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Mitsubishi Electric MELSEC iQ-R Series User Manual
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Mitsubishi Electric MELSEC iQ-R Series User Manual

Mitsubishi Electric MELSEC iQ-R Series User Manual

Simple motion module
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MELSEC iQ-R Simple Motion Module
User's Manual (Advanced Synchronous Control)
-RD77MS2
-RD77MS4
-RD77MS8
-RD77MS16
-RD77GF4
-RD77GF8
-RD77GF16
-RD77GF32

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Summary of Contents for Mitsubishi Electric MELSEC iQ-R Series

  • Page 1 MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control) -RD77MS2 -RD77GF4 -RD77MS4 -RD77GF8 -RD77MS8 -RD77GF16 -RD77MS16 -RD77GF32...

  • Page 3: Safety Precautions

    (Read these precautions before using this product.) Before using MELSEC iQ-R series programmable controllers, please read the manuals for the product and the relevant manuals introduced in those manuals carefully, and pay full attention to safety to handle the product correctly. If the equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.
  • Page 4 [Design Precautions] WARNING ● Configure a circuit so that the external power supply is turned off first and then the programmable controller. If the programmable controller is turned off first, an accident may occur due to an incorrect output or malfunction. ●...
  • Page 5 [Design Precautions] WARNING ● If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo amplifier and servo motor, make sure that the safety standards are satisfied. ● Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the module or servo amplifier differs from the safety directive operation in the system.
  • Page 6 [Installation Precautions] WARNING ● Shut off the external power supply (all phases) used in the system before mounting or removing the module. Failure to do so may result in electric shock or cause the module to fail or malfunction. [Installation Precautions] CAUTION ●...
  • Page 7 [Wiring Precautions] CAUTION ● Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction. ● Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.
  • Page 8 [Startup and Maintenance Precautions] WARNING ● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction. ● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so will cause the battery to produce heat, explode, ignite, or leak, resulting in injury and fire.
  • Page 9 For details on how to eliminate static electricity from the module, refer to the following. Antistatic Precautions Before Using MELSEC iQ-R Series Products (FA-A-0368) ● Use a clean and dry cloth to wipe off dirt on the module.
  • Page 10 Cautions When Using Mitsubishi Programmable Controllers or GOTs Connected to a Personal Computer With the RS-232/USB Interface (FA-A-0298) When the USB cable used is the GT09-C30USB-5P manufactured by Mitsubishi Electric, specific measures are not required to connect the AC-powered personal computer to the module. However, note that the signal ground (SG) is common for the module and its USB interface.
  • Page 11 [Disposal Precautions] CAUTION ● When disposing of this product, treat it as industrial waste. ● When disposing of batteries, separate them from other wastes according to the local regulations. For details on battery regulations in EU member states, refer to the MELSEC iQ-R Module Configuration Manual.

  • Page 12: Introduction

    INTRODUCTION Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers. This manual describes the functions and programming of the relevant products listed below. Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly.

  • Page 13: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 INTRODUCTION .
  • Page 14 Smoothing method for clutch............. . . 118 Use example of clutch .

  • Page 15: Relevant Manuals

    This manual does not include information on the module function blocks. For details, refer to the Function Block Reference for the module used. e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool.

  • Page 16: Terms

    GX Works3 The product name of the software package for the MELSEC programmable controllers Intelligent function module A MELSEC iQ-R series module that has functions other than input and output, such as an A/D converter module and D/A converter module Label...

  • Page 17: Chapter 1 Outline Of Advanced Synchronous Control

    OUTLINE OF ADVANCED SYNCHRONOUS CONTROL The outline, specifications and the operation method of synchronous control using the Simple Motion module are explained in this chapter. This chapter helps to understand what can be done using the positioning system and which procedure to use for a specific purpose.
  • Page 18 *1 It is possible to drive the servo input axis except for the positioning control (home position return, manual control, speed-torque control, synchronous control). For details on the positioning control, the home position return, the manual control and the speed-torque control, refer to the following manual.
  • Page 19 ■Input axis • Input axis module Name Parts Function description Maximum number of usable Reference per module per axis 2-axis 4-axis 8-axis 16-axis 32-axis module module module module module [RD77MS] [RD77GF] Servo input • Used to drive the input axis Page 28 ...
  • Page 20 • Auxiliary shaft module Name Parts Function description Maximum number of usable Reference per module per axis 2-axis 4-axis 8-axis 16-axis 32-axis module module module module module [RD77MS] [RD77GF] Auxiliary • The input axis of the auxiliary Page 102 shaft axis shaft module.

  • Page 21: Performance Specifications

    Performance Specifications Performance specifications Item Number of settable axes 2-axis module 4-axis module 8-axis module 16-axis 32-axis [RD77MS] module module [RD77GF] Input axis Servo input axis 2 axes/module 4 axes/module 8 axes/module 16 axes/module 32 axes/module Synchronous RD77MS 4 axes/module ...
  • Page 22 ■Stroke ratio data format • RD77MS Cam resolution Maximum number of cam registration Cam storage area Cam open area 1024 2048 4096 8192 16384 32768 • RD77GF Cam resolution Maximum number of cam registration Cam storage area Cam open area 1024 1024 1024...
  • Page 23 Cam operation specifications Item Specification Operation method of cam data (1) Engineering tool Write/read/verify to cam storage area (2) Via buffer memory (Cam data operation function) Write/read to cam storage area and cam open area Cam auto-generation function Automatically generate the following cams. •...

  • Page 24: 1.3 Operation Method Of Synchronous Control

    Operation Method of Synchronous Control Synchronous control execution procedure The synchronous control is executed using the following procedure. Set the following parameters. STEP 1 One of the following two methods can be used. • Common parameters ([Pr.24], [Pr.82], [Pr.89], Preparation [Pr.96], [Pr.97], [Pr.150] to [Pr.153]) <Method 1>...

  • Page 25: Starting/Ending For Synchronous Control

    Precautions • Mechanical elements such as limit switches are considered as already installed. • Parameter settings for positioning control apply for all axes with the Simple Motion module. • Be sure to execute the home position return when the home position return request flag is ON. Starting/ending for synchronous control Set the advanced synchronous control parameters for each output axis to start synchronous control.
  • Page 26 Starting method for synchronous control Synchronous control can be started by turning the target axis bit from OFF to ON in "[Cd.380] Synchronous control start" after setting the advanced synchronous control parameters. "5: Analyzing" is set in "[Md.26] Axis operation status" at the synchronous control start, and the advanced synchronous control parameters are analyzed.
  • Page 27 • If bit for multiple axes are turned ON simultaneously in "[Cd.380] Synchronous control start", control is not started simultaneously since the analysis is processed for each axis in numerical order. When multiple axes must be started simultaneously, start the input axis operation after confirming that all axes are configured for the synchronous control.

