Page 1 MOTION CONTROLLERS SV43 Q173HCPU Q172HCPU Programming Manual...
Page 2: Safety Precautions
SAFETY PRECAUTIONS (Read these precautions before using.) When using this equipment, thoroughly read this manual and the associated manuals introduced in this manual. Also pay careful attention to safety and handle the module properly. These precautions apply only to this equipment. Refer to the Q173HCPU/Q172HCPU Users manual for a description of the Motion controller safety precautions.
Page 3 For Safe Operations 1. Prevention of electric shocks DANGER 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 instruction manual 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 In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic brakes. The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF.
Page 6 CAUTION Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that are compatible with the system application.
Page 7 CAUTION Do not get on or place heavy objects on the product. Always observe the installation direction. Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and other devices.
Page 8 (4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier.
Page 9 (6) Usge methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, 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 10 CAUTION If an error occurs, remove the cause, secure the safety and then resume operation after alarm release. The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machine restarts suddenly.) (8) Maintenance, inspection and part replacement CAUTION...
Page 11 (9) About processing of waste When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area). CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life.
Page 12: Revisions
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 13: Table Of Contents
INTRODUCTION Thank you for choosing the Q173HCPU/Q172HCPU Motion Controller. Please read this manual carefully so that equipment is used to its optimum. CONTENTS Safety Precautions ............................A- 1 Revisions ................................A-11 Contents .................................A-12 About Manuals ...............................A-17 1. OVERVIEW 1- 1 to 1- 6 1.1 Overview..............................
Page 14 4.2.1 Axis monitor devices ......................... 4-64 4.2.2 Control change registers........................4-67 4.2.3 Axis monitor devices 2 ........................4-68 4.2.4 Control program monitor devices ..................... 4-72 4.2.5 Control change registers 2........................ 4-74 4.2.6 Tool length offset data setting registers.................... 4-75 4.2.7 Common devices ..........................4-76 4.3 Motion Registers (#)..........................
Page 15 6.13 G-code..............................6-49 6.13.1 G00 Point-to-point positioning at the high-speed feed rate ............6-52 6.13.2 G01 Constant-speed positioning at the speed specified in F ............6-54 6.13.3 G02 Circular interpolation CW (Central coordinates-specified) ..........6-56 6.13.4 G03 Circular interpolation CCW (Central coordinates-specified)..........6-59 6.13.5 G02 Circular interpolation CW (Radius-specified) ................
Page 16 6.16.8 32-bit real number and 64-bit real number data conversion (DFLT, SFLT) ....... 6-141 6.16.9 Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP)..........6-142 6.16.10 Logical operators (AND, OR, XOR, NOT, <<, >>) ..............6-143 6.16.11 Move block wait functions (WAITON, WAITOFF)..............6-145 6.16.12 Block wait functions (EXEON, EXEOFF) ..................
Page 17 7.5 JOG Operation ............................7-53 7.5.1 JOG operation data........................... 7-53 7.5.2 Individual start ........................... 7-54 7.5.3 Simultaneous start..........................7-59 7.6 Manual Pulse Generator Operation......................7-62 7.7 Override Ratio Setting Function ......................7-68 7.8 FIN signal wait function..........................7-70 7.9 Single Block Operation ..........................7-74 7.10 Control Program Stop Function from The PLC CPU................
Page 18: About Manuals
About Manuals The following manuals are related to this product. Referring to this list, please request the necessary manuals. Related Manuals (1) Motion controller Manual Number Manual Name (Model Code) Q173HCPU/Q172HCPU Motion controller User's Manual This manual explains specifications of the Motion CPU modules, Q172LX Servo external signal interface IB-0300110 module, Q172EX Serial absolute synchronous encoder interface module, Q173PX Manual pulse (1XB910)
Page 19 (2) PLC Manual Number Manual Name (Model Code) QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base modules, SH-080483ENG (13JR73) extension cables, memory card battery and others. (Optional) QCPU User's Manual (Function Explanation, Program Fundamentals) This manual explains the functions, programming methods and devices and others to create programs SH-080484ENG...
Page 20: Overview
General name for "servo amplifier model MR-J3- B" QCPU, PLC CPU or PLC CPU module Qn(H)CPU Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series" Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPUn CPU system"...
Page 21 1 OVERVIEW REMARK For information about the each module, design method for program and parameter, refer to the following manuals relevant to each module. Item Reference Manual Motion CPU module/Motion unit Q173HCPU/Q172HCPU User’s Manual PLC CPU, peripheral devices for PLC program design, I/O Manual relevant to each module modules and intelligent function module Operation method for MT Developer...
Page 22: Features
1 OVERVIEW 1.2 Features The Motion CPU has the following features. 1.2.1 Performance specifications (1) Basic specifications of Q172HCPU/Q172HCPU (a) Motion control specifications Item Q173HCPU Q172HCPU Number of control axes Up to 32 axes Up to 8 axes 0.88ms/ 1 to 5 axes Operation cycle 1.77ms/ 6 to 14 axes 0.88ms/ 1 to 5 axes...
Page 23 1 OVERVIEW Motion control specifications (continued) Item Q173HCPU Q172HCPU Number of programs 1024 Number of simultaneous Axis designation program : 32 Axis designation program : 8 start programs Control program : 16 Control program : 16 Number of positioning Approx. 10600 points points (Positioning data can be designated indirectly) Number of I/O (X/Y) points...
Page 24 1 OVERVIEW (Note-1) : Acceleration-fixed/time-fixed acceleration/deceleration method is switched as follows. Acceleration-fixed acceleration/deceleration method Time-fixed acceleration/deceleration method G00 (Without M-code setting.) G00 (With M-code setting.) in G100 in G101 All travel instructions in G101 — (Note-2) : The servo amplifiers for SSCNET cannot be used. (b) Motion program performance specifications Item Q173HCPU/Q172HCPU...
Page 25: Differences Between Q173Hcpu/Q172Hcpu And Q173Cpu(N)/Q172Cpu(N)
1 OVERVIEW 1.2.2 Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N) Item Q173HCPU Q172HCPU Q173CPU(N) Q172CPU(N) Number of control axes 32 axes 8 axes 32 axes 8 axes 0.88ms/ 1 to 5 axes 0.88ms/ 1 to 4 axes Operation cycle 1.77ms/ 6 to 14 axes 0.88ms/1 to 5 axes 1.77ms/ 5 to 12 axes 0.88ms/1 to 4 axes...
Page 26: Positioning Control By The Motion Cpu
2 POSITIONING CONTROL BY THE MOTION CPU 2. POSITIONING CONTROL BY THE MOTION CPU 2.1 Positioning Control by the Motion CPU The positioning control of up to 32 axes in Q173HCPU and up to 8 axes in Q172HCPU is possible in the Motion CPU. There are following four functions as controls toward the servo amplifier/servomotor.
Page 27 2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the Motion program start (S(P).SVST instruction)] Positioning control is executed by starting the Motion program (axis designation program) specified with S(P).SVST instruction of the PLC CPU in the Motion CPU. An overview of the starting method using the Motion program is shown below. Multiple CPU control system PLC CPU PLC program .
Page 28 2 POSITIONING CONTROL BY THE MOTION CPU Motion CPU Create and correct using a peripheral Motion program ..device (Note-1) Motion program No.15 O0015; (Program No. specified with the S(P).SVST instruction.) SET #M2042 All axes servo ON command turns on. PTP positioning instruction by high-speed feed speed N10 G00 X100.
Page 29 2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the JOG operation] JOG operation of specified axis is executed using the Motion program in the Motion CPU. JOG operation can also be executed by controlling the JOG dedicated device of specified axis. An overview of JOG operation is shown below.
Page 30 2 POSITIONING CONTROL BY THE MOTION CPU Positioning control parameter ..Set and correct using a peripheral device (Note-1) System settings System data such as axis allocations Fixed parameters Fixed data by the mechanical system, etc. Data by the specifications of the connected Servo parameters servo amplifier...
Page 31 2 POSITIONING CONTROL BY THE MOTION CPU [Executing Manual Pulse Generator Operation] When the positioning control is executed by the manual pulse generator connected to the Q173PX, manual pulse generator operation must be enabled using the Motion program. An overview of manual pulse generator operation is shown below. Motion CPU control system Motion program No.
Page 32 2 POSITIONING CONTROL BY THE MOTION CPU Positioning control parameter ..Set and correct using a peripheral device (Note-1) System settings System data such as axis allocations Fixed data by the mechanical system, etc. Fixed parameters Data by the specifications of the connected Servo parameters servo amplifier...
Page 33 2 POSITIONING CONTROL BY THE MOTION CPU (1) Positioning control parameters There are following seven types as positioning control parameters. Parameter data can be set and corrected interactively using a peripheral device. Item Description Reference Multiple system settings, Motion modules and axis No., etc. are Section 1 System settings set.
Page 34 2 POSITIONING CONTROL BY THE MOTION CPU (3) PLC program The positioning control by the Motion program can be executed using the Motion dedicated PLC instruction of PLC program. Refer to Chapter 3 for details. 2 - 9...
Page 35 2 POSITIONING CONTROL BY THE MOTION CPU MEMO 2 - 10...
Page 36: Motion Dedicated Plc Instruction
3 MOTION DEDICATED PLC INSTRUCTION 3. MOTION DEDICATED PLC INSTRUCTION 3.1 Motion Dedicated PLC Instruction (1) The Motion dedicated PLC instruction which can be executed toward the Motion CPU which installed a SV43 operating system software is shown below. Instruction Description S(P).SFCS Start request of the specified Motion program (Control program)
Page 37 3 MOTION DEDICATED PLC INSTRUCTION Shared CPU memory address Example of the reading Description ( ) is decimal (When target is the CPU No.2) address The lowest rank bit (30H(48)) toward executing instruction 30H(48) U3E1/G48.0 from CPU No.1. The lowest rank bit (31H(49)) toward executing instruction 31H(49) U3E1/G49.0 from CPU No.2.
Page 38 3 MOTION DEDICATED PLC INSTRUCTION (d) Use a flag in the shared CPU memory which correspond with each instruction not to execute multiple instructions to the same shaft of the Motion CPU of same CPU No. for the interlock condition. (Program example 1).
Page 39 3 MOTION DEDICATED PLC INSTRUCTION <Program example 2> Program which executes directly multiple Motion dedicated PLC instructions because one contact-point turns on. M1001 M1001 To self CPU high Start accept speed interrupt flag of the Axis 1 accept flag from (CPU No.2) CPU1 U3E1\G516.0...
Page 40 3 MOTION DEDICATED PLC INSTRUCTION POINT Access from the PLC CPU is processed before the communication processing of the Motion CPU. Therefore, if the Motion dedicated PLC instruction is frequently performed from the PLC CPU, the scan time of the PLC CPU is not only prolonged, but delay will arise in the communication processing of the Motion CPU.
Page 41 3 MOTION DEDICATED PLC INSTRUCTION (3) Complete status The error code is stored in the complete status at abnormal completion of the Multiple CPU dedicated instruction. The error code which is stored is shown below. (The error code marked " * " is dedicated with the Motion CPU.) Complete status Corrective Error factor...
Page 42 3 MOTION DEDICATED PLC INSTRUCTION (4) Self CPU operation data area used by Motion dedicated instruction (30H to 33H) The complete status of the to self CPU high speed interrupt accept flag from CPUn is stored in the following address. Shared Name Description...
Page 43: Motion Program (Control Program) Start Request From The Plc Cpu To The Motion Cpu:s(P).Sfcs (Plc Instruction: S(P).Sfcs )
3 MOTION DEDICATED PLC INSTRUCTION 3.2 Motion program (Control program) Start Request from The PLC CPU to The Motion CPU:S(P).SFCS (PLC instruction: S(P).SFCS ) • Motion program (Control program) start request instruction from the PLC CPU to the Motion CPU (S(P).SFCS) Usable devices Internal devices MELSECNET/10...
Page 44 3 MOTION DEDICATED PLC INSTRUCTION Set the control program No. to start in (n2). Usable range is shown below. (1) The control program No. is set The specified control program No. is started. In this case, control program is executed from the first block. (n2) usable range 1 to 1024 (2) The sequence No.
Page 45 3 MOTION DEDICATED PLC INSTRUCTION [Operation of the self CPU at execution of S(P).SFCS instruction] PLC program S(P).SFCS execution S(P) . SFCS instruction To self CPU high speed interrupt accept flag from CPUn Motion program Motion program execution (Control program) Instruction start accept complete device (D1+0)
Page 46 3 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). Complete status (Note) Corrective Error factor (Error code)(H) action The specified device cannot be used ih the Motion CPU.
Page 47 3 MOTION DEDICATED PLC INSTRUCTION [Program example] (1) This program starts the Motion program (Control program) No.10 of the Motion CPU No.4. SP.SFCS H3E3 Normal complete program Abnormal complete program (2) This program starts the Motion program (Control program) No.30 and sequence No.200 of the Motion CPU No.4 by indirect setting.
