPENDICES (6) Axis monitor devices SV13D SV13G Axis Device Device Signal Name Number Number D800 D800 Signal Refresh Fetch Signal Name Unit D819 D819 Direction Cycle Cycle Comman D820 D820 Feed current value d unit D839 D839 Comman Actual current value 3.5ms d unit D840...
  • Page 370 APPENDICES (8) Common devices A172SHCPUN A171SHCPUN Device Refresh Fetch Device Refresh Fetch Signal Name Signal Direction Signal Name Signal Direction Number Cycle Cycle Number Cycle Cycle M1960 M1960 M1961 M1961 M1962 M1962 M1963 M1963 M1964 M1964 M1965 M1965 M1966 M1966 M1967 M1967 M1968...
  • Page 371 APPENDICES A172SHCPUN A171SHCPUN Device Signal Refresh Device Signal Refresh Signal Name Fetch Cycle Signal Name Fetch Cycle Number Direction Cycle Number Direction Cycle D1008 D1008 Limit switch output disable SCPU 3.5ms →PCPU D1009 D1009 setting register (2 points) Limit switch output disable 3.5ms setting register (4 points) D1010...
  • Page 372 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 TELEX: J24532 CABLE MELCO TOKYO NAGOYA WORKS : 1-14 , YADA-MINAMI 5 , HIGASHI-KU , NAGOYA , JAPAN IB (NA) 67396-C (0107) MEE Printed in Japan Specifications subject to change without notice.

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A172shcpunA171shcpun

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