  • Page 28: Stop Operation Of Output Axis

    Stop operation of output axis If the following causes occur in stopping the output axis during synchronous control, synchronous control is completed after stops processing for the output axis (BUSY signal is OFF, axis operation status is standby). Synchronous alignment must be executed for the output axis to restart the synchronous control (Page 126 Output Axis Module).
  • Page 29 Deceleration stop The output axis stops with deceleration according to the setting in "[Pr.37] Stop group 1 rapid stop selection" to "[Pr.39] Stop group 3 rapid stop selection". The deceleration time set in "[Pr.446] Synchronous control deceleration time" is used for deceleration stop, and the shorter time set for the rapid stop time between "[Pr.36] Rapid stop deceleration time"...

  • Page 30: Chapter 2 Input Axis Module

    INPUT AXIS MODULE The settings for the parameter and monitor data for the input axis module that used with synchronous control are explained in this chapter. Refer to the following manual for details on the connection and control for the servo amplifier and the synchronous encoder that are used for input axis module.
  • Page 31 If "1: Command position value" or "2: Actual position value" is set in "[Pr.300] Servo input axis type", set "1: Update command position value" in "[Pr.21] Command position value during speed control" to start the speed position change control. If "0: Do not update command position value" or "2: Clear command position value to zero"...

  • Page 32: Servo Input Axis Parameters

    Servo input axis parameters n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32 [Pr.300] •...
  • Page 33 [Pr.301] Servo input axis smoothing time constant Set the averaging time to execute a smoothing process for the input movement amount from the servo input axis. The smoothing process can moderate speed fluctuation, when the "Actual position value" or "Feedback value" is used as input values.
  • Page 34 [Pr.304] Servo input axis rotation direction restriction Set this parameter to restrict the input movement amount for the servo input axis to one direction. This helps to avoid reverse operation caused by such as machine vibration when "Actual position value" or "Feedback value" is used as input values.

  • Page 35: Servo Input Axis Monitor Data

    Servo input axis monitor data n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Monitor item Storage details Monitor value Buffer memory address Axis 1 to Axis 17 to axis 16 axis 32 [Md.300] •...
  • Page 36 [Md.303] Servo input axis rotation direction restriction amount While the rotation direction is restricted for a servo input axis, the accumulation for input movement amount in the opposite direction of the enabled direction is stored in servo input axis position units (Page 29 Servo input axis position units) as follows.

  • Page 37: Synchronous Encoder Axis

    Synchronous Encoder Axis Overview of synchronous encoder axis The synchronous encoder is used to drive the input axis based on input pulse from a synchronous encoder that is connected externally. The status of a synchronous encoder axis can also be monitored after the system's power supply turns ON. [Pr.24] Manual pulse generator/Incremental synchronous encoder input selection [Pr.89] Manual pulse generator/Incremental...
  • Page 38 Synchronous encoder axis type The following 4 types of synchronous encoders can be used for the synchronous encoder axis. Refer to the following for the setting method for each synchronous encoder axis. Page 38 Setting method for synchronous encoder Synchronous encoder axis type Details Incremental synchronous encoder The incremental synchronous encoder that is connected to the manual pulse generator/incremental synchronous...
  • Page 39 ■Synchronous encoder axis speed units Setting value of "[Pr.321] Synchronous encoder axis unit Synchronous encoder Range setting" axis speed unit Control unit Speed time unit Number of decimal places for speed 0: mm 0: second [s] mm/s -2147483648 to 2147483647 [mm/s] ...

  • Page 40: Setting Method For Synchronous Encoder

    Setting method for synchronous encoder Incremental synchronous encoder [RD77MS] ■Setting method Connect the synchronous encoder to the "Manual pulse generator/Incremental synchronous encoder input" of the Simple Motion module. Set the input method for the incremental synchronous encoder signal using the following parameters. (It may be common to use the same set up for the manual pulse generator input.) •...
  • Page 41 Synchronous encoder via servo amplifier There are restrictions in the function and the encoder that can be used by the version of the servo amplifier. ■Setting method Used to use a rotary encoder connected to the servo amplifier which supports the scale measurement mode as a synchronous encoder axis.
  • Page 42 When "1_ _ _H" is set in the servo parameter "Scale measurement function selection (PA22)" and the synchronous encoder movement amount (encoder pulse units) on disconnection or during the power supply OFF exceeds "2147483647" or "-2147483648", the synchronous encoder axis position value is restored with its opposite sign.
  • Page 43 ■Setting example (When MR-J4-B-RJ is connected) [RD77MS] The following shows an example for setting a serial absolute synchronous encoder Q171ENC-W8 using MR-J4-B-RJ as synchronous encoder axis 1 of the Simple Motion module. RD77MS RD77MS4 MR-J4-B-RJ Q171ENC-W8 (4194304 pulses/rev) Axis 1 Axis 2 Axis 3 Synchronous encoder axis 1...
  • Page 44 ■Restrictions • The servo amplifier axis selected as "Synchronous encoder via servo amplifier" in"[Pr.320] Synchronous encoder axis type" does not operate in the fully closed control mode even though "_ _1_H" is set in the servo parameter "Operation mode selection (PA01)". •...
  • Page 45 Synchronous encoder via CPU (Synchronous encoder via CPU module) ■Setting method Used to operate a gray code encoder that is connected to the input module of the CPU module as a synchronous encoder axis. By setting "201: Synchronous encoder via CPU" in "[Pr.320] Synchronous encoder axis type", the synchronous encoder is controlled by the encoder value which is the input value of "[Cd.325] Input value for synchronous encoder via CPU".
  • Page 46 ■Restrictions • "[Cd.325] Input value for synchronous encoder via CPU" is taken every operation cycle, but it is asynchronous with the scan time of the CPU module. Therefore, speed fluctuation of the synchronous encoder axis becomes larger if the refresh cycle of "[Cd.325] Input value for synchronous encoder via CPU"...
  • Page 47 Synchronous encoder via link device [RD77GF] ■Setting method Used to operate an incremental synchronous encoder that is connected to the high-speed counter module on the CC-Link IE Field Network as a synchronous encoder axis. By setting "301: Synchronous encoder via link device" in "[Pr.320] Synchronous encoder axis type", the link device assigned to the synchronous encoder input axis can be used by the link device external signal assignment function.
  • Page 48 ■Restrictions • When using the link device, the fetch timing of the signal disperses in one link scan cycle. • Set the movement amount per link scan so that the following formula is satisfied. If not, the actual movement amount of the synchronous encoder and the movement amount counted by the Simple Motion module might not be matched.