Page 48: Motion Program (Axis Designation Program) Start Request From The Plc Cpu To The Motion Cpu:s(P).Svst (Plc Instruction: S(P).Svst )
3 MOTION DEDICATED PLC INSTRUCTION 3.3 Motion Program (Axis designation program) Start Request from The PLC CPU to The Motion CPU:S(P).SVST (PLC instruction: S(P).SVST ) • Motion program (Axis designation program) start request instruction from the PLC CPU to the Motion CPU (S(P).SVST) Usable devices Internal devices MELSECNET/10...
Page 49 3 MOTION DEDICATED PLC INSTRUCTION [Description] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) Request to start the Motion program (Axis designation program) specified with (S2).
Page 50 3 MOTION DEDICATED PLC INSTRUCTION (2) S(P).SVST instruction accepting and normal/abnormal completion can be confirmed with the complete device(D1) or status display device(D2) at the completion. (a) Complete device It is turned on by the END processing of scan which the instruction completed, and turned off by the next END processing.
Page 51 3 MOTION DEDICATED PLC INSTRUCTION (b) The sequence No. (N****) / parameter block No. in the control program is set It can be started in the middle of program. 1) Indirect setting by data register D((S2) – 10000) : The axis designation program No. stored in the data register (Motion CPU side) is started.
Page 52 3 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). (Note) Complete status Error factor Corrective action (Error code)(H) The specified device cannot be used in the Motion 4C00 CPU.
Page 53 3 MOTION DEDICATED PLC INSTRUCTION [Program example] (1) Program which requests to start the Motion program (Axis designation program) No.10 toward axis No.1 and No.2 of the Motion CPU No.4. from the PLC CPU No.1. To self CPU Start accept flag Start accept flag high speed of the axis No.1...
Page 54: Home Position Return Instruction From The Plc Cpu To The Motion Cpu: S(P).Chga (Plc Instruction: S(P).Chga )
3 MOTION DEDICATED PLC INSTRUCTION 3.4 Home position return instruction from The PLC CPU to The Motion CPU: S(P).CHGA (PLC instruction: S(P).CHGA ) • Home position return instruction from the PLC CPU to the Motion CPU (S(P).CHGA) Usable devices Internal devices MELSECNET/10 Special Indirectly...
Page 55 3 MOTION DEDICATED PLC INSTRUCTION [Description] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) Execute the home position return of axis (stopped axis) No. specified with (S1) . (3) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/ S(P).DDWR cannot be executed simultaneously toward the CPU executing S(P).CHGA instruction.
Page 56 3 MOTION DEDICATED PLC INSTRUCTION (b) Status display device at the completion It is turned on/off according to the status of the instruction completion. Normal completion : OFF Abnormal completion : It is turned on by the END processing of scan which the instruction completed, and turned off by the next END processing.
Page 57 3 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). (Note) Complete status Error factor Corrective action (Error code)(H) The specified device cannot be used in the Motion 4C00 CPU.
Page 58 3 MOTION DEDICATED PLC INSTRUCTION [Program example] Program which execute the home position return of the axis No.1 of the Motion CPU (CPU No.4) from PLC CPU (CPU No.1). To self CPU Start accept flag high speed of the axis No.1 interrupt accept (CPU No.4) dummy...
Page 59: Speed Change Instruction From The Plc Cpu To The Motion Cpu: S(P).Chgv (Plc Instruction: S(P).Chgv )
3 MOTION DEDICATED PLC INSTRUCTION 3.5 Speed Change Instruction from The PLC CPU to The Motion CPU: S(P).CHGV (PLC instruction: S(P).CHGV ) • Speed change instruction (S(P).CHGV) Usable devices Internal devices MELSECNET/10 Special Indirectly Index File Constant (System, User) direct J \ function digit specified...
Page 60 3 MOTION DEDICATED PLC INSTRUCTION [Description] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) The speed change is executed of the axis specified with (S1) during positioning or JOG operating.
Page 61 3 MOTION DEDICATED PLC INSTRUCTION [Setting range] (1) Setting of axis to execute the speed change. The axis to execute the speed change set as (S1) sets J + axis No. in a character sequence " ". (S1) usable range Q173HCPU 1 to 32 Q172HCPU...
Page 62 3 MOTION DEDICATED PLC INSTRUCTION [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). (Note) Complete status Error factor Corrective action (Error code)(H) The specified device cannot be used in the Motion 4C00 CPU.
Page 63 3 MOTION DEDICATED PLC INSTRUCTION Moving Backward during Positioning When a speed change is made to a negative speed by the CHGV instruction, the travel direction can be changed to the direction opposite to the intended positioning direction. Operation for each instruction is as follows. G-code Instruction Operation G28 (High-speed home position return)
Page 64 3 MOTION DEDICATED PLC INSTRUCTION (3) When the axis is standing by at the return position (a) Signal states • Start accept (M2001 + 20n) (Remains unchanged from before execution of CHGV) • Positioning start completion (M2400 + 20n) (Remains unchanged from before execution of CHGV) •...
Page 65 3 MOTION DEDICATED PLC INSTRUCTION [Operation Example under G01] [ Motion program ] Locus O10; Y-axis G90; N1 G01 X10000. Y0 F1000. ; N2 Y10000. ; N3 X10000. ; M02; Negative speed change Starting point X-axis Stat request SVST Start accept M2001+n Speed change request CHGV -1000...
Page 66 3 MOTION DEDICATED PLC INSTRUCTION (4) In the above example, the axis returns to P2 even if the axis passes through P2 during a speed change made to negative speed immediately before P2. Y-axis Start point X-axis [Program example] Program which changes the positioning speed of the axis No.1 of the Motion CPU (CPU No.4) from PLC CPU (CPU No.1) to 1000.
Page 67: Torque Limit Value Change Request Instruction From The Plc Cpu To The Motion Cpu
3 MOTION DEDICATED PLC INSTRUCTION 3.6 Torque Limit Value Change Request Instruction from The PLC CPU to The Motion CPU: S(P) .CHGT S(P).CHGT (PLC instruction: • Torque limit value change request instruction from the PLC CPU to the Motion CPU (S(P).CHGT) Usable devices Internal devices...
Page 68 3 MOTION DEDICATED PLC INSTRUCTION [Description] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. (2) The torque limit value of the axis specified with (S1) is changed to the value of (S2) regardless of the state of during operating or stopping.
Page 69 3 MOTION DEDICATED PLC INSTRUCTION (2) Setting of the torque limit value to change. (S2) usable range 1 to 1000 [Errors] The abnormal completion in the case shown below, and the error code is stored in the device specified with the complete status storing device (D2). Complete status (Note) Error factor...
Page 70 3 MOTION DEDICATED PLC INSTRUCTION [Program example] Program which changes the torque limit value of the axis No.1 of the Motion CPU (CPU No.4) from PLC CPU (CPU No.1) to 10[%]. To self CPU high speed interrupt accept flag from CPU U3E3 \G48.0 M100...
Page 71: Write From The Plc Cpu To The Motion Cpu: S(P).Ddwr (Plc Instruction: S(P).Ddwr )
3 MOTION DEDICATED PLC INSTRUCTION 3.7 Write from The PLC CPU to The Motion CPU: S(P).DDWR (PLC instruction: S(P) .DDWR • Write instruction from the PLC CPU to the Motion CPU (S(P).DDWR) Usable devices Internal devices MELSECNET/10 Special Indirectly Index File Constant (System, User)
Page 72 3 MOTION DEDICATED PLC INSTRUCTION [Controls] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. A part for the number of writing data of the control data specified with (S1) of data since the device specified with (S2) of the self CPU are stored to since the word device specified with (D1) of the target CPU (n1) in the Multiple CPU system.
Page 73 3 MOTION DEDICATED PLC INSTRUCTION [Operation of the self CPU at execution of S(P).DDWR instruction] First S(P).DDWR Second S(P).DDWR instruction accept instruction accept To self CPU high speed interrupt accept flag from CPUn (Instruction accept destination buffer memory) S(P).DDWR instruction (First) First S(P).DDWR instruction complete device...
Page 74 3 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. Error code (Note) Error factor Corrective action The CPU No. to be set by "(First I/O NO. of the target 2110 CPU)/16"...
Page 75: Read From The Devices Of The Motion Cpu: S(P).Ddrd (Plc Instruction: S(P).Ddrd )
3 MOTION DEDICATED PLC INSTRUCTION 3.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction: S(P).DDRD ) • Read instruction from the devices of the Motion CPU : S(P).DDRD Usable devices Internal devices MELSECNET/10 Special Indirectly Index File Constant (System, User) direct J \...
Page 76 3 MOTION DEDICATED PLC INSTRUCTION [Control] (1) This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system. Errors occurs when it was executed toward the CPU except the Motion CPU. A part for the number of reading data of the control data specified with (S1) of data since the device specified with (S2) in the target CPU (n1) is stored to since the word device specified with (D1) of the self CPU in the Multiple CPU system.
Page 77 3 MOTION DEDICATED PLC INSTRUCTION [Operation of the self CPU at execution of S(P).DDRD instruction] First S(P).DDRD Second S(P).DDRD instruction accept instruction accept To self CPU high speed interrupt accept flag from CPUn (Instruction accept destination buffer memory) S(P).DDRD instruction (First) First S(P).DDRD instruction complete device...
Page 78 3 MOTION DEDICATED PLC INSTRUCTION The error flag (SM0) is turned on an operation error in the case shown below, and an error code is stored in SD0. (Note) Error code Error factor Corrective action The CPU No. to be set by "(First I/O NO. of the target 2110 CPU)/16"...
Page 79 3 MOTION DEDICATED PLC INSTRUCTION MEMO 3 - 44...
Page 80: Positioning Signals
4 POSITIONING SIGNALS 4. POSITIONING SIGNALS The internal signals of the Motion CPU and the external signals to the Motion CPU are used as positioning signals. (1) Internal signals The following five devices of the Motion CPU are used as the internal signals of the Motion CPU.
Page 81: Internal Relays
4 POSITIONING SIGNALS The positioning dedicated devices are shown below. It indicates the device refresh cycle of the Motion CPU for status signal with the positioning control, and the device fetch cycle of the Motion CPU for command signal with the positioning control. The operation cycle of the Motion CPU is shown below.
Page 82 4 POSITIONING SIGNALS (2) Axis status list Axis No. Device No. Signal name M2400 to M2419 M2420 to M2439 Signal name Refresh cycle Fetch cycle Signal direction M2440 to M2459 M2460 to M2479 Positioning start complete M2480 to M2499 Positioning complete Operation cycle Status signal M2500 to M2519...
Page 83 4 POSITIONING SIGNALS (3) Axis command signal list Axis No. Device No. Signal name M3200 to M3219 M3220 to M3239 Signal Signal name Refresh cycle Fetch cycle direction M3240 to M3259 M3260 to M3279 0 Stop command Operation cycle M3280 to M3299 1 Rapid stop command Command M3300 to M3319...
Page 84 4 POSITIONING SIGNALS (4) Axis status 2 list Axis No. Device No. Signal name M4000 to M4009 M4010 to M4019 Signal name Refresh cycle Fetch cycle Signal direction M4020 to M4029 M4030 to M4039 Unusable — — — M4040 to M4049 M4050 to M4059 Automatic start Operation cycle...
Page 85 4 POSITIONING SIGNALS (5) Axis command signal 2 list Axis No. Device No. Signal name M4400 to M4409 M4410 to M4419 Signal Signal name Refresh cycle Fetch cycle direction M4420 to M4429 M4430 to M4439 0 Temporary stop command M4440 to M4449 1 Optional program stop command M4450 to M4459 2 Optional block skip command...
Page 86 4 POSITIONING SIGNALS (6) Common device list Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction (Note-4) direction (Note-4) Command Status M2054 Operation cycle over flag Operation cycle M2000 PLC ready flag Main cycle signal M3072...
Page 87 4 POSITIONING SIGNALS Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-4) (Note-4) direction direction M2119 M2180 M2120 M2181 M2121 M2182 M2122 M2183 Unusable — — —...
Page 88 4 POSITIONING SIGNALS Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-4) (Note-4) direction direction M2240 Axis 1 M2280 M2241 Axis 2 M2281 M2242 Axis 3 M2282 M2243 Axis 4 M2283...
Page 89 4 POSITIONING SIGNALS Explanation of the request register Function Bit device Request register PLC ready flag M2000 D704 All axes servo ON command M2042 D706 JOG operation simultaneous start command M2048 D708 Manual pulse generator 1 enable flag M2051 D755 Manual pulse generator 2 enable flag M2052 D756...
Page 90 4 POSITIONING SIGNALS (7) Special relay allocated device list (Status) (Note) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark M2320 Fuse blown detection M9000 M2321 AC/DC DOWN detection M9005 M2322 Battery low M9006 Error occurrence M2323 Battery low latch M9007 M2324 Self-diagnostic error...
Page 91 4 POSITIONING SIGNALS (8) Common device list (Command signal) Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1) , (Note-2) Command Main cycle M3072 PLC ready flag M2000 signal M3073 Unusable — — — — Operation M3074 All axes servo ON command M2042 cycle...
Page 92: Axis Statuses
4 POSITIONING SIGNALS 4.1.1 Axis statuses (1) Positioning start complete signal (M2400+20n) (a) This signal turns on with the start completion for the positioning control of the axis specified with the Motion program (Axis designation program). The Motion program (Axis designation program) is started by the following instructions.
Page 93 4 POSITIONING SIGNALS REMARK (Note-1): In the above descriptions, "n" in"M3204+20n", etc. indicates a value corresponding to axis No. such as the following tables. Axis No. Axis No. Axis No. Axis No. • Calculate as follows for the device No. corresponding to each axis.
Page 94 4 POSITIONING SIGNALS (2) Positioning complete signal (M2401+20n) (a) This signal turns on with the completion for the positioning control of the axis specified with the Motion program (Axis designation program). The Motion program (Axis designation program) is started by the following instructions.
Page 95 4 POSITIONING SIGNALS (3) In-position signal (M2402+20n) (a) This signal turns on when the number of droop pulses in the deviation counter becomes below the "in-position range" set in the servo parameters. It turns off at the start. [Motion program exapmle] O0001;...
Page 96 4 POSITIONING SIGNALS (4) Command in-position signal (M2403+20n) (a) This signal turns on when the absolute value of difference between the command position and machine value becomes below the "command in- position range" set in the fixed parameters. This signal turns off in the following cases. •...
Page 97 4 POSITIONING SIGNALS POINTS Example 1, 2 are shown below about in-position signal and command in-position signal of the interpolation axis. [Example1] Start accept flag PLC program of the axis No.2 To self CPU Start accept flag Start accept flag (CPU No.2) high sped of the axis No.1...
Page 98 4 POSITIONING SIGNALS POINTS [Example2] Start accept flag PLC program of the axis No.2 To self CPU Start accept flag Start accept flag (CPU No.2) high sped of the axis No.1 of the axis No.3 U3D1\G516.1 interrupt accept (CPU No.2) (CPU No.2) Start flag from CPU...
Page 99 4 POSITIONING SIGNALS (5) Zero pass signal (M2406+20n) This signal turns on when the zero point is passed after the power supply on of the servo amplifier. Once the zero point has been passed, it remains on state until the CPU has been reset.
Page 100 4 POSITIONING SIGNALS REMARK (Note-1): Refer to APPENDIX 1.4 for the error codes on errors detected at the servo amplifier side. (8) Home position return request signal (M2409+20n) This signal turns on when it is necessary to confirm the home position address. (a) When not using an absolute position system 1) This signal turns on in the following cases: •...
Page 101 4 POSITIONING SIGNALS (9) Home position return complete signal (M2410+20n) (a) This signal turns on when the home position return operation has been completed normally. (b) This signal turns off at the positioning start, JOG operation start and manual pulse generator operation start. (c) If the home position return of proximity dog, count, dog cradle, stopper or limit switch cpmbined type is executed using the CHGA instruction during this signal on, the "continuous home position return start error"...
Page 102 4 POSITIONING SIGNALS (11) RLS signal (M2412+20n) (a) This signal is controlled by the ON/OFF state for the lower stroke limit switch input (FLS) of the Q172LX/Servo amplifier. • Lower stroke limit switch input OFF ..RLS signal: ON • Lower stroke limit switch input ON ..RLS signal: OFF (b) The state of the lower stroke limit switch input (RLS) when the RLS signal is ON/OFF is shown below.
Page 103 4 POSITIONING SIGNALS (13) DOG/CHANGE signal (M2414+20n) (a) This signal turns on/off by the proximity dog input (DOG) of the Q172LX/ Servo amplifier at the home position return. (b) "Normally open contact input" and "Normally closed contact input" of the system setting can be selected.
Page 104 4 POSITIONING SIGNALS POINT When the part of multiple servo amplifiers connected to the SSCNET becomes a servo error, only an applicable axis becomes the servo OFF state. (15) Torque limiting signal (M2416+20n) This signal turns on while torque limit is executed. The signal toward the torque limiting axis turns on.
Page 105: Axis Command Signals
4 POSITIONING SIGNALS 4.1.2 Axis command signals (1) Stop command (M3200+20n) (a) This command stops a starting axis from an external source and becomes effective at the turning signal off to on. (An axis for which the stop command is turning on cannot be started.) Stop command (M3200+20n) Stop command for...
Page 106 4 POSITIONING SIGNALS (2) Rapid stop command (M3201+20n) (a) This command is a signal which stop a starting axis rapidly from an external source and becomes effective when the signal turns off to on. (An axis for which the rapid stop command turns on cannot be started.) Rapid stop command (M3201+20n) Rapid stop command...
Page 107 4 POSITIONING SIGNALS (3) Forward rotation JOG start command (M3202+20n)/Reverse rotation JOG start command (M3203+20n) (a) JOG operation to the address increase direction is executed while forward rotation JOG start command (M3202+20n) is turning on. When M3202+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.
Page 108 4 POSITIONING SIGNALS (5) Error reset command (M3207+20n) (a) This command is used to clear the minor error code or major error code storage register of an axis for which the error detection signal has turn on (M2407+20n: ON), and reset the error detection signal (M2407+20n). Error detection signal (M2407+20n) Error reset command...
Page 109 4 POSITIONING SIGNALS (6) Servo error reset command (M3208+20n) (a) This command is used to clear the servo error code storage register of an axis for which the servo error detection signal has turn on (M2408+20n: ON), and reset the servo error detection signal (M2408+20n). Servo error detection signal (M2408+20n) Servo error reset command...
Page 110 4 POSITIONING SIGNALS (7) External stop input disable at start command (M3209+20n) This signal is used to set the external STOP signal input valid or invalid. • ON ..External stop input is set as invalid, and even axes which stop input is turning on can be started.
Page 111 4 POSITIONING SIGNALS (10) FIN signal (M3219+20n) When an M-code is set in a point during positioning, transit to the next block does not execute until the FIN signal changes as follows: OFF OFF. Positioning to the next block begins after the FIN signal changes as above. [Motion program example] O0001;...
Page 112: Axis Statuses 2
4 POSITIONING SIGNALS 4.1.3 Axis statuses 2 (1) Automatic start signal (M4002+10n) When the axis used is specified in the SVST instruction, this signal turns on while the block of the specified Motion program is being executed. This signal turns off in the following cases. •...
Page 113 4 POSITIONING SIGNALS (2) Temporary stop signal (M4003+10n) (a) This signal turns on by the temporary stop command when the automatic start signal (M4002+10n) is turning on. When the re-start command (M4404+10n) is turned on during a temporary stop, it is resumed from the block where it had stopped. There is the following temporary stop command.
Page 114 4 POSITIONING SIGNALS (3) Single block processing signal (M4009) (a) The single block is available in two modes: a mode where a single block is specified before a program start, and a mode where a single block is executed at any point during program execution. The single block processing signal indicates that a single block can be executed in the mode where a single block is executed at any point during program execution.
Page 115: Axis Command Signals 2
4 POSITIONING SIGNALS 4.1.4 Axis command signals 2 (1) Temporary stop command (M4400+10n) (a) The Motion program at the positioning start (G00, G01, etc.) with the SVST instruction is stopped temporarily by the temporary stop command. (The Motion program is stopped temporarily if any of the temporary stop commands for the axis No.
Page 116 4 POSITIONING SIGNALS (2) Optional program stop command (M4401+10n) This signal is used to select whether a block stop is made in a block where "M01" exists. • ON..The block stop is made as the end of that block. •...
Page 117 4 POSITIONING SIGNALS (3) Optional block skip command (M4402+10n) This signal is used to select whether a block is executed or not in the first of block where "/" exists. • ON..The block is not executed and execution shifts to the next block. •...
Page 118 4 POSITIONING SIGNALS (4) Single block command (M4403+10n) This single block is ;used to set a single block before a program start. Refer to the single block mode signal (M4408) for the mode which executes a single block at any point during execution of program. By turning on the single block command before a program start, commands in program operation can be executed block by block.
Page 119 4 POSITIONING SIGNALS (5) Re-start command (M4404+10n) This command resumes block execution when it is turned on during a block stop by the M00, M01 or single block command or during a temporary stop during the temporary stop command. (This signal is valid for the Motion program only. It is invalid for a home position return, etc.) [Motion program example] O0001;...
Page 120 4 POSITIONING SIGNALS (7) Axis interlock (Forward)/(Reverse) (M4406+10n/M4407+10n) This signal is used to select whether an axis is made deceleration stop during positioning control. (a) The axis interlock (forward)/(reverse) command turns on while the axis interlock valid/invalid (M4418+10n) is turning on, a deceleration stop is executed in the applicable axis.
Page 121 4 POSITIONING SIGNALS [Motion program example] O0001; Program No. G90 G00 X200. ; Absolute value command PTP positioning (X200.) G01 X300. F-100. ; Constant-speed positioning (X300.) M02; Reset Motion program (Axis designation program) start Start accept flag (M2001+n) Temporary stop Axis interlock (forward) (M4406+10n) Temporary stop...
Page 122 4 POSITIONING SIGNALS POINTS [The reasons for the servomotor travels minutely when the axis interlock signal turns on at a Motion program start.] Since the travel direction is judged at the positioning control in the Motion CPU, only the first interpolation processing is executed. Therefore, the servomotor travels minutely.
Page 123 4 POSITIONING SIGNALS (8) Single block mode signal (M4408) (a) This signal validates a single block valid in the mode which executes a single block during execution of program. (b) The single block processing (M4009) turns on by turning on the single block mode.
Page 124: Common Devices
4 POSITIONING SIGNALS 4.1.5 Common devices POINTS (1) Internal relays for positioning control are not latched even within 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 M2319". (2) The range devices allocated as internal relays for positioning control cannot be used by the user even if their applications have not been set.
Page 125 4 POSITIONING SIGNALS 3) The processing in above (c) 1) is not executed during the test mode. It is executed when the test mode is cancelled and M2000 is ON. Deceleration stop Positioning start PLC ready flag (M2000) PCPU READY complete flag PCPU READY complete flag (M9074)
Page 126 4 POSITIONING SIGNALS The condition which M2000 is turned on to off. • Set "0" to the setting register D704 of the PLC ready flag where the RUN/STOP switch is moved to RUN. (The Motion CPU detects the change of the lowest rank bit 1 0 in D704.) •...
Page 127 4 POSITIONING SIGNALS (c) When M2000 is OFF, the start accept flag turns on by the Motion dedicated PLC instruction (S(P).SVST), and the start accept flag turns off by turning the M2000 ON. PLC ready flag (M2000) Motion program (Axis designation program) start Start accept flag...
Page 128 4 POSITIONING SIGNALS (5) All axes servo ON command (M2042) ....Command signal This command is used to enable servo operation. (a) Servo operation enabled … M2042 turns on while the servo OFF command (M3215+20n) is off and there is no servo error. (b) Servo operation disable ..
Page 129 4 POSITIONING SIGNALS (8) All axes servo ON accept flag (M2049) ....Status signal This flag turns on when the Motion CPU accepts the all axes servo ON command (M2042). Since the servo ready state of each axis is not checked, confirm it in the servo ready signal (M2415+20n).
Page 130 4 POSITIONING SIGNALS (12) Speed changing flag (M2061 to M2092) ....Status signal This flag turns on during speed change by the control change (CHGV) instruction of the Motion program or Motion dedicated PLC instruction (S(P).CHGV). Speed change command Delay by the PLC program Motion program (Axis designation program) start...
Page 131 4 POSITIONING SIGNALS (13) Automatic decelerating flag (M2128 to M2159) ..Status signal This signal turns on while automatic deceleration processing is performed at the positioning control or position follow-up control. (a) This flag turns on during automatic deceleration processing to the command address at the position follow-up control, but it turns off if the command address is changed.
Page 132 4 POSITIONING SIGNALS (14) Speed change "0" accepting flag (M2240 to M2271) ..………. Status signal This flag turns on while a speed change request to speed "0" or negative speed change is being accepted. It turns on when the speed change request to speed "0" or negative speed change is accepted during a start.
Page 133 4 POSITIONING SIGNALS REMARK (1) Even if it has stopped, when the start accept flag (M2001 to M2032) is ON state, the state where the request of speed change "0" is accepted is indicated. Confirm by this speed change "0" accepting flag. (2) During interpolation, the flags corresponding to the interpolation axes are set.
Page 134 4 POSITIONING SIGNALS (a) The flag turns off if a speed change request occurs during deceleration to a stop due to speed change "0". Speed change "0" Speed change V Start accept flag Speed change "0" accepting flag (b) The flag turns off if a stop cause occurs after speed change "0" accept. Speed change "0"...