  • Page 49: Synchronous Encoder Axis Parameters

    Synchronous encoder axis parameters j: Synchronous encoder axis No. - 1 (j: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32 [Pr.320] •...
  • Page 50 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32 [Pr.329] • Set the resolution of the synchronous ■Set in decimal. 34734+20j 1034734+20j Resolution of encoder when the synchronous -2147483648 to 2147483647 [pulse] 34735+20j 1034735+20j...
  • Page 51 [Pr.323] Synchronous encoder axis unit conversion: Denominator The input movement amount of synchronous encoder is configured in encoder pulse units. The units can be arbitrarily converted through unit conversation with setting "[Pr.322] Synchronous encoder axis unit conversion: Numerator" and "[Pr.323] Synchronous encoder axis unit conversion: Denominator". Set "[Pr.322] Synchronous encoder axis unit conversion: Numerator"...
  • Page 52 [Pr.324] Synchronous encoder axis length per cycle Set the length per cycle for the synchronous encoder axis position value per cycle. The position value of synchronous encoder axis is stored in "[Md.321] Synchronous encoder axis position value per cycle" at ring counter based on the setting value.
  • Page 53 [Pr.325] Synchronous encoder axis smoothing time constant Set the averaging time to execute a smoothing process for the input movement amount from synchronous encoder. The smoothing process can moderate speed fluctuation of the synchronous encoder input. The input response is delayed depending on the time corresponding to the setting by smoothing process setting. Input value speed before smoothing Averaging by...
  • Page 54 [Pr.328] Synchronous encoder axis rotation direction restriction Set this parameter to restrict the input movement amount for the synchronous encoder axis to one direction. This helps to avoid reverse operation caused by such as machine vibration of synchronous encoder input. Setting value Details 0: Without rotation direction...

  • Page 55: Synchronous Encoder Axis Parameters Via Link Device [Rd77Gf]

    Synchronous encoder axis parameters via link device [RD77GF] j: Synchronous encoder axis No. - 1 (j: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32...
  • Page 56 • Set [Pr.710] to [Pr.714] when an arbitrary value of link device is used as synchronous encoder input. • Set [Pr.1010] to [Pr.1013] when an arbitrary value of link device is used as synchronous encoder axis start request. [Pr.710] Synchronous encoder axis: Link device type Set link device type for use.
  • Page 57 [Pr.1010] Synchronous encoder axis start request: Link device type Set link device type for use. Other than below: Invalid 11H: RX (1 bit) 12H: RY (1 bit) 13H: RWr (1 bit) 14H: RWw (1 bit) [Pr.1011] Synchronous encoder axis start request: Link device start No. Set link device No.

  • Page 58: Synchronous Encoder Axis Control Data

    Synchronous encoder axis control data j: Synchronous encoder axis No. - 1 (j: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32 [Cd.320]...
  • Page 59 [Cd.320] Synchronous encoder axis control start If set to "1", the synchronous encoder axis control is started. [Md.320] Synchronous encoder axis position value [Cd.320] Synchronous encoder axis control start [Cd.321] Synchronous encoder axis 0: Current value change control method [Cd.322] Synchronous encoder axis position value setting address [RD77MS] If set to "101 to 116", the synchronous encoder axis control starts based on the high-speed input request [DI] for the specified...
  • Page 60 [RD77GF] If set to "201", the synchronous encoder axis control starts based on the link device input assigned to the synchronous encoder axis start request by the link device external signal assignment function. Set the control method for the synchronous encoder axis in "[Cd.321] Synchronous encoder axis control method". The Simple Motion module resets the value to "0"...
  • Page 61 [Cd.324] Connection command of synchronous encoder via CPU Use this data when "201: Synchronous encoder via CPU" is set in "[Pr.320] Synchronous encoder axis type". If set to"1", the synchronous encoder axis is connected. Once connected, the synchronous encoder current value is restored based on the "[Cd.325] Input value for synchronous encoder via CPU".

  • Page 62: Synchronous Encoder Axis Monitor Data

    Synchronous encoder axis monitor data j: Synchronous encoder axis No. - 1 (j: Axis No. - 17 for axis 17 to axis 32) Monitor item Storage details Monitor value Buffer memory address Axis 1 to Axis 17 to axis 16 axis 32 [Md.320] •...
  • Page 63 [Md.322] Synchronous encoder axis speed The speed for a synchronous encoder axis is stored in synchronous encoder axis speed units (Page 37 Synchronous encoder axis speed units). If the speed for the synchronous encoder axis exceeds the monitor range (Page 35 Overview of synchronous encoder axis), the warning "Input axis speed display over"...
  • Page 64 [Md.326] Synchronous encoder axis error No. When an error for a synchronous encoder axis is detected, the error code corresponding to the error details is stored. If set to "1" in "[Cd.323]Synchronous encoder axis error reset", the value is set to "0". [Md.327] Synchronous encoder axis warning No.

  • Page 65: Chapter 3 Cam Function

    CAM FUNCTION The details on cam data and operation for cam function in the output axis (cam axis) are explained in this chapter. The cam function controls the output axis by creating cam data that corresponds to the operation. The functions to operate cam data include "Cam data operation function", "Cam auto-generation function", and "Cam position calculation function".
  • Page 66 Cam data The cam data used in the cam function includes "storage data" which is used for reading/writing with the engineering tool and "open data" which is transmitted to the internal memory at cam control. Storage data Open data  (Reading and writing not possible) Linear cam Stroke ratio data format Stroke ratio data format...
  • Page 67 ■Stroke ratio data format The stroke ratio data format is defined in equal divisions for one cam cycle based on the cam resolution, and configured with stroke ratio data from points within the cam resolution. Refer to the following for setting methods for cam data. Page 70 Create Cam Data Setting item Setting details...
  • Page 68 ■Coordinate data format The coordinate data format is defined in coordinates of more than 2 points for one cam cycle. The coordinate data is represented as "(Input value, Output value)". Input value: Cam axis position value per cycle Output value: Stroke position from cam reference position With this format, "[Pr.441] Cam stroke amount"...
  • Page 69 ■Auto-generation data format A cam pattern is created based on the specified parameter (data for auto-generation). Control cam data is created in the stroke ratio data format in the cam open area. Therefore, the operation specification during the control conforms to the cam operation in the stroke ratio data format.
  • Page 70 Cam reference position The cam reference position is calculated as shown below. ■Stroke ratio data format Cam reference position = The preceding cam reference position + (Cam stroke amount  Stroke ratio at the last point) ■Coordinate data format Cam reference position = The preceding cam reference position + Output value corresponding to "Input value = Cam axis length per cycle"...
  • Page 71 Cam data starting point This setting is only valid for cam data using the stroke ratio data format. The cam data point corresponding to "Cam axis position value per cycle = 0" can be set as the cam data starting point. The default value of the cam data starting point is 0.

  • Page 72: Create Cam Data

    Create Cam Data Memory configuration of cam data Cam data is arranged in the following 2 areas. Memory configuration Storage item Details Remark Cam storage area Cam data Data is written by the following operations. • Data is preserved even when turning the •...
  • Page 73 • RD77MS 2) Operation with buffer memory Simple Motion module Buffer memory [Cd.600] Cam data operation request (1: Read) Coordinate data [Cd.600] Cam data operation Stroke ratio request (1: Read) data Auto-generation data • Rotary cutter 1) Operation with an engineering tool [Cd.608] Cam auto- Auto-generation data...
  • Page 74 • RD77GF 2) Operation with buffer memory Simple Motion module Buffer memory [Cd.600] Cam data operation [Cd.600] Cam data operation request (4: Read) request (1: Read) Coordinate data [Cd.600] Cam data operation [Cd.600] Cam data operation request (4: Read) Stroke ratio request (1: Read) data Auto-generation...
  • Page 75 Cam data operation with an engineering tool Cam data can be modified while viewing the waveform with the engineering tool. The cam data is written/read/verified to the cam storage area with the engineering tool, however it cannot be executed to the cam open area.
  • Page 76 Password protection for cam data The cam data can be protected as shown below by password setting. Password setting Cam data operation with an engineering tool Cam data operation with buffer memory Password for read protection Cam data cannot be read without unlocking the password Reading cam data is not operated.

  • Page 77: Cam Data Operation Function

    Cam data operation function This function is used to write/read cam data via buffer memory with the cam operation control data. To operate the points more than the amount of data for each operation (as follows), the operation should be executed separately. Cam data format Amount of data for each operation Stroke ratio data format...
  • Page 78 Setting item Setting details Setting value Default Buffer memory (Read operation: Stored value) value address [Cd.607] • Write operation: Set the cam data corresponding to the ■Set in decimal. 45008 to 53199 Cam data value cam data format. • Stroke ratio data format [RD77MS] Fetch cycle: At request (Cam data operation request) -2147483648 to 2147483647 [ ...
  • Page 79 [Cd.603] Number of cam data operation points Set the number of operation points to write/read starting from the first position of cam data. • Stroke ratio data format The following shows the operation details when the value of "Cam data first position + Cam data operation points - 1" is larger than the cam resolution in the stroke ratio data format.
  • Page 80 [Cd.607] Cam data value Set/load the cam data operation points according to one of the following formats. ■Stroke ratio data format • RD77MS Buffer memory address Item Setting value 45008 Stroke ratio at first point -2147483648 to 2147483647 [  10 45009 (-214.7483648 to 214.7483647 [%]) 45010...
  • Page 81 [Cd.601] to [Cd.607] Cam data Not set [Cd.600] Cam data operation request ■Auto-generation data format [RD77GF] When the reading (cam storage area) is executed to the cam data created with the cam auto-generation or the cam data created with the cam curve by the engineering tool, the data is read as auto-generation data format. •...

  • Page 82: Cam Auto-Generation Function

    Cam auto-generation function The cam auto-generation function is used to generate cam data automatically for specific purposes based on parameter settings. With this function, cam data is generated in the cam open area. It is possible to generate up to 1 Mbyte [RD77MS] or 16 Mbyte [RD77GF] including the regular cam data. (Example: 256 cam data (with the stroke ratio format, resolution is 1024) [RD77MS] or 1024 cam data (with the stroke ratio format, resolution is 4096) [RD77GF] can be automatically generated.) The processing time of cam auto-generation takes longer if the data point is larger.
  • Page 83 [Cd.608] Cam auto-generation request Set "1: Cam auto-generation request" or "2: Cam auto-generation request (without writing to storage area)" [RD77GF] to execute cam auto-generation. Cam data is generated in the cam open area of the specified cam No. based on the cam auto-generation data. The setting value is reset to "0"...
  • Page 84 [Cd.611] Cam auto-generation data Set the cam auto-generation data corresponding to "[Cd.610] Cam auto-generation type". ■Cam auto-generation data for rotary cutter [RD77MS] The cam data starting point for a rotary cutter is 0. Buffer memory address Item Setting value Details 53204 Cam resolution 256/512/1024/2048/4096/8192/16384/32768...
  • Page 85 ■Cam auto-generation data for rotary cutter (central reference) [RD77GF] When the synchronous position adjustment is set to 0, the cam pattern of which the sheet center is in the synchronous section is created. Buffer memory Item Setting value Details address 862204 Cam resolution 256/512/1024/2048/4096/8192/16384/32768...
  • Page 86 Synchronous axis length Synchronous axis cycle length/diameter Synchronous axis Sheet synchronization width Acceleration/deceleration width Synchronous position adjustment Feed sheet Negative value: The synchronous section is adjusted to the sheet start side. 0: The center of the sheet is in the synchronous section.
  • Page 87 ■Easy stroke ratio cam/Advanced stroke ratio cam [RD77GF] Cam data can be automatically generated without using the cam data setting of the engineering tool by setting the stroke amount and sections. In easy stroke ratio cam, detailed coefficients of the cam curve are omitted and the curves and number of sections that can be used are limited.
  • Page 88 • Easy stroke ratio cam data for auto-generation Buffer memory Item Setting value Details address 862204 Cam resolution 256/512/1024/2048/4096/ Set the cam resolution for generating the cam. 862205 8192/16384/32768 862206 Cam axis length per cycle 1 to 2147483647 Set the required input amount with the cam per cycle. 862207 [Cam axis length per cycle units]...
  • Page 89 • Advanced stroke ratio cam data for auto-generation Buffer memory Item Setting value Details address 862204 Cam resolution 256/512/1024/2048/4096/8192/16384/ Set the cam resolution for generating the cam. 862205 32768 862206 Cam axis length per cycle 1 to 2147483647 Set the required input amount with the cam per cycle. 862207 [Cam axis length per cycle units] 862208...
  • Page 90 Buffer memory Item Setting value Details address 862226 Section Cam curve type 0: Constant speed The data specified by "number of sections" becomes 1: Constant acceleration valid. 2: Distorted trapezoid It is not necessary to set the data after the number of 3: Distorted sine sections specified.
  • Page 91 *1 If setting is outside range, the cam axis length per cycle will be set as the final end point of the section settings. *2 Refer to the following for the shapes of each cam type and ranges/default value for L1 and L2. Set "0" for the types of cam curves that do not use L1 and L2.
  • Page 92 [Cam curve list] : Stroke ratio : Acceleratrion : Range L1 : Range L2 Cam curve type Acceleration curve shape Curve Acceleration/deceleration range applicable compensation range ( ): Default value (P1 to P2) Setting Cam curve name Range L1 Range L2 value Constant speed Discontinuous...
  • Page 93 Cam curve type Acceleration curve shape Curve Acceleration/deceleration range applicable compensation range ( ): Default value (P1 to P2) Setting Cam curve name Range L1 Range L2 value Trapecloid Two-dwelling 0.00 to 1.00 0.0001 to 0.2499  asymmetrical (0.1250) Reverse trapecloid 0.00 to 1.00 0.0001 to 0.2499 ...

  • Page 94: Chapter 4 Advanced Synchronous Control

    ADVANCED SYNCHRONOUS CONTROL The parameters and monitor data for synchronous control such as "Main shaft module", "Speed change gear module", and "Output axis module" are explained in this chapter. Configure the required settings according to the control and application requirements for each module. Main Shaft Module Overview of main shaft module For the main shaft module, the input value is generated as a composite value from two input axes (the main and sub input...

  • Page 95: Main Shaft Parameters

    Main shaft parameters n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32 [Pr.400] •...
  • Page 96 [Pr.402] Composite main shaft gear Set the composite method for input values from the main and sub input axes. The setting values for each axis are shown as follows. Setting value Details 0: No input The input value from the input axis is calculated as 0. 1: Input+ The input value from the input axis is calculated as it is.