Page 135: Data Registers
4 POSITIONING SIGNALS 4.2 Data Registers (1) Data register list Device No. Application Axis monitor device (20 points 32 axes) D640 Control change register (2 points 32 axes) D704 Common device (Command signal) (54 points) D758 Common device (Monitor) (42 points) D800 Axis monitor device 2 (20 points...
Page 136 4 POSITIONING SIGNALS (2) Axis monitor device list Axis Device No. Signal name D0 to D19 D20 to D39 Signal Signal name Refresh cycle Fetch cycle Unit direction D40 to D59 D60 to D79 Machine value D80 to D99 Command D100 to D119 unit Real machine value...
Page 137 4 POSITIONING SIGNALS (3) Control change register list Axis Device No. Signal name D640, D641 D642, D643 Signal Signal name Refresh cycle Fetch cycle Unit direction D644, D645 D646, D647 Command Command JOG speed setting At start D648, D649 unit device D650, D651 D652, D653...
Page 138 4 POSITIONING SIGNALS (4) Axis monitor device 2 list Axis Device No. Signal name D800 to D819 D820 to D839 Signal Signal name Refresh cycle Fetch cycle Unit direction D840 to D859 D860 to D879 Command Current value Operation cycle D880 to D899 unit D900 to D919...
Page 139 4 POSITIONING SIGNALS (5) Control program monitor device list Device No. Signal name D1440 to D1445 Signal D1446 to D1451 Signal name Refresh cycle Fetch cycle Unit direction D1452 to D1457 0 Program No. D1458 to D1463 1 Sequence No. D1464 to D1469 Monitor 2 Block No.
Page 140 4 POSITIONING SIGNALS (6) Control change register 2 list Axis Device No. Signal name D1536 to D1538 Signal D1539 to D1541 Signal name Refresh cycle Fetch cycle Unit direction D1542 to D1544 Override ratio setting D1545 to D1547 Command Operation cycle register (0 to 100) D1548 to D1550 device...
Page 141 4 POSITIONING SIGNALS (7) Tool length offset data setting register list (Higher rank, lower rank) Device No. Signal name D1651, D1650 Tool length offset data 1 D1653, D1652 Tool length offset data 2 D1655, D1654 Tool length offset data 3 D1657, D1656 Tool length offset data 4 D1659, D1658...
Page 142 4 POSITIONING SIGNALS (8) Common device list Device Signal Device Signal Signal name Refresh cycle Signal name Refresh cycle Fetch cycle Fetch cycle direction direction Manual pulse generator 1 D704 PLC ready flag request smoothing magnification D752 setting register At the manual pulse Manual pulse generator 2 Speed switching point generator enable flag...
Page 143: Axis Monitor Devices
4 POSITIONING SIGNALS 4.2.1 Axis monitor devices The monitoring data area is used by the Motion CPU to store data such as the machine value during positioning control, the real machine value and the number of droop pulses in the deviation counter. It can be used to check the positioning control state using the Motion program.
Page 144 4 POSITIONING SIGNALS (6) Servo error code storage register (D8+20n) …..Monitor device (a) This register stores the corresponding error code (Refer to APPENDIX 1.4) at the servo error occurrence. If another servo error occurs after error code storing, the previous error code is overwritten by the new error code. (b) Servo error codes can be cleared by an error reset command (M3208+20n).
Page 145 4 POSITIONING SIGNALS (10) M-code storage register (D13+20n) ..……….. Monitor device (a) This register stores the M-code set to the Motion program at the block execute start. If M-code is not set in the Motion program, the value "0" is stored. (b) The preceding value remains until the M-code is executed next.
Page 146: Control Change Registers
4 POSITIONING SIGNALS 4.2.2 Control change registers This area stores the JOG operation speed data. Control change register list (Higher rank, lower rank) Name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 D641, D640 D643, D642 D645, D644 D647, D646 D649, D648 D651, D650 D653, D652 D655, D654 Axis 9 Axis 10...
Page 147 4 POSITIONING SIGNALS 4.2.3 Axis monitor devices 2 (1) Current value (D800+20n, D801+20n) ..………….. Monitor device (a) This register stores the address in the work coordinate system (G54 to G59) specified with the Motion program. This value is stored on the assumption that 0.0001mm is equal to 1. (1mm=10000) Example that the setting using the peripheral device is G54=1000 is shown below.
Page 148 4 POSITIONING SIGNALS (2) Execute sequence No. (main) storage register (D802+20n) ..………... Monitor device This register stores the N No. (sequence No.) of the executing main sequence. This number changes to "0" using the Motion dedicated PLC instruction (S(P).SVST) at the Motion program start. The changes of the execute Motion program No., execute sequence No.
Page 149 4 POSITIONING SIGNALS (5) Execute sequence No. (sub) storage register (D805+20n) ..…..…….. Monitor device (a) This register sotres the N No. of the subprogram started by "M98" (subprogram call). (b) When a subprogram is called from a subprogram, this number changes to the N No.
Page 150 4 POSITIONING SIGNALS (9) Tool length offset data storage register (D810+20n, D811+20n) ...…….…….. Monitor device (a) This register stores the offset value specified in the tool length offset data No.. Tool length offset data storage register is shown bellow. Applicable registers Higher rank Lower rank Offset value...
Page 151: Control Program Monitor Devices
4 POSITIONING SIGNALS 4.2.4 Control program monitor devices Up to 16 control programs can be executed simultaneously. When new control program is executed in this monitor area, the vacant area is secured suitably and the monitor information on the executed program. (1) Program No.
Page 152 4 POSITIONING SIGNALS (6) CLEAR request status storage register (D1445) ... Monitor device (a) When the control program specified in the CLEAR request control program No. setting register (D707) is cleared normally, "1" is set. (b) If an error occurs in CLEAR of the clear control program specified in the CLEAR request control program No.
Page 153: Control Change Registers 2
4 POSITIONING SIGNALS 4.2.5 Control change registers 2 This area stores the override ratio setting data. Table 4.1 Control change register 2 list Name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Override ratio setting D1536...
Page 154: Tool Length Offset Data Setting Registers
4 POSITIONING SIGNALS 4.2.6 Tool length offset data setting registers (1) Tool length offset data setting registers (D1650+2n) ..…….. Command device (a) This register is used to set the tool length offset values. (b) The tool length offset data No. can be set within the range of H1 to H20. Tool length offset data setting registers are shown below.
Page 155: Common Devices
4 POSITIONING SIGNALS 4.2.7 Common devices (1) CLEAR request status storage (D1445) ..…….….. Monitor device (a) 0 No. of the conrol program which executes the CLEAR instruction or equivalent of Motion program for the positioning control is executed. When the control program No. is set, the Motion CPU judsges that the CLEAR request was made and ends the specified control program.
Page 156 4 POSITIONING SIGNALS (3) Manual pulse generator axis No. setting registers (D714 to D719) ..…….. Command device (a) These registers stores the axis No. controlled with the manual pulse generator. b15 b14 b13 b12 b11 b10 D714 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 D715 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17 D716...
Page 157 4 POSITIONING SIGNALS (b) Refer to Section 7.6 for details of the manual pulse generator operation. (5) Manual pulse generator smoothing magnification setting registers (D752 to D754) ............ Command device (a) These registers set the smoothing time constants of manual pulse generators.
Page 158: Motion Registers (#)
4 POSITIONING SIGNALS 4.3 Motion Registers (#) There are motion registers (#0 to #8191) in the Motion CPU. #8000 to #8063 are used as SV43 dedicated device and #8064 to #8191 are used as the servo monitor device. (1) SV43 dedicated device (#8000 to #8063) These devices are reserved by the system.
Page 159: Special Relays (Sp.m)
4 POSITIONING SIGNALS 4.4 Special Relays (SP.M) There are 256 special relay points of M9000 to M9255 in the Motion CPU. Of these, 7 points of the M9073 to M9079 are used for the positioning control, and their applications are indicated in Table 4.2. (Refer to APPENDIX 2.4 "Special Relays" for the applications of the special relays except for M9073 to M9079.) Table 4.2 Special relay list Device No.
Page 160 4 POSITIONING SIGNALS (3) TEST mode ON flag (M9075) ..……...... Status signal (a) This flag is used as judgement of during the test mode or not using a peripheral Use it for an interlock, etc. at the starting of the Motion program using the SVST instruction of the PLC program.
Page 161 4 POSITIONING SIGNALS (7) Motion program setting error flag (M9079) ...…... Status signal This flag is used as judgement of normal or abnormal for the Motion program positioning data. • OFF ..Normal • ON ..Abnormal 4 - 82...
Page 162: Special Registers (Sp.d)
4 POSITIONING SIGNALS 4.5 Special Registers (SP.D) There are 256 special register points of D9000 to D9255 in the Motion CPU. Of these, 23 points of the D9112 and D9180 to D9201 are used for the positioning control. The special registers used for positioning are shown below. (Refer to APPENDIX 2.5 "Special Registers"...
Page 163 4 POSITIONING SIGNALS (1) Connect/disconnect (D9112) ........Command device/Monitor device This function is used to connect/disconnect the SSCNET communication temporarily, when the servo amplifiers or SSCNET cables on the SSCNET system are exchanged during power supply on of the Motion CPU. The user side requires to connect/disconnect for a system, and the system side stores the states of connect/disconnect command accept waiting or connect/disconnect execute waiting.
Page 164 4 POSITIONING SIGNALS (3) Motion CPU WDT error cause (D9184) ………..Monitor device This register is used as judgement of the error contents in the Motion CPU. Operation when error Error code Error cause Action to take occurs S/W falut 1 •...
Page 165 4 POSITIONING SIGNALS (4) Manual pulse generator axis setting error information (D9185 to D9187) ..........….. Monitor device The setting information is checked when the manual pulse generator enable signal turns off to on, if an error is found, the following error information is stored into D9185 to D9187 and the manual pulse generator axis setting error flag (M9077) turns on.
Page 166: System Settings
4 POSITIONING SIGNALS (8) Servo amplifier loading information (D9191 to D9192) ... Monitor device The installation state of the servo amplifier is checked at the power supply on or resetting of the Motion CPU and its results are stored in this device. If communication with servo amplifier stops, it is reset.
Page 167 4 POSITIONING SIGNALS (10) Operation cycle of the Motion CPU setting (D9197) ... Monitor device The setting operation cycle is stored in [ µs ] unit. When the "Automatic setting" is set in the system setting, the operation cycle corresponding to the number of setting axes. When "0.8[ms] / 1.7[ms] / 3.5[ms] / 7.1[ms] / 14.2[ms]"...
Page 168 5 PARAMETERS FOR POSITIONING CONTROL 5. PARAMETERS FOR POSITIONING CONTROL 5.1 System Settings In the Multiple CPU system, the common system parameters and individual parameters are set for each CPU and written to each CPU. (1) The base settings, Multiple CPU settings and Motion slot settings are set in the common system parameter setting.
Page 169: Fixed Parameters
5 PARAMETERS FOR POSITIONING CONTROL 5.2 Fixed Parameters (1) The fixed parameters are set for each axis and their data is fixed based on the mechanical system, etc. (2) The fixed parameters are set using a peripheral device. (3) The fixed parameters to be set are shown in Table 5.1. Table 5.1 Fixed parameter list Setting range Item...
Page 170: Number Of Pulses/Travel Value Per Rotation
5 PARAMETERS FOR POSITIONING CONTROL 5.2.1 Number of pulses/travel value per rotation The "Electronic gear function" adjusts the pulse calculated and output by the parameter set in the Q173HCPU/Q172HCPU and the real travel value of machine. It is defined by the "Number of pulses per rotation" and "Travel value per revolution". POINTS (1) The mechanical system error of the command travel value and real travel value is rectified by adjustment the "electronic gear".
Page 171 5 PARAMETERS FOR POSITIONING CONTROL Therefore, AP/AL is set so that the following expression of relations may be materialized in order to convert the travel value of [mm] / [inch] unit set in the program into a pulse. Number of pulses per motor rotation = AP Travel value of machine per motor rotation = AL Electronic .
Page 172: Backlash Compensation Amount
5 PARAMETERS FOR POSITIONING CONTROL The travel value per motor rotation in this example is 0.000076 [mm]. For example, when ordering the travel value of 19 [mm], it becomes 249036.8 [PLS] and the fraction of 0.8 [PLS]. At this time, the Motion CPU orders the travel value of 249036 [PLS] to the servomotor and the fraction is memorized in the Motion CPU.
Page 173 5 PARAMETERS FOR POSITIONING CONTROL (1) Stroke limit range check The stroke limit range is checked at the following start or during operation. Operation start Check Remarks • It is checked whether the positioning address is within the stroke limit range or not at the positioning start. If it outside the range, an error occurs (error code: 580) and •...
Page 174: Command In-Position Range
5 PARAMETERS FOR POSITIONING CONTROL 5.2.4 Command in-position range The command in-position is the difference between the positioning address (command position) and current value. Once the value for the command in-position has been set, the command in-position signal (M2403 + 20n) turns on when the difference between the command position and the current value enters the set range [(command position - current value) (command in-position range)].
Page 175: High-Speed Feed Rate Setting
5 PARAMETERS FOR POSITIONING CONTROL 5.2.5 High-speed feed rate setting The high-speed feed rate is the positioning speed used to perform positioning with G00 or to make a home position return with G28, and this data is needed to execute G00 or G28.
Page 176: Speed Control 10 Multiplier Setting For Degree Axis
5 PARAMETERS FOR POSITIONING CONTROL 5.2.6 Speed control 10 multiplier setting for degree axis The setting range of command speed is 0.001 to 2147483.647[degree/min] normally in the axis of control unit [degree]. However, when the "speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter, the speed setting range increases 10 multiplier "0.01 to 21474836.47[degree/min]".
Page 177 5 PARAMETERS FOR POSITIONING CONTROL Example 1 An example for positioning control is shown below when the fixed parameter and parameter block are set as follows. • Fixed parameter Setting axis Unit High-speed feed rate Speed control 10 multiplier setting for degree axis Axis 1(X) degree 2147483.647[degree/min]...
Page 178 5 PARAMETERS FOR POSITIONING CONTROL POINTS (1) Axis set to "speed control 10 multiplier setting for degree axis is invalid". (a) Setting range of feed-rate is 0.001 to 2147483.647[degree/min]. (b) When the feed rate is set as indirect setting or without decimal point setting in the Motion program, the feed rate is set as 3 digits below the decimal point.).
Page 179 5 PARAMETERS FOR POSITIONING CONTROL Example 2 • An example for positioning control is shown below when the fixed parameter and parameter block are set as follows. • Fixed parameter Setting axis Unit High-speed feed rate Speed control 10 multiplier setting for degree axis Axis 1(X) degree 200.000[degree/min]...
Page 180: Parameter Block
5 PARAMETERS FOR POSITIONING CONTROL 5.3 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 64 blocks can be set as parameter blocks. (3) Parameter blocks can be set using a peripheral device.
Page 181 5 PARAMETERS FOR POSITIONING CONTROL Table 5.2 Parameter Block list Setting range Initial Item Units Remarks Section inch degree value Setting range Units Setting range Units Setting range Units • Set the units for compensation control. • It can be also used as the units for Interpolation 6.11.6 the command speed and allowable...
Page 182 5 PARAMETERS FOR POSITIONING CONTROL POINTS The data set in the parameter block is used in the positioning control, home position return and JOG operation. (1) The parameter block No. used in the positioning control is set indirectly in the following case.
Page 183: Relationships Between The Speed Limit Value, Acceleration Time, Deceleration Time And Rapid Stop Deceleration Time
5 PARAMETERS FOR POSITIONING CONTROL 5.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop deceleration time According to the G-code instructions, there are two different acceleration/deceleration modes, acceleration-fixed acceleration/deceleration and time-fixed acceleration/deceleration. (1) Acceleration-fixed acceleration/deceleration system (a) G01, G02, G03, G12, G13 or G32 during G101 execution The acceleration/deceleration mode of acceleration-fixed acceleration/deceleration is used.
Page 184 5 PARAMETERS FOR POSITIONING CONTROL (1) Acceleration-fixed acceleration/deceleration system (a) G01, G02, G03, G12, G13 or G32 during G101 execution Speed limit value Speed Rapid stop cause occurrence Real acceleration time Time take to reach the positioning speed set in the Motion program. Positioning speed set in Real rapid stop deceleration time...
Page 185: S-Curve Ratio
5 PARAMETERS FOR POSITIONING CONTROL 5.3.2 S-curve ratio S-curve ratio can be set as the acceleration and deceleration processing method for S- pattern processing. Setting range of the S-curve ratio is 0 to 100[%]. If it is set outside the range, an error occurs at the start and control is executed with the S-curve ratio set as 100[%].
Page 186: Allowable Error Range For Circular Interpolation
5 PARAMETERS FOR POSITIONING CONTROL 5.3.3 Allowable error range for circular interpolation The locus of the arc calculated from the start point address and central point address may not coincide with the set end point address for the central-specified control. The allowable error range for circular interpolation sets the allowable range for the error between the locus of the arc determined by calculation and the end point address.
Page 187: Work Coordinate Data
5 PARAMETERS FOR POSITIONING CONTROL 5.4 Work Coordinate Data (1) The work coordinate data is used to set the work coordinates and six different work coordinates can be set (G54 to G59) for every axis. (Refer to Section 6.12 for details.) (2) The position is set with the offset from the mechanical coordinate system home position for the work coordinate system.
Page 188: Motion Programs For Positioning Control
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6. MOTION PROGRAMS FOR POSITIONING CONTROL Motion program in the EIA language format is used as a programming language in the Motion controller (SV43). A Motion program is used to specify the positioning control type and positioning data required to execute the positioning control in the Motion CPU.
Page 189 6 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Block A block is a collection of several words. It includes information necessary to perform a single specific operation of a machine and acts as a complete command on a block basis. A block is ended by the EOB (End of Block) code to indicate separation. <Block composition>...
Page 190: Motion Program Composition
6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) Motion program A machine operation is commanded by several collection of blocks in the Motion program. <Motion program composition> 00001 O100; 1) Motion program No. 00002 N10 G91 G00; 00003 G28 X0. Y0. ; 00004 X250.
Page 191: Type Of The Motion Program
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.2 Type of The Motion Program There are following two types in the Motion program. Type of Motion program is set for every program by the motion parameter. Type of the Motion program Name Description This program is described by the control instructions only.
Page 192: G-Code List
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.3 G-code List G-codes used in the Motion program are shown below. G-code List Axis Control Type Instruction (Group) Description Remark designation program program (Note) Point-to-point positioning at the high-speed feed-rate Constant-speed positioning at the speed specified in F Circular interpolation (CW) Circular interpolation (CCW) 00 Dwell...
Page 193 6 MOTION PROGRAMS FOR POSITIONING CONTROL Class and group of G-code are shown below. Class Description Once any G-code is commanded, it is valid until another G-code in the same group is commanded. Initial status (at the power-on) is as follows. Group 01 ··········...
Page 194: M-Code List
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.4 M-code List M-codes used in the Motion program are shown below. M-code List Axis Control Type Instruction Description Remark designation program program Program stop Optional program stop Program end Special M-code Program end M98, M99 Subprogram call, end M100...
Page 195: Control Instruction List
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.5 Control Instruction List Control instructions used in the Motion program are shown below. Control instruction list Axis Control Type Instruction Description designation program program IF, GOTO Program control function IF, THEN, ELSE, END Program control function WHILE, DO Program control function Control function...
Page 196 6 MOTION PROGRAMS FOR POSITIONING CONTROL Control instruction list (Continued) Axis Control Type Instruction Instruction description designation program program MULTW Write device data to shared CPU memory Read device data from shared CPU memory of the MULTR other CPU Multiple CPU Write words data to intelligent function instruction module/special function module...
Page 197: Start/End Method
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.6 Start/End Method Start/end methods of the Motion program are shown below. Type Start/end method Start method (1) Start by the SFCS instruction from the PLC CPU. (2) Start by the CALL instruction (start) or the GOSUB/GOSUBE instruction (call) in the control program.
Page 198 6 MOTION PROGRAMS FOR POSITIONING CONTROL Example for structure of program start/end O10; O20; CALL P20; M02; CALL P10; GOSUB P21; O21; M02; M02; Return GOSUB P11; O22; O11; M02; CALL P22; GOSUB P23; O23; M02; Return M02; Return CALL JXJY P12; O12;...
Page 199: Number Of Maximum Nesting For Program Call And Multi Startable Program
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.7 Number of Maximum Nesting for Program Call and Multi Startable Program (1) The number of maximum nesting of the GOSUB/GOSUBE is 8 levels in the control program. (2) The number of maximum nesting of M98 is 8 levels in the designation program.
Page 200: Motion Parameter
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.8 Motion parameter Set the following parameters for every Motion program. Item Setting range Initial value Remark 1. Control program This parameter is input at the Program type Control program 2. Axis designation program turning M2000 off to on after that it is controlled.
Page 201: Caution At The Axis Designation Program Creation
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.9 Caution at The Axis Designation Program Creation (1) A subprogram call from another subprogram (nesting) is maximum 8 levels. (2) In one block, one G-code can be selected from each modal group. Up to two G- codes can be commanded.
Page 202 6 MOTION PROGRAMS FOR POSITIONING CONTROL IMPORTANT The Motion program which an axis overlapped cannot be started simultaneously. If it is executed, we cannot guarantee their operations. (3) The M-codes except the M00, M01, M02, M30, M98, M99 and M100 can be specified in the same block with another command.
Page 203 6 MOTION PROGRAMS FOR POSITIONING CONTROL (b) Constant-speed operation 100. 200. M-code M-code outputting (M2419+20n) FIN signal (M3219+20n) When the FIN signal (M3219+20n) is turned from OFF to ON to OFF during positioning in block 2), the axis performs constant-speed operation without decelerating stop in the block of M-code.
Page 204 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) Acceleration/deceleration processing for G01 G91 G01 X100. Y100. F100. ; Constant-speed positioning of X, Y..Block 1 Y100. ; Constant-speed positioning of Y .....Block 2 X100. ; Constant-speed positioning of X .....Block 3 The acceleration/deceleration processing of the X-axis and Y-axis in the above program are as follows.
Page 205 6 MOTION PROGRAMS FOR POSITIONING CONTROL (11) Variable preread Variables in up to eight blocks including the one currently executed are preread. Set variables before starting of the program. (12) Motion program including the high-speed oscillation Be careful the following when the high-speed oscillation (G25) is performed for all axes specified in the SVST.
Page 206: Instruction Symbols/Characters List
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.10 Instruction Symbols/Characters List Instruction symbols and characters used in Motion programs are shown below. Table 6.1 Instruction Symbol/Character List Symbol/character Function Description Coordinate position data Coordinate position data Coordinate position data Coordinate position data Coordinate position data Coordinate position data Coordinate position data...
Page 207 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.1 Instruction Symbol/Character List (Continued) Symbol/character Function Description Preparatory function (G-code) Refer to Section "6.3 G-code List". Subprogram repeat count Used in M98 Auxiliary function (M-code) Refer to Section "6.4 M-code List". Sequence No. Indicates a sequence No.
Page 208 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.1 Instruction Symbol/Characters List (Continued) Symbol/character Function Description Trigonometric function (sine) Trigonometric function (cosine) Trigonometric function (tangent) ASIN Trigonometric function (arcsine) ACOS Trigonometric function (arccosine) Used in arithmetic operation commands. ATAN Trigonometric function (arctangent) Numerical conversion (real number to integer) Numerical conversion (integer to real...
Page 209 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.1 Instruction Symbol/Characters List (Continued) Symbol/character Function Description Subprogram call sequence No. Used in M98. Tool length offset data No. Used in G43, G44. Used in BMOV, BDMOV, MULTW, MULTR, TO or Indicates hexadecimal number constant. FROM.
Page 210: Setting Method For Command Data
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11 Setting Method for Command Data This section describes the setting method for command data (addresses, speeds, operational expressions) used in the Motion programs. There are following two setting method for command data. • Direct setting (using numerical values entering) ............
Page 211: Indirect Setting
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.2 Indirect setting (1) Variable representation The 16-bit integer type, 32-bit integer type and 64-bit double precision real number can be used as variables. Data registers Link registers Motion registers Coasting timer 16-bit integer #n, #Dn, #nS, #@n, #@nS, #Wn:S...
Page 212 6 MOTION PROGRAMS FOR POSITIONING CONTROL POINT (1) The data register is shown as "#D" or "#" in the Motion program. Describe it as "#@" to indicate a motion register. (2) The mark of the I/O modules is X and Y in the Motion program regardless of installation/non-installation.
Page 213 6 MOTION PROGRAMS FOR POSITIONING CONTROL Conversion format Description The 64-bit double precision real number is converted to 32-bit integer type. Note that any value other than -2147483648 to 2147483647 results in an error. (Error : 531) Bits 0 to 51: Significant digit part 64 bit to 32 bit Fractional portion is dropped.
Page 214 6 MOTION PROGRAMS FOR POSITIONING CONTROL (c) How to handle variable as 64-bit double precision real number By handling a variable as a 64-bit double precision real number, arithmetic operation spanning multiple blocks can be performed without reduction in precision. Describe a capital letter ":F"...
Page 215 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Example] <Command address 1> G91; #@10:L=1.; G0 X#@10:L ; The travel value of X is any of the following values. inch degree 1 mm 0.1 inch 0.1 degree <Command address 2> G91; #@10:F=1.; G0 X#@10:F ; The travel value of X is equivalent to any of the following values if it is "#@10F=1.;"...
Page 216 6 MOTION PROGRAMS FOR POSITIONING CONTROL (6) Device setting (#Xx : Xx is device) The word device (D, W, #) and bit device (X, Y, M, B, F) can be referred to by device setting. Because the word device (D, W, #) is handled as 32 bits (2 word data), only an even number can be used.