  • Page 97: Main Shaft Clutch Parameters

    Main shaft clutch parameters n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32 [Pr.405] •...
  • Page 98 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32 [Pr.409] • Set the clutch OFF address for ■Set in decimal. 36414+200n 1036414+200n Main shaft clutch the address mode. (This setting is -2147483648 to 2147483647 36415+200n 1036415+200n...
  • Page 99 [Pr.405] Main shaft clutch control setting Set the ON and OFF control methods separately for the main shaft clutch. The clutch control setting can be changed during synchronous control, however, the setting "No clutch" (Direct coupled operation) cannot be selected during synchronous control after already selecting another setting. Refer to the following for operation details on the clutch control.
  • Page 100 ■High speed input request signal [RD77MS] Set the high speed input request signal No. for the ON control mode (1) and the OFF control mode (2) when using the setting "5: High speed input request". Signal No. Setting value Signal No. Setting value Signal No.
  • Page 101 [Pr.407] Main shaft clutch ON address Set the clutch ON address when address mode is configured for the ON control mode of the main shaft clutch. When the reference address is the position value per cycle after main shaft gear, the setting address is converted for control within the range from 0 to (Cam axis length per cycle - 1).
  • Page 102 [Pr.410] Movement amount before main shaft clutch OFF Set the movement amount of the reference address with a signed value between the clutch OFF condition completing and the clutch opening. Setting value Details 1 to 2147483647 (Positive value) Used when the reference address is increasing in direction. No movement amount (The clutch is immediately turned OFF with the clutch OFF condition completing.) -2147483648 to -1 (Negative value) Used when the reference address is decreasing in direction.

  • Page 103: Main Shaft Clutch Control Data

    Main shaft clutch control data n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32 [Cd.400] •...

  • Page 104: Auxiliary Shaft Module

    Auxiliary Shaft Module Overview of auxiliary shaft module For the auxiliary shaft module, the input value is generated from the auxiliary shaft. The input value can be converted by the auxiliary shaft gear that provides the deceleration ratio and the rotation direction for the machine system, etc. Refer to the following for details on setting for the auxiliary shaft module.
  • Page 105 [Pr.418] Auxiliary shaft axis No. Set the input axis No. for the auxiliary shaft. Setting value Details 0: Invalid The input value is always 0. 1 to 32: Servo input axis Set the servo input axis (axis 1 to axis 32). When the servo input axis is not set in the system setting, the input value is always 0.

  • Page 106: Auxiliary Shaft Clutch Parameters

    Auxiliary shaft clutch parameters n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32 [Pr.422] •...
  • Page 107 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32 [Pr.426] • Set the clutch OFF address for the ■Set in decimal. 36442+200n 1036442+200n Auxiliary shaft address mode. (This setting is -2147483648 to 2147483647 36443+200n 1036443+200n...
  • Page 108 ■ON control mode Setting value Details 0: No clutch (Direct coupled Execute direct coupled operation without clutch control. operation) 1: Clutch command ON/OFF The clutch is turned ON/OFF by the operation of "[Cd.403] Auxiliary shaft clutch command" ON/OFF. (Setting in the OFF control mode are not applicable in this mode.) 2: Clutch command leading edge The clutch is turned ON when "[Cd.403] Auxiliary shaft clutch command"...
  • Page 109 ■High speed input request signal [RD77MS] Set the high speed input request signal No. for the ON control mode (1) and the OFF control mode (2) when using the setting "5: High speed input request" Signal No. Setting value Signal No. Setting value Signal No.
  • Page 110 [Pr.424] Auxiliary shaft clutch ON address Set the clutch ON address when address mode is configured for the ON control mode of the auxiliary shaft clutch. When the reference address is the position value per cycle after auxiliary shaft gear, the setting address is converted for control within the range from 0 to (Cam axis length per cycle - 1).
  • Page 111 [Pr.427] Movement amount before auxiliary shaft clutch OFF Set the movement amount of the reference address with a signed value between the clutch OFF condition completing and the clutch opening. Setting value Details 1 to 2147483647 (Positive value) Used when the reference address is increasing in direction. No movement amount (The clutch is immediately turned OFF with the clutch OFF condition completing.) -2147483648 to -1 (Negative value) Used when the reference address is decreasing in direction.

  • Page 112: Auxiliary Shaft Clutch Control Data

    Auxiliary shaft clutch control data n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32 [Cd.403] •...

  • Page 113: Clutch

    Clutch Overview of clutch The clutch is used to transmit/disengage command pulses from the main/auxiliary shaft input side to the output axis module through turning the clutch ON/OFF, which controls the operation/stop of the servo motor. A clutch can be configured for the main and auxiliary shafts. Control method for clutch Set the ON and OFF control methods separately in "[Pr.405] Main shaft clutch control setting"...
  • Page 114 ON control mode ■No clutch (Direct coupled operation) Execute direct coupled operation without clutch control. Other clutch parameters are not applicable during direct coupled operation by setting "0: No clutch". "Clutch forced OFF command" and the change of the clutch control setting are ignored during direct coupled operation.
  • Page 115 ■Address mode The clutch is turned ON when the reference address reaches "Clutch ON address". The movement amount after passing through the ON address is calculated as the output movement amount of the clutch based on the reference address passing through, thereby controlling the clutch with an accurate movement amount. Clutch ON/OFF status Clutch ON address Current value specified in...
  • Page 116 ■Main shaft clutch control request ON/OFF [RD77GF] The clutch is turned ON/OFF by ON/OFF operation of the link device assigned to the "Main shaft clutch control request". (Setting in the OFF control mode are not applicable in this mode.) The clutch is turned OFF when a communication error occurs in the station of the assigned link device. The following actions are required when using the main shaft clutch control request.
  • Page 117 ■Main shaft clutch control request trailing edge [RD77GF] The clutch is turned ON when the link device assigned to the "Main shaft clutch control request" passes the trailing edge (from ON to OFF). The clutch is turned OFF when a communication error occurs in the station of the assigned link device. The following actions are required when using the main shaft clutch control request.
  • Page 118 ■Clutch command leading edge The clutch is turned OFF when the clutch command passes the leading edge (from OFF to ON). Clutch command Clutch ON/OFF status Current value before clutch Movement amount after clutch ■Clutch command trailing edge The clutch is turned OFF when the clutch command passes the trailing edge (from ON to OFF). Clutch command Clutch ON/OFF status Current value before clutch...
  • Page 119 ■High speed input request [RD77MS] The clutch is turned OFF when the high speed input request [DI] turns ON. The following actions are required when using the high speed input request. • Set the signal No. for the "High speed input request signal" clutch control setting. •...