Page 217 6 MOTION PROGRAMS FOR POSITIONING CONTROL POINTS (1) The Motion program No. (O) cannot be set indirectly. (2) When the Motion program is executed in the Motion CPU, the data of specified devices (2-word or 4-word) are input in the variable setting or device setting using word devices.
Page 218: Operational Data
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.3 Operational data (1) Four fundamental operations (+, -, *, /, MOD) The data type combinations and conversion methods for four fundamental operations (+, -, *, /, MOD) are shown below. Operation result = [Data 1] operator [Data 2] Operator indicates +, -, *, / or MOD Internal operation is performed after conversion into the type of the operation result.
Page 219 6 MOTION PROGRAMS FOR POSITIONING CONTROL Operation result Data 1 Data 2 (16 bit) 16-bit data is converted into 32-bit data. #nL, #n:L (32 bit) #n (16 bit) No conversion 16-bit data is converted into 32-bit #nF, #n:F (64 bit) data.
Page 220 6 MOTION PROGRAMS FOR POSITIONING CONTROL • For MOD Operation result Data 1 Data 2 (16 bit) 16-bit data is converted into 32-bit data. #nL, #n:L (32 bit) (16 bit) No conversion 16-bit data is converted into 32-bit #nF, #n: F (64 bit) data.
Page 221 6 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Logical operations (AND, OR, XOR, NOT), shift operators (<<, >>) • For AND, OR, XOR, <<, >> The data type combinations and conversion methods for logical operations (AND, OR, XOR) and shift operators (<<, >>) are shown below. Operation result = [Data 1] operator [Data 2] Operator indicates AND, OR, XOR, <<...
Page 222 6 MOTION PROGRAMS FOR POSITIONING CONTROL • For NOT The following table indicates the data type combinations and conversion methods for NOT. Operation result = operator [Data 1] Operator denotes NOT. For logical and shift operations, operation including the 64-bit floating-point type cannot be performed.
Page 223 6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN) The data type combinations and conversion methods for trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN) are shown below. Operation result = trigonometric function [Data 1] Trigonometric function indicates SIN, COS, TAN, ASIN, ACOS or ATAN Internal operation is performed with the 64-bit floating-point type.
Page 224 6 MOTION PROGRAMS FOR POSITIONING CONTROL (4) Floating-point type real number processing instructions (INT, FLT) The data type combination and conversion method for floating-point type real number processing instructions (INT, FLT)are shown below. Operation result = function [Data 1] Function indivates INT or FLT. The floating-point type real number processing instructions (INT, FLT) can operate the 32-bit type only.
Page 225 6 MOTION PROGRAMS FOR POSITIONING CONTROL (5) Functions (SQRT, ABS, LN, EXP) The data type combinations and conversion methods for functions (SQRT, ABS, LN, EXP) are shown below. Operation result = function [Data 1] Function indicates SQRT, ABS, LN or EXP Internal operation of SQRT, LN or EXP is performed with the 64-bit floating-point type.
Page 226 6 MOTION PROGRAMS FOR POSITIONING CONTROL • For ABS Operation result Data 1 (16 bit) No conversion (16 bit) #nL, #n:L (32 bit) No conversion 32-bit data is converted into 16-bit data. #nF, #n:F (64 bit) 64-bit data is converted into 16-bit data. (16 bit) 16-bit data is converted into 32-bit data.
Page 227 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) Functions (round-off (RND), round-down (FIX), round-up (FUP)) The data type combinations and conversion methods for round-off (RND), round- down (FIX) and round-up (FUP) are shown below. Operation result = function [Data 1] Function denotes RND, FIX or FUP. Round-off (RND), round-down (FIX) and round-up (FUP) cannot perform operation of other than the 64-bit floating-point type.
Page 228: Setting Range Of Instruction Symbols List
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.4 Setting range of instruction symbols list Setting range of instruction symbols used in the Motion programs are shown below. Table 6.2 Setting Range of Instruction Symbol List Setting range Symbol Function Indirect setting value by Motion program description variable Coordinate position data...
Page 229 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.2 Setting Range of Instruction Symbol List (Continued) Setting range Symbol Function Indirect setting value by Motion program description variable 0 to 214748.3647 [mm] Radius of R point specified 0 to 2147483647 Address 0 to 21474.83647 [inch] circular arc 0 to 35999999...
Page 230: Positioning Control Unit For 1 Axis
6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) Command unit A decimal point can be entered in the Motion program input information which defines the command address or speed, etc. [Example] 123456.7890 A decimal point may also be omitted. When a decimal point is omitted, a command address is represented in 0.0001[mm], 0.00001[inch] or 0.00001[degree] increments, for example.
Page 231: Control Units For Interpolation Control
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.6 Control units for interpolation control (1) The interpolation control units specified with the parameter block and the control units of the fixed parameter are checked. If the interpolation control units specified with the parameter block differ from the control units of the each axis fixed parameter for the interpolation control, it shown below.
Page 232 6 MOTION PROGRAMS FOR POSITIONING CONTROL (b) Unit mismatch ( 2) ) he travel value and positioning speed are calculated for each axis. • T a) The travel value is converted into the [PLS] unit using the electronic gear of its own axis. b) The positioning speed is converted into the [PLS/s] unit using the electronic gear of the axis whose control unit matches the interpolation control unit.
Page 233: Control In The Control Unit "Degree
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.7 Control in the control unit "degree" If the control units are "degree", the following items differ from other control units. (1) Current value address The current addresses in the control units "degree" are ring addresses from 0° to 360°.
Page 234 6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) Positioning control Positioning control method in the control unit "degree" is shown below. (a) Absolute data method Positioning in a near direction to the specified address is performed based on the current value. Examples (1) Positioning is executed in a clockwise direction to travel from the current value of 315.00000°...
Page 235: About Coordinate Systems
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.12 About Coordinate Systems This section describes coordinate systems. There are two coordinate systems : basic mechanical coordinate system and work coordinate system. (1) Basic mechanical coordinate system ......A coordinate system specific to a machine and indicates the position determined specifically for the machine.
Page 236: G-Code
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13 G-code This section describes instruction codes to use in the Motion program. Each instruction is described in the following format. Functional outline of instruction explained easily. The method of the input and description are shown. "...
Page 237 6 MOTION PROGRAMS FOR POSITIONING CONTROL The arguments of G-code are shown in Table 6.3. Table 6.3 G-code arguments Remarks (Note-1) Only G-codes of G04, G43, G44 and G49 are available. (Note-1) Only G-codes of G04, G43, G44 and G49 are available. Only G-codes of G04 is available.
Page 238 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.3 G-code arguments (Continued) Remarks Only G-codes of G00, G01, G02, G03, G12, G13 and G92 are (Note-1) available. Only G-codes of G00, G01, G02, G03, G12, G13 and G92 are (Note-1) available. Only G-codes of G00, G01, G02, G03, G12, G13 and G92 are (Note-1) available.
Page 239: G00 Point-To-Point Positioning At The High-Speed Feed Rate
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.1 G00 Point-to-point positioning at the high-speed feed rate Code The positions of the specified axes are executed. (PTP) Point-to-point positioning at Function the high-speed feed rate 0 X x Y y Z z Format Positioning address Axis name...
Page 240 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Related Parameters] High-speed feed rate: The maximum feed rate of each axis is set. (Refer to Section 5.2.5 for the high-speed feed rate setting of the fixed parameter.) The positioning is executed in the shortest path which connects the start and end point at the execution of G00.
Page 241: G01 Constant-Speed Positioning At The Speed Specified In F
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.2 G01 Constant-speed positioning at the speed specified in F Code Linear interpolation is executed from the current position to the specified end point at the specified feed rate. (Constant-speed) Constant-speed positioning at the speed The feed rate is specified at the linear speed (combined-speed) to the Function specified in F...
Page 242 6 MOTION PROGRAMS FOR POSITIONING CONTROL (8) If the G02 or G03 command is executed during the G01 command (Constant- speed positioning), a deceleration stop is not made. [Example] G01 X100. Y100. Z100. ; Constant-speed control is G02 X0. Y0. I0. J50. F500. ; executed in this area.
Page 243: G02 Circular Interpolation Cw (Central Coordinates-Specified)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.3 G02 Circular interpolation CW (Central coordinates-specified) Code The axes travel from the current position (start point) to the specified Circular interpolation (CW) coordinate position (end point) with a circular arc (CW). Function Circular arc central The travel speed is the specified feed rate.
Page 244 6 MOTION PROGRAMS FOR POSITIONING CONTROL (5) When this command is executed continuously, the acceleration or deceleration is not made at the start or end point of a block because the status is not the exact stop check mode. (6) When the circular arc central coordinates and radius are specified simultaneously for G02 (CW), the central coordinates-specified circular interpolation has priority.
Page 245 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) The end point and circular arc central coordinates cannot be omitted. Always specify them for two axes. (2) Circular interpolation includes the [degree] axis whose stroke limit is set to be invalid cannot be executed. (3) Circular interpolation cannot be executed the combination of [mm] and [degree] or [inch] and [degree].
Page 246: G03 Circular Interpolation Ccw (Central Coordinates-Specified)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.4 G03 Circular interpolation CCW (Central coordinates-specified) Code The axes travel from the current position (start point) to the specified Circular interpolation (CCW) coordinate position (end point) with a circular arc (CCW). Function Circular arc central The travel speed is the specified feed rate.
Page 247 6 MOTION PROGRAMS FOR POSITIONING CONTROL (5) When this command is executed continuously, the acceleration or deceleration is not made at the start or end point of a block because the status is not the exact stop check mode. (6) When the circular arc central coordinates and radius are specified simultaneously for G03 (CCW), the radius-specified circular interpolation has priority.
Page 248 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) The end point and circular arc central coordinates cannot be omitted. Always specify them for two axes. (2) Circular interpolation includes the [degree] axis whose stroke limit is set to be invalid cannot be executed. (3) Circular interpolation in the unit combination of [mm] and [degree] or [inch] and [degree] cannot be executed.
Page 249: G02 Circular Interpolation Cw (Radius-Specified)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.5 G02 Circular interpolation CW (Radius-specified) Code The axes travel from the current position (start point) to the specified coordinate position (end point) with a circular arc of the specified radius Circular interpolation (CW) (CW).
Page 250 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Related Parameters] Speed limit value : The maximum feed rate of each axis is set. (Refer to Section 5.3.1 for the speed limit value of the parameter block.) Circular interpolation arc error : The allowable error range for circular interpolation is set.
Page 251: G03 Circular Interpolation Ccw (Radius-Specified)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.6 G03 Circular interpolation CCW (Radius-specified) Code The axes travel from the current position (start point) to the specified coordinate position (end point) with a circular arc of the specified radius Circular interpolation (CCW) (CCW).
Page 252 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Related Parameters] Speed limit value : The maximum feed rate of each axis is set. (Refer to Section 5.3.1 for the speed limit value of the parameter block.) Circular interpolation arc error : The allowable error range for circular interpolation is set.
Page 253: G04 Dwell
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.7 G04 Dwell Code Execution of next block is waited for the specified period of time. Function Dwell 4 P p Format Dwell time (1 to 65535) [Explanation] (1) The time from after deceleration stop of the preceding travel command until the next block start is specified.
Page 254 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program in which dwell time is placed between positioning operation instructions. 1) G01 X100. F10. ; (Positioning) 2) G04 P2000 ; (Dwell time set to 2[s]) 3) G01 X200. ; (Positioning) X-axis Dwell time 2000 0.001=2[s]...
Page 255: G09 Exact Stop Check
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.8 G09 Exact stop check Code The axes travel in the specified block point-to-point positioning. Function Exact stop check X x F Format May be used only in the G01, G02, G03, G12 or G13 program [Explanation] (1) This command is used with the interpolation command.
Page 256 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program which uses the exact stop check for positioning. 1) G09 G01 X100. F500. ; (Positioning by an exact stop check) 2) X200. ; (Positioning) 3) X300. ; (Positioning) 4) G09 G01 X400. ; (Positioning by an exact stop check) X-axis 6 - 69...
Page 257: G12 Helical Interpolation Cw (Helical Central Coordinates-Specified)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.9 G12 Helical interpolation CW (Helical central coordinates-specified) Code The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from the current position (start point) to circular end address or linear axis end point address, and the helical Helical interpolation (CW) interpolation (CW) is executed so that it may become a spiral course.
Page 258 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) The travel speed is the specified combined-speed for 2 axes circular interpolation axis. (8) When this command is executed continuously, the acceleration or deceleration is not made at the start or end point of a block because the status is not the exact stop check mode.
Page 259 6 MOTION PROGRAMS FOR POSITIONING CONTROL The example of the direction of the nozzle of controlling the normal for circular arc curve. Start point Nozzle 150.0 100.0 R=50 R=100 50.0 150.0 100.0 50.0 100.0 150.0 100.0 150.0 Z-axis (Rotation angle) X, Y-axis The program to start as the upper figure from start point and witch keeps a nozzle at right angles toward the contour of line and that it goes around the contour and witch...