  • Page 120: Smoothing Method For Clutch

    Smoothing method for clutch Set the clutch smoothing method in "[Pr.411] Main shaft clutch smoothing method" and "[Pr.428] Auxiliary shaft clutch smoothing method". The 2 types of clutch smoothing include the following. • Time constant method smoothing • Slippage method smoothing When not using clutch smoothing, set "0: Direct"...
  • Page 121 ■Time constant method linear acceleration/deceleration smoothing Set "2: Time constant method (Linear)" in the clutch smoothing method. Clutch ON/OFF status Clutch smoothing status Speed before clutch processing Speed after clutch smoothing Clutch smoothing time constant Slippage method smoothing Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON, and with slippage at clutch OFF when the clutch turns OFF.
  • Page 122 ■Slippage method linear acceleration/deceleration smoothing Set "4: Slippage method (Linear)" or "5: Slippage method (Linear: Input value follow up)" in the clutch smoothing method. The differences between "4: Slippage method (Linear)" and "5: Slippage method (Linear: Input value follow up)" are shown below.
  • Page 123 ["5: Slippage method (Linear: Input value follow up)" is set.] The clutch smoothing status ON section is fixed. Clutch ON/OFF status ON section is fixed. Clutch smoothing status Input speed (Speed before clutch processing) Output speed (Speed after clutch processing) Slippage amount at clutch OFF Slippage amount at clutch ON •...
  • Page 124 ■Operation at input speed deceleration during slippage method smoothing When the speed before clutch processing decreases, the speed after clutch smoothing is controlled without exceeding the speed before clutch processing. If slippage amount remains when the speed before clutch processing becomes 0, the smoothing process will be continued. Then, the clutch smoothing process will be executed with the remaining slippage amount when the speed before clutch processing gets faster than the speed after clutch smoothing.

  • Page 125: Use Example Of Clutch

    Use example of clutch The following machine shows an example using clutch control for a flying shear cutting system that synchronizes off a start signal from a sensor input. Sensor input Main shaft gear (High speed input request [DI]) Main shaft main Main shaft clutch input axis 100 mm...

  • Page 126: Speed Change Gear Module

    Speed Change Gear Module Overview of speed change gear module A speed change gear module is used to change the input speed from the main shaft/auxiliary shaft/composite auxiliary shaft gear during operation. When not using a speed change gear module, set "0: No speed change gear" in "[Pr.434] Speed change gear".

  • Page 127: Speed Change Gear Parameters

    Speed change gear parameters n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32 [Pr.434] •...

  • Page 128: Output Axis Module

    Output Axis Module Overview of output axis module For the output axis module, the cam axis position value per cycle is calculated based on the input value (the output value from a speed change gear), and is converted based on the set cam data. The command position value which is a command is output to the servo amplifier.
  • Page 129 Units for the output axis The position units for the output axis are shown below based on the setting "[Pr.1] Unit setting". Setting value of "[Pr.1] Unit setting" Output axis position unit Range 0: mm  10 -214748.3648 to 214748.3647 [mm] ( ...

  • Page 130: Output Axis Parameters

    Output axis parameters n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32 [Pr.438] •...
  • Page 131 [Pr.438] Cam axis cycle unit setting Set the command units for the cam axis input per cycle to be used for cam control. These units are used for setting the cam axis length per cycle and the cam axis position value per cycle. There is no influence on the control for the parameter for monitor display.
  • Page 132 [Pr.440] Cam No. Set the cam No. for cam control. Cam No.0 operates as a linear cam for 100% of its stroke ratio along the cam axis length per cycle. The cam No. can be changed during synchronous control. The value set in "[Pr.440] Cam No." is valid when the cam axis position value per cycle passes through the 0th point of cam data, or is on the 0th point.
  • Page 133 [Pr.445] Cam axis phase compensation time constant Set the time constant to affect the phase compensation amount for the first order delay. 63 [%] of the phase compensation amount is reflected in the time constant setting. [Pr.444] Cam axis phase Current value per cycle after phase compensation compensation advance time Current value per cycle before phase compensation...

  • Page 134: Synchronous Control Change Function

    Synchronous Control Change Function Overview of synchronous control change function This function can change the cam reference position, the cam axis position value per cycle and the position value per cycle after the main/auxiliary shaft gear during the synchronous control. The following 5 methods exist for the synchronous control change function.
  • Page 135 [Cd.407] Synchronous control change command Set the synchronous control change command. Setting Details Reference value Cam reference position movement Page 133 Cam reference position movement Change cam axis position value per cycle Page 133 Change cam axis position value per cycle Change position value per cycle after main shaft gear Page 134 Change position value per cycle after main shaft gear Change position value per cycle after auxiliary shaft gear...
  • Page 136 ■Change position value per cycle after main shaft gear The position value per cycle after main shaft gear is changed to the value set in "[Cd.408] Synchronous control change value". This operation is completed within one operation cycle. Clutch control is not executed if the position value per cycle after main shaft gear (the value before being changed and after being changed) has already passed through the ON/OFF address in address mode.
  • Page 137 [Cd.409] Synchronous control reflection time Set the reflection time for synchronous control change processing as follows. [Cd.407] Synchronous control Setting details for "[Cd.409] Synchronous control reflection time" change command 0: Cam reference position movement The time to reflect the movement amount to the cam reference position. 1: Change cam axis position value per Setting not required.

  • Page 138: Synchronous Control Monitor Data

    Synchronous Control Monitor Data Synchronous control monitor data is updated only during synchronous control. The monitor values ([Md.400], [Md.401], [Md.402], [Md.407], [Md.408], and [Md.409]) from the last synchronous control session are restored the next time the system's power supply turns ON. Restarting operation status from the last synchronous control session is possible through returning to the last position via positioning control (Page 144 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION).
  • Page 139 Monitor item Storage details Monitor value Buffer memory address Axis 1 to Axis 17 to axis 16 axis 32 [Md.410] • The executing cam No. is stored. ■Monitoring is carried out in 42818+40n 1042818+40n Execute cam No. Refresh cycle: Operation cycle (During decimal display.
  • Page 140 [Md.400] Position value after composite main shaft gear The current value after combining the main input and the sub input values going into the composite main shaft gear is stored as an accumulative value. Units are in position units of the main input axis (Page 28 INPUT AXIS MODULE). The unit is pulse if the main input axis is invalid.
  • Page 141 [Md.401] Position value per cycle after main shaft gear The input movement amount after the main shaft gear is stored within the range from 0 to (Cam axis length per cycle - 1). The unit is in cam axis cycle units (Page 127 Units for the output axis). The value is restored according to "[Pr.460] Setting method of position value per cycle after main shaft gear"...
  • Page 142 [Md.421] Main shaft clutch smoothing status The smoothing status of the clutch is stored. The status is updated by the clutch smoothing method as follows. Method Details Time constant method The status is always "1: On clutch smoothing" during the clutch ON status. The status will be "0: Not on clutch smoothing"...

  • Page 143: Phase Compensation Function

    Phase Compensation Function In synchronous control, delays in progresses, etc. cause the phase to deviate at the output axis motor shaft end with respect to the input axis (servo input axis or synchronous encoder axis). The phase compensation function compensates in this case so that the phase does not deviate.
  • Page 144 • RD77MS (When the MR-J5(W)-B is used) Operation cycle [ms] [Pr.320] Synchronous encoder axis type Synchronous encoder via servo amplifier 0.444 2961 [s] 0.888 4739 [s] 1.777 6517 [s] 3.555 10072 [s] • RD77GF Operation cycle [ms] [Pr.320] Synchronous encoder axis type Synchronous encoder via servo Synchronous encoder via CPU Synchronous encoder via link...

  • Page 145: Output Axis Sub Functions

    Output Axis Sub Functions The following shows which sub functions apply for the output axis in synchronous control. : Valid, : Invalid Sub function Output Details axis Backlash compensation function The same control as other methods.  Electronic gear function ...