Page 260: G13 Helical Interpolation Ccw (Helical Central Coordinates-Specified)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.10 G13 Helical interpolation CCW (Helical central coordinates-specified) Code The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from the current position (start point) to circular interpolation axis end point address or linear axis end point Helical interpolation (CCW) address, and the helical interpolation (CCW) is executed so that it may Function...
Page 261 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) The travel speed is the specified combined-speed for 2 axes circular interpolation axis. (8) When this command is executed continuously, the acceleration or deceleration is not made at the start or end point of a block because the status is not the exact stop check mode.
Page 262: G12 Helical Interpolation Cw (Helical Radius-Specified)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.11 G12 Helical interpolation CW (Helical radius-specified) Code The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from the current position (start point) to circular interpolation axis end point address or linear axis end point Helical interpolation (CW) address, and the helical interpolation (CW) is executed so that it may Function...
Page 263 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) When this command is executed continuously, the acceleration or deceleration is not made at the start or end point of a block because the status is not the exact stop check mode. (8) The positioning data can be set by direct setting (numerical value) or indirect setting (variable : # (9) If start point = end point, number of pitches = 1 and travel value of linear axis = 0, at the only center coordinates-specified helical interpolation, complete round can...
Page 264: G13 Helical Interpolation Ccw (Helical Radius-Specified)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.12 G13 Helical interpolation CCW (Helical radius-specified) Code The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from the current position (start point) to circular interpolation axis end point address or linear axis end point Helical interpolation (CCW) address, and the helical interpolation (CW) is executed so that it may Function...
Page 265 6 MOTION PROGRAMS FOR POSITIONING CONTROL (6) If a complete round command (the starting point is the same as the end point) is specified in R-specified helical interpolation, a minor error will (error code : 108) occur and no operation is performed. Therefore, specify the helical circular arc central coordinates for the complete round command.
Page 266: G23 Cancel, Cancel Start Invalid
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.13 G23 Cancel, cancel start invalid Code G24 (cancel function, cancel start function) which has already been made valid is invalidated. Function Cancel, cancel start invalid Valid until G24 (cancel function, cancel start function) is executed. Format [Explanation] (1) This command makes invalid the cancel or cancel start function which has already...
Page 267: G24 Cancel, Cancel Start
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.14 G24 Cancel, cancel start Code The executing program is cancel and the specified start program automatically starts. This function is valid until cancel or cancel start function invalid (G23) is Function Cancel, cancel start executed.
Page 268 6 MOTION PROGRAMS FOR POSITIONING CONTROL (9) When G24 exists at any point between continuous constant-speed positioning blocks, a deceleration stop is made once. N1 G24 CAN #X100 ; Cancel function for N1 is valid N2 G01 X200. F2000. ; until G24 or G23 is specified.
Page 269 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program which cancels program operation during execution of "O0010" program and starts "O0100" program. (Command unit is [mm].) O0010 ; 1) G24 CAN #X100 P100 PB1 ; Execution of cancel start function 2) G90 G01 X200.
Page 270: G25 High-Speed Oscillation
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.15 G25 High-speed oscillation Code The specified axis oscillates in a Sine curve. Function High-speed oscillation 5 X S A T s S RK a F f ; Frequency (Indirect setting is possible) Frequency designation (Indirect setting is possible) Format Amplitude (Indirect setting is possible)
Page 271 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program in which the X-axis oscillates in the Sine curve of 10[mm] amplitude, 90 [degree] starting angle and 30[CPM] frequency. (Command unit is [mm].) G25 X START 90. STRK 10. F30 ; (Note) : The starting angle (START) is valid to the first decimal place.
Page 272: G26 High-Speed Oscillation Stop
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.16 G26 High-speed oscillation stop Code The high-speed oscillation of the axis which is performing high-speed High-speed oscillation stop oscillation is stopped. Function function 6 X; Format Axis name [Explanation] (1) Stops the high-speed oscillation of the axis which is performing high-speed oscillation.
Page 273: G28 Home Position Return
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.17 G28 Home position return Code When the home position return request is ON, the mid point designation is ignored and a proximity dog, count, data set, dog cradle, stopper or limit switch combined type home position return. When the home position return request is OFF, the axis returns from Function Home position return...
Page 274 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) When the control unit is [degree], operation from the mid point to the home position differs between the absolute value command (G90) and incremental value command (G91). The axis travels in the nearest path under the absolute value command (G90), or in the direction specified in the home position return direction parameter under the incremental value command (G91).
Page 275: G30 Second Home Position Return
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.18 G30 Second home position return Code The axis returns from the current position to the second home position through the specified mid point at the high-speed feed rate. Function Second home position return 0 X x Y y Z z ;...
Page 276 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program which executes the second home position return from the current position through the A point (mid point). G90 ; G30 X200. Y200. ; (Second home position return) A point (mid point coordinates X200, Y200) Current value Second home position REMARK...
Page 277: G32 Skip
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.19 G32 Skip Code The axis travels at the specified feed rate, the remaining command is suspended at the input of an external signal, and the next block is executed. Function Skip Dwell is skipped for the dwell command. <When axis specified>...
Page 278 6 MOTION PROGRAMS FOR POSITIONING CONTROL (9) The absolute circular interpolation or the absolute helical interpolation of the next block cannot be executed. (10) The F command is handled like G01. (11) The coasting value between skip signal detection and a stop is represented by the following expression.
Page 279 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] (1) The program designed to make multiple skips under the control of external skip signals specified from the program midway through positioning. (Under incremental value command) • G91 ; • G32 X100. F2000 SKIP #X180 ; Turns ON the X180 signal midway.
Page 280 6 MOTION PROGRAMS FOR POSITIONING CONTROL CAUTION The following operation assumes that a skip (G32) is specified during constant-speed control (G01) and the [degree] axis without a stroke range is included. When an absolute value command exists after a skip under this condition, the last positioning point and the travel distance in the whole program are the same independently of whether a skip is executed or not.
Page 281: G43 Tool Length Offset (+)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.20 G43 Tool length offset (+) Code The axis travels with the preset offset value added to the travel command. By setting a difference between the tool length value and actual tool Function Tool length offset (+) length as the offset value, a program can be created without being aware of the tool length.
Page 282 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which executes the positioning added the offset value to the command position. (For absolute value command) (Data of the tool length offset data setting registers are as follows : H1 = 5[mm] (D1650, 1651 = 50000), H2 = 10[mm] (D1652, 1653 = 100000)) G90 ;...
Page 283: G44 Tool Length Offset
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.21 G44 Tool length offset (-) Code The axis travels with the preset offset value subtracted from the travel command. By setting a difference between the tool length value and actual tool Function Tool length offset (-) length as the offset value, a program can be created without being aware of the tool length.
Page 284 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which executes the positioning subtracted the offset value from the command position. (For absolute value command) (Data of the tool length offset data setting registers are as follows : H1 = 5[mm] (D1650, 1651 = 50000), H2 = 10[mm] (D1652, 1653 = 100000)) G90 ;...
Page 285: G49 Tool Length Offset Cancel
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.22 G49 Tool length offset cancel Code The preset tool length offset value (G43, G44) is cancel. Function Tool length offset cancel 49 X x ; Format Positioning address Axis name [Explanation] (1) This command cancels the preset tool length offset value (G43, G44) and performs the specified positioning.
Page 286: G53 Mechanical Coordinate System Selection
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.23 G53 Mechanical coordinate system selection Code The axis travels to the command position of basic mechanical Mechanical coordinate coordinate system at the high speed feed rate. Function system selection Y y Z z 3 X x Format Coordinates in basic mechanical...
Page 287 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) Under the incremental value command (G91), the axes travel at the incremental value of the mechanical coordinate system, and under the absolute value command (G90), the axes travel at the absolute value of the mechanical coordinate system.
Page 288: G54 To G59 Work Coordinate System Selection
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.24 G54 to G59 Work coordinate system selection G54, G55, G56, G57, Code The work coordinate system is selected and the axes travel to the G58, G59 specified position in the work coordinates system at the speed specified Work coordinate system 1 to in the feed rate.
Page 289 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Related Parameters] Work coordinates system offset value : Specify the offset in the work coordinates system using the distance from the basic mechanical coordinates. (Refer to Section 5.4 for the work coordinate data.) Up to six work coordinates systems can be set. (Work coordinates systems 1 to 6) [Program Example] <Work coordinates system selection>...
Page 290 6 MOTION PROGRAMS FOR POSITIONING CONTROL <Work coordinates system change> The program for which set the offset of the work coordinates system 1 to X500, Y500 in the parameter setting of work coordinates data, then change the work coordinates system to new work coordinates system 1. 1) G54 G92 X-200.
Page 291: G61 Exact Stop Check Mode
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.25 G61 Exact stop check mode Code It travels in the point-to-point positioning (PTP). Function Exact stop check mode 61 ; Format [Explanation] (1) This command is used with the interpolation command. Executing this command travels in the point-to-point positioning.
Page 292 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which executes the positioning in the exact stop check mode. 1) G61 G01 X100. F500. ; (Positioning in the exact stop check mode) 2) X200. ; (Positioning in the exact stop check mode) 3) X300.
Page 293: G64 Cutting Mode
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.26 G64 Cutting mode Code The next block continuously executes without deceleration stop between cutting feed blocks. Function Cutting mode 64 ; Format [Explanation] (1) This command is used to execute the positioning to the specified coordinates position approximately.
Page 294 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which executes the positioning in the cutting mode. 1) G64 G01 X100. F500. ; (Positioning in the cutting mode) 2) X200. ; (Positioning in the cutting mode) 3) X300. ; (Positioning in the cutting mode) X-axis 6 - 107...
Page 295: G90 Absolute Value Command
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.27 G90 Absolute value command Code The coordinates command is set as an absolute value command. Function Absolute value command 0 X x Y y Z z Format Locating position [Explanation] (1) In the absolute value command mode, the axes travel to the specified coordinates position regardless of the current position.
Page 296 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] Example of comparison between the absolute value command and incremental value command <Incremental value command> G91 X70. Y70. ; (100, 100) Incremental value command <Absolute value command> (70, 70) G90 X70. Y70. ; Absolute value command Current position (30, 30)
Page 297: G91 Incremental Value Command
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.28 G91 Incremental value command Code The coordinates command is set as an incremental value command. Function Incremental value command 1 X x Y y Z z Format Locating position [Explanation] (1) In the incremental value command mode, the axes travel the distance of the specified relative value from the start point (0) of the current position.
Page 298 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] Example of comparison between the incremental value command and absolute value command <Incremental value command> G91 X70. Y70. ; (100, 100) Incremental value command <Absolute value command> (70, 70) G90 X70. Y70. ; Absolute value command Current value (30, 30)
Page 299: G92 Coordinates System Setting
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.29 G92 Coordinates system setting Code The mechanical coordinates (virtual mechanical coordinates) is set simulatively. Setting the virtual mechanical coordinate system also changes the work Function Coordinates system setting coordinates systems 1 to 6. 2 X x Y y Z z Format...
Page 300 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which set the work coordinate system to the specified position. G92 X20. Y30. ; Current position Current position New work coordinates Old work coordinates Work coordinates Virtual mechanical coordinates Mechanical coordinates Mechanical coordinates (Unit: mm)
Page 301: G98, G99 Preread Disable/Enable
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.30 G98, G99 Preread disable/enable Code G98, G99 Preread disable (G98) Preread enable (G99) Function Preread disable/enable 98 ; Format 99 ; [Explanation] (1) The preread disable mode after that when G98 is executed. As this command is a modal instruction, it is valid until the preread enable (G99) being commanded.
Page 302 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) Preread is disabled until G99 is executed after it blocks it modal G98, and being specified only though preread is stopped in the block that M100 (preread dis- able) was not modal, and specified once. (2) There is no described meaning as a program thought the problem is not in modal G98 even if M100 is executed.
Page 303: G100, G101 Time-Fixed Acceleration/Deceleration, Acceleration-Fixed Acceleration/Deceleration Switching Command
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.31 G100, G101 Time-fixed acceleration/deceleration, acceleration-fixed acceleration/ deceleration switching command Code G100, G101 The acceleration/deceleration method is switched to time-fixed Time-fixed acceleration/ acceleration/deceleration or acceleration-fixed acceleration/ deceleration, acceleration- Function deceleration. fixed acceleration/decel- eration switching command 10 ;...
Page 304 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program designed to make the acceleration-fixed acceleration/deceleration mode of the acceleration/deceleration system valid, then invalid midway through the program. (Command unit : [mm]) O10 ; G91 ; N1 G28 X0. Y0. ; Time-fixed acceleration/deceleration(Operation is N2 G01 X100.
Page 305 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK About locus of G100/G101 Locus commanded from the Motion controller is different by setting of the G100/G101. (a) Locus of G100 Time-fixed acceleration/deceleration method is used to enable the smooth operation between positioning points for CP operation. In the case of a continuous point of G01 (CP Linear interpolation), it passes roundly inside in a point during positioning.