  • Page 146: Chapter 5 Advanced Synchronous Control Initial Position

    ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION The initial position for synchronous control is explained in this chapter. Configure these settings for situations that require initial position alignment for synchronous control. Synchronous Control Initial Position The following synchronous control monitor data can be aligned to a set position when starting synchronous control, as the initial position for synchronous control.
  • Page 147 Position value after composite main shaft gear at synchronous control start The position value after composite main shaft gear is restored as follows according to the main input axis operation executed before starting synchronous control. Operation of Servo input axis Synchronous encoder axis main input axis Absolute...
  • Page 148 Position value per cycle after main/auxiliary shaft gear at synchronous control start The position value per cycle after main shaft gear/position value per cycle after auxiliary shaft gear is restored as follows according to the main input axis/auxiliary shaft operation executed before starting synchronous control. Operation of Servo input axis Synchronous encoder axis...
  • Page 149 [Auxiliary shaft] Position value per cycle after auxiliary shaft gear = Position value per cycle after auxiliary shaft gear at the last synchronous control session + Auxiliary shaft gear ratio  Amount of change of auxiliary shaft current value from the last synchronous control session The position value per cycle after main shaft gear/position value per cycle after auxiliary shaft gear at the last synchronous control session is restored when "0: Invalid"...

  • Page 150: Synchronous Control Initial Position Parameters

    Synchronous Control Initial Position Parameters n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details Setting value Default Buffer memory address value Axis 1 to Axis 17 to axis 16 axis 32 [Pr.460] •...
  • Page 151 [Pr.460] Setting method of position value per cycle after main shaft gear Select the setting method of "[Md.401] Position value per cycle after main shaft gear" when starting synchronous control. Setting value Details 0: Previous value The position value per cycle after main shaft gear from the last synchronous control session is stored. 1: Initial setting value of position value per cycle The value set in "[Pr.465] Position value per cycle after main shaft gear (Initial setting)"...
  • Page 152 [Pr.465] Position value per cycle after main shaft gear (Initial setting) Set the initial setting value of the position value per cycle after main shaft gear when "[Pr.460] Setting method of position value per cycle after main shaft gear" is set to "1: Position value per cycle after main shaft gear (Initial setting)". The unit settings are in cam axis cycle units (Page 127 Units for the output axis).

  • Page 153: Cam Axis Position Restoration Method

    Cam Axis Position Restoration Method Cam axis position value per cycle restoration If "[Pr.462] Cam axis position restoration object" is set to "0: Cam axis position value per cycle restoration" when starting synchronous control, the cam axis position value per cycle is restored based on the cam reference position and the cam axis command position value.
  • Page 154 Cam axis position value per cycle restoration operation ■With a two-way cam pattern operation • Search from "Cam axis position value per cycle = 0". (Cam data starting point = 0) Cam axis position value per cycle Search from "Cam axis position value per cycle=0". Cam axis command position value Restore to the first command position value that matches.
  • Page 155 • The search fails. (Pattern 2) When the cam axis position value per cycle restoration is executed in a cam stroke range that straddles 0 [degree] Cam axis position value per cycle When "degree" is the unit in a cam stroke range that straddles 0 degree, the range for the 360 degree command position value is 0 to 359.99999.
  • Page 156 • Search from a value in the middle of the cam axis position value per cycle. (Cam data starting point = 0) [Pr.468] Cam axis position value per cycle (Initial setting) Cam axis position value per cycle Cam axis command position value (Command position value) New cam reference position Cam reference position...
  • Page 157 Example The following shows an example of restarting the cam (a cam similar to a cam with a linear feed where two identical positioning points do not exist on the cam) from the command position value after a forced stop, when the forced stop has stopped operation.

  • Page 158: Cam Reference Position Restoration

    Cam reference position restoration If "[Pr.462] Cam axis position restoration object" is set to "1: cam reference position restoration" when starting synchronous control, the cam reference position is restored based on the cam axis position value per cycle and the cam axis command position value.
  • Page 159 • Restore operation at start of advanced synchronous control Command position value [pulse] Cam starting point is set to The estimated cam pattern for "command position value = 0 [pulse]". "Cam axis position value per cycle = 0 [pulse]" as the origin is determined. Time [ms] Cam reference position becomes "0 - 200 = -200 [pulse]".

  • Page 160: Cam Axis Command Position Value Restoration

    Cam axis command position value restoration If "[Pr.462] Cam axis position restoration object" is set to "2: Cam axis command position value restoration" when starting synchronous control, the cam axis command position value is restored based on the cam axis position value per cycle and the cam reference position.
  • Page 161 Example The following shows an example of starting a cam pattern from the zero point of the cam axis position value per cycle with the current command position value position as the origin when returning to a specified point, or home position return is completed after a forced stop.
  • Page 162 • Cam operation Command position value [pulse] With the "command position value = 150 [pulse]" position as the start point, the cam operates for the amount of "Cam reference position + cam stroke amount". Time [ms] Cam axis position The time when cam axis position value per cycle is "0 [pulse]" value per cycle [pulse] 1000 Time [ms]...

  • Page 163: Synchronous Control Analysis Mode

    Synchronous Control Analysis Mode With synchronous control analysis mode, advanced synchronous control parameters are only analyzed when there is a command to start synchronous control. This mode is used to confirm the synchronous positions of the output axes in order to align axes with position control before starting synchronous control.
  • Page 164 Synchronous control system control data Setting Setting details Setting value Default Buffer memory address item value Axis 1 to Axis 17 to axis 16 axis 32 [Cd.380] • Synchronous control begins if the target axis ■Set the target axis in bit 36320 1036320 Synchronous...
  • Page 165 Example The following shows a procedure of aligning the synchronous position of an output axis that references the input axis. Set the following values in the synchronous control initial position parameters. Setting item Setting value [Pr.460] Setting method of position value per cycle after main shaft gear 2: Calculate from input axis [Pr.462] Cam axis position restoration object 2: Cam axis command position value restoration...

  • Page 166: Cam Position Calculation Function

    Cam Position Calculation Function The cam position is calculated by the program with this function. This function can be used to calculate the cam position for the synchronous control initial position before starting synchronous control. Example The following shows the procedure for synchronous position alignment, in a synchronous system where cam axes 2 and 3 are synchronized with the cam axis position value per cycle of axis 1.
  • Page 167 [Cd.612] Cam position calculation request Set the following commands to calculate the cam position. Setting Details value Cam axis command position value calculation request Cam axis position value per cycle calculation request The result is stored in "[Md.600] Cam position calculation result" and the setting value is reset to "0" automatically after completion of cam position calculation.

  • Page 168: Cam Position Calculation Monitor Data

    Cam position calculation monitor data Monitor item Storage details Monitor value Buffer memory address [Md.600] • The result of the cam position calculation ■Monitoring is carried out in decimal. 53800 Cam position calculation result is stored. • When calculating the cam axis 53801 Refresh cycle: At completing condition command position value:...
  • Page 169 ■Stroke ratio data format When "the nth point of cam data  [Cd.617] Cam position calculation: Cam axis position value per cycle < the n + 1st point of cam data", the position corresponding to "[Cd.618] Cam position calculation: Cam axis command position value" is searched from the nth point of cam data.
  • Page 170 ■Coordinate data format (1) The range before the 1st point of cam data When the 1st point of the cam data is larger than 0 and "[Cd.617] Cam position calculation: Cam axis position value per cycle < the 1st point of cam data", the position corresponding to "[Cd.618] Cam position calculation: Cam axis command position value"...
  • Page 171 When "[Cd.617] Cam position calculation: Cam axis position value per cycle" is corresponding to the 1st point of cam data Search order At the 2nd point Search starting point At the 3rd point At the 1st point At the 5th point At the 0th point [Cd.617] Cam position calculation: Cam axis...
  • Page 172 (3) The range from the last point of cam data to the cam axis length per cycle When "the last point of cam data  [Cd.617] Cam position calculation: Cam axis position value per cycle < cam axis length per cycle", the position corresponding to "[Cd.618] Cam position calculation: Cam axis command position value"...

  • Page 173: Method To Restart Synchronous Control

    Method to Restart Synchronous Control The relationship of the synchronous position for synchronous control is always saved in the Simple Motion module. Synchronous control can be restarted without returning all axes to their starting points by restoring the synchronized relationship through the synchronous control initial position parameters (Page 148 Synchronous Control Initial Position Parameters).

  • Page 174: Appendices

    APPENDICES Appendix 1 List of Buffer Memory Addresses (for Synchronous Control) The following shows the relation between the buffer memory addresses and the various items. Refer to "List of Buffer Memory Addresses" in the following manual for the list of general buffer memory addresses. MELSEC iQ-R Simple Motion Module User's Manual (Application) Refer to "Buffer Memory"...
  • Page 175 ■Synchronous encoder axis parameter via link device [RD77GF] j: Synchronous encoder axis No. - 1 (j: Axis No. - 17 for axis 17 to axis 32) Item Fetch cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Pr.710] Synchronous encoder axis: Link device type At power supply ON...
  • Page 176 ■Synchronous parameter: Auxiliary shaft n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Fetch cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Pr.418] Auxiliary shaft axis No. At start (Synchronous 36430+200n 1036430+200n...
  • Page 177 ■Synchronous parameter: Synchronous control initial position n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Fetch cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Pr.460] Setting method of position value per cycle after main shaft gear At start (Synchronous 36500+200n 1036500+200n...
  • Page 178 ■Synchronous control monitor data n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Refresh cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Md.400] Position value after composite main shaft gear Operation cycle (During 42800+40n 1042800+40n...
  • Page 179 Control data ■Synchronous control system control data Item Fetch cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Cd.380] Synchronous control start Operation cycle 36320 1036320 [Cd.381] Synchronous control analysis mode At start (Synchronous 36322 1036322 control) ■Synchronous encoder axis control data...
  • Page 180 ■Cam operation control data: Cam data operation Item Fetch cycle Refresh cycle Buffer memory address [Cd.600] Cam data operation request Main cycle 45000 [RD77MS]  600000 [RD77GF] [Cd.601] Operation cam No. At request (Cam data 45001 [RD77MS]  operation request) 600001 [RD77GF] [Cd.602] Cam data first position...
  • Page 181 • Advanced stroke ratio cam data for auto-generation [RD77GF] Details Buffer memory address Resolution 600008 600009 Cam axis length per cycle 600010 600011 Cam stroke amount 600012 600013 Unit setting 600014 Cam data starting point 600016 600017 Number of sections 600018 Section 1 Cam curve type...
  • Page 182 ■Cam operation control data: Cam auto-generation Item Fetch cycle Buffer memory address [Cd.608] Cam auto-generation request Main cycle 53200 [RD77MS] 862200 [RD77GF] [Cd.609] Cam auto-generation cam No. At request (Cam auto- 53201 [RD77MS] generation request) 862201 [RD77GF] [Cd.610] Cam auto-generation type 53202 [RD77MS] 862202 [RD77GF] [Cd.611]...
  • Page 183 • Easy stroke ratio cam data for auto-generation [RD77GF] Details Buffer memory address Resolution 862204 862205 Cam axis length per cycle 862206 862207 Cam data starting point 862208 862209 Number of sections 862210 Section 1 Cam curve type 862212 End point 862214 862215 Stroke...
  • Page 184 ■Cam operation control data: Cam position calculation Item Fetch cycle Buffer memory address [Cd.612] Cam position calculation request Main cycle 53780 [Cd.613] Cam position calculation: Cam No. At request (Cam 53781 position calculation [Cd.614] Cam position calculation: Stroke amount 53782 request) 53783 [Cd.615]...

  • Page 185: Appendix 2 Sample Program Of Synchronous Control Of The Rd77Ms

    Appendix 2 Sample Program of Synchronous Control of the RD77MS The following shows a sample program of executing synchronous control on the axis 1 with the axis 4 as an input axis using 4-axis modules. (The axis 4 is configured as the virtual servo amplifier.) Set MR-J4(W)-B(-RJ) on the axis 1 and the virtual servo amplifier on the axis 4 in the "System Configuration"...
  • Page 186 Create the cam data (cam No.1). Set the synchronous parameter of the axis 1. APPX Appendix 2 Sample Program of Synchronous Control of the RD77MS...
  • Page 187 Create the program to start synchronous control. The sample program when head I/O No. of the Simple Motion module is set to 00H is shown below. Classification Label name Description Module label RD77_1.bSynchronizationFlag_D Synchronization flag RD77_1.bPLC_Ready_D PLC READY RD77_1.bAllAxisServoOn_D All axis servo ON RD77_1.bnBusy_D[0] Axis 1 BUSY RD77_1.stnAxMntr_D[0].wAxisOperationStatus_D...
  • Page 188 Program example For details of the module FBs, refer to "Simple Motion Module FB" in the following manual. MELSEC iQ-R RD77MS Simple Motion Module Function Block Reference APPX Appendix 2 Sample Program of Synchronous Control of the RD77MS...
  • Page 189 MEMO APPX Appendix 2 Sample Program of Synchronous Control of the RD77MS...

  • Page 190: Index

    INDEX Connection command of synchronous encoder via ......56,59 ....102,103 Auxiliary shaft axis No.
  • Page 191 Position value per cycle after main shaft gear (Initial Synchronous encoder axis position value setting ......148,150 .

  • Page 192: Revisions

    Japanese manual number: IB-0300248-K 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 193: Warranty

    WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.

  • Page 194: Information And Services

    INFORMATION AND SERVICES For further information and services, please contact your local Mitsubishi Electric sales office or representative. Visit our website to find our locations worldwide. MITSUBISHI ELECTRIC Factory Automation Global Website Locations Worldwide www.MitsubishiElectric.com/fa/about-us/overseas/ TRADEMARKS Microsoft and Windows are trademarks of the Microsoft group of companies.
  • Page 196 IB(NA)-0300249ENG-H(2310)MEE MODEL: RD77-U-ADV-E MODEL CODE: 1XB016 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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