Page 306 6 MOTION PROGRAMS FOR POSITIONING CONTROL (b) Locus of G101 Acceleration-fixed acceleration/deceleration method is used to enable the correct locus control between positioning points for CP operation. Set a G101 to execute the correct locus control. However, be careful that the speed fluctuation increases at a pass point and the vibration may be occurred in the machine.
Page 307: M-Code
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.14 M-Code This section explains the M-codes used in the Motion programs. (1) M-codes When a Motion program is executed, the 4-digit code data following M is output to the data register (D) in the M command block. The processing of the next block is not executed until the FIN signal (M3219+20n) is input.
Page 308: Special M-Code
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15 Special M-Code The arguments of the special M-codes are shown in Table 6.4 below. Table 6.4 Special M-Code argument list. Axis command Radius Central Point M-code Feed G-code Remark command (R) command (I, J) (Note-1) (Note-2) M100...
Page 309: M00 Program Stop
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.1 M00 Program stop Code Execution of program is stopped. Function Program stop Format [Explanation] Executing this command stops the program without execution of the next block. By turning ON the re-start command (M4404+10n) after a stop, execution resumes from the next block.
Page 310: M01 Optional Program Stop
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.2 M01 Optional program stop Code When the optional program stop is ON, executing M01 stops an execution of program. Function Optional program stop Format [Explanation] When the optional program stop command (M4401+10n) is ON, executing this command stops the program without execution of the next block.
Page 311: M02 Program End
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.3 M02 Program end Code Program is ended. Function Program end Format [Explanation] Executing this command ends an execution of program. This command is required at the end of a program. [Program Example] The program which ends a program after positioning control. G90 ;...
Page 312: M30 Program End
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.4 M30 Program end Code Program is ended. Function Program end Format [Explanation] Executing this command ends an execution of program. This command is required at the end of a program. [Program Example] The program which is ends a program after positioning control. G90 ;...
Page 313: M98, M99 Subprogram Call, Subprogram End
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.5 M98, M99 Subprogram call, subprogram end Code M98, M99 Subprogram call (M98) and subprogram end (M99) are executed. Subprogram call, Function subprogram end H h L l Subprogram repetition count (1 to 9999) Format Subprogram call sequence No.
Page 314 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program designed to run the specified subprogram twice repeatedly, return to the main program, and complete operation. Main program Subprogram O0110 ; O0120 ; M98 P120 H20 L2 ; N20 ; M02 ;...
Page 315: M100 Preread Disable
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.6 M100 Preread disable Code M100 Preread is not executed on the G-code (Motion program). Function Preread disable 1 0 ; Format [Explanation] Executing this command does not execute preread on the G-code (Motion programs). After completion of motion up to the preceding block, the next block is processed.
Page 316: Miscellaneous
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16 Miscellaneous The settable arguments in the first character are shown in Table 6.5 below. Table 6.5 Argument List Logical Assignment Operator GOTO Remarks operator GOTO Depends on the data after "/". Refer to Section 6.13. Refer to Section 6.15 for M00, M01, M02, M30, M98, M99 and M100.
Page 317: Program Control Function (If, Goto Statement)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.1 Program control function (IF, GOTO statement) Code IF, GOTO The flow of execution program is controlled based on the condition. Function Program control function [expression ] Format Sequence No. [Explanation] (1) If the specified expression is true (1) (condition is satisfied), execution jumps to the sequence No.
Page 318 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program for which jumps the specified sequence No. if the condition is satisfied. O00201 ; N200 G91 ; N210 G01 X100. Y100. F2000. ; X200. ; Y200. ; IF [#@100] GOTO230 ; (If #@100 is true, execution jumps to N230.) N220 G01 Y300.
Page 319: Program Control Function (If, Then, Else, End Statements)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.2 Program control function (IF, THEN, ELSE, END statements) Code IF, THEN, ELSE, END The flow of execution program is controlled based on the condition. Function Program control function expression T E m IF identification number (1 to 32) Block U group Format...
Page 320 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] O0001 ; G91 ; G01 X100. Y100. F2000 ; X200. ; Y200. ; IF [#@100 EQ0] THEN1 ; When #@100=0, THEN1 to END1 are executed. G01 Y300. F1500 ; X300. ; END1 ; G02 X50.
Page 321: Program Control Function (While, Do, End Statements)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.3 Program control function (WHILE, DO, END statements) Code WHILE, DO, END The flow of execution program is controlled based on the condition. Function Program control function H I LE [ conditional expression ] D m ;...
Page 322 6 MOTION PROGRAMS FOR POSITIONING CONTROL (4) The GOTO statement cannot cause execution to go into or come out of the DO statement. [Program Example] The program for which jumps to the specified line if the condition is satisfied. O0110 ; N1 #@0=0 ;...
Page 323: Four Fundamental Operators, Assignment Operator (+, -, *, /, Mod, =)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.4 Four fundamental operators, assignment operator (+, -, *, /, MOD, =) Code +, -, *, /, MOD, = Addition (+), subtraction (-), multiplication (*), division (/), Four fundamental operators, remainder (MOD) and assignment (=) are executed. Function assignment operator Operator...
Page 324 6 MOTION PROGRAMS FOR POSITIONING CONTROL (5) For MOD, the 16- or 32-bit type is used for operation. If operation data 1, 2 are the 64-bit type, they are converted into the 32-bit type. The operation result can be the 16-, 32- or 64-bit type, but if the operation result is the 64-bit type, the result of operation performed with the 32-bit type is converted into the 64-bit type and the result of conversion is stored.
Page 325: Trigonometric Functions (Sin, Cos, Tan, Asin, Acos, Atan)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.5 Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN) SIN, COS, TAN, ASIN, Code Operations of SIN (sine), COS (cosine), TAN (tangent), ASIN (arcsine), ACOS, ATAN ACOS (arccosine) and ATAN (arctangent) are executed. Function Trigonometric functions n t o c i n...
Page 326: Real Number To Bin Value Conversion (Int)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.6 Real number to BIN value conversion (INT) Code Floating-point type real A floating-point type real number is converted into a 32-bit integer (BIN number processing value) including four decimal places. Function instruction Real number to BIN value [ ] n Format Indirect setting only...
Page 327: Bin Value To Real Number Conversion (Flt)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.7 BIN value to real number conversion (FLT) Code Floating-point type real A 32-bit integer (BIN value) including four decimal places is converted number processing into a floating-point type real number. Function instruction BIN value to real number conversion [ ] n Format...
Page 328: 32-Bit Real Number And 64-Bit Real Number Data Conversion (Dflt, Sflt)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.8 32-bit real number and 64-bit real number data conversion (DFLT, SFLT) Code DFLT, SFLT The DFLT instruction converts the data from 32-bit real number to 64- bit real number. 32-bit real number and 64-bit The SFLT instruction converts the data from 64-bit real number to 32-bit Function real number data conversion...
Page 329: Functions (Sqrt, Abs, Bin, Bcd, Ln, Exp, Rnd, Fix, Fup)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.9 Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP) SQRT, ABS, BIN, BCD, Operations of SQRT (square root), ABS (absolute value), BIN (BCD to Code LN, EXP, RND, FIX, BINARY conversion), BCD (BINARY to BCD conversion), LN (natural logarithm), EXP (base e exponent), RND (round off), FIX (round down) and FUP (round up) are executed.
Page 330: Logical Operators (And, Or, Xor, Not, <<, >>)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.10 Logical operators (AND, OR, XOR, NOT, <<, >>) AND, OR, XOR, NOT, Code Logical product (AND), logical add (OR), exclusive logical add (XOR), <<, >> logical NOT (NOT) and shift operations (<<, >>) are executed. Function Logical operators Format...
Page 331 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] Operator Program example Operation #2010L = 00000000 00000000 00000000 01100100 #2010L = 100 ; = 00000000 00000000 00000000 00001111 #2020L = #2010L AND 15 ; #2020L = 00000000 00000000 00000000 00000100 = 4 #2010L = 00000000 00000000...
Page 332: Move Block Wait Functions (Waiton, Waitoff)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.11 Move block wait functions (WAITON, WAITOFF) Code WAITON, WAITOFF The next travel block is executed at the completion of ON/OFF condition for the specified device. Function Move block wait functions Xx ; Device (X, Y, M, B, F) Format Xx ;...
Page 333 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] The program which executes the next block at the completion of condition. 00001 WAITON #X10 ; 00002 N1 G01 X100. Y200. F1000. ; 00003 WAITOFF #X11 ; 00004 N2 #2010 = 5 ; 00005 G00 X0.
Page 334: Block Wait Functions (Exeon, Exeoff)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.12 Block wait functions (EXEON, EXEOFF) Code EXEON, EXEOFF The next block is executed at the completion of ON/OFF condition for the specified device. Function Block wait function Xx ; Device (X, Y, M, B, F) Format F Xx ;...
Page 335 6 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Axis designation program (a) Next block is travel block. EXEON/EXEOFF WAITON/WAITOFF SET #M100 ; SET #M100 ; WAITON #M102 ; EXEON #M102 ; G01 X100. F1000. ; G01 X100. F1000. ; Preread of next block is not Preread of next block is executed.
Page 336 6 MOTION PROGRAMS FOR POSITIONING CONTROL (Example1) M100 It does not become valid It is ignored. before preceding block end. (Example2) M100 It stops temporary regardless of G00, G01. REMARK Operation which combined EXEON and WAITON. WAITON #M100 ; EXEON #M101 ; G01 X100.
Page 337: Bit Set And Reset For Word Devices (Bset, Brst)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.13 Bit set and reset for word devices (BSET, BRST) Code BSET, BRST Sets or resets the specifies bit in the word device. Bit operation of the ward Function devices Set bit number (0 to15) Word device which operates bit.
Page 338: Parameter Block Change (Pb)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.14 Parameter block change (PB) Code The parameter block of the specified No. is used. Function Parameter block change pb ; Format Parameter block No. Parameter block change command [Explanation] (1) The numerical value following PB is used as a parameter block No.. (2) The parameter block value may also be specified indirectly by a variable, D, W or # (2-word data).
Page 339 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] (1) When a parameter block change is executed during point-to-point positioning N01 G00 X0. ; Uses the parameter block at a program start. N02 G00 X100. ; N03 PB3 ; Changes to parameter block 3. N04 G00 X300.
Page 340: Torque Limit Value Change (Tl)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.15 Torque limit value change (TL) Code The torque limit value is changed to the specified value. Function Torque limit value change Format Torque limit value Torque limit value change command [Explanation] (1) The numerical value following TL is commanded as a torque limit value. The torque limit value may also be specified indirectly by a variable, D, W or # (2-word data).
Page 341 6 MOTION PROGRAMS FOR POSITIONING CONTROL (9) If specified in a move block, the torque limit value (TL) is made valid from that motion. When the torque limit value is independent (no block motion specified), it is made valid for the next motion. [Program Example] (1) When torque limit value change is made N01 G00 X0.
Page 342: Home Position Return (Chga)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.16 Home position return (CHGA) Code CHGA A home position return of the specified axis is executed. Function Home position return The "J + Axis name" to return the home Format position is set. It is possible to specify it only by an axis.
Page 343: Speed Change (Chgv)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.17 Speed change (CHGV) Code CHGV A speed change of the specified axis is executed. Function Speed change Speed change value (Indirect setting is possible) Format The "J + Axis name" to change the speed value is set.
Page 344: Torque Limit Value Change (Chgt)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.18 Torque limit value change (CHGT) Code CHGT A torque limit value change of the specified axis is executed. Function Torque limit value change Torque limit change value (Indirect setting is possible) (1 to 1000[%]) Format The "J + Axis name"...
Page 345: Bit Device Set, Reset Functions (Set, Rst)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.19 Bit device set, reset functions (SET, RST) Code SET, RST The specified device is turned ON/OFF. Function Bit device set, reset functions ON device (Y, M) Device ON command Format OFF device (Y, M) Device OFF command [Explanation] (1) The specified device in the G-code program can be turned ON/OFF.
Page 346: Bit Device Operation On Condition (If, Then, Set/Rst/Out)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.20 Bit device operation on condition (IF, THEN, SET/RST/OUT) Code IF, THEN, SET/RST/OUT When the condition consists, a specified device is turned on. Bit device operation on Function condition conditional expression SET Y ON device (Y, M, B, F, special M) conditional expression RST Y Format...
Page 347 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) The mark of the I/O modules is X and Y in SV43 regardless of installation/non- installation. PX and PY is not used in the Motion program. (2) Writing in the device X is possible only for the range of the input modules non- installation.
Page 348: Program Start (Call)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.21 Program start (CALL) The specified control program or axis Code CALL designation program is started Function Program start JYJZJUJ V J WJAJB P Motion program No. (1 to 1024) Format (Indirect setting is possible) J+starting axis name.
Page 349 6 MOTION PROGRAMS FOR POSITIONING CONTROL Difference point of the program call and program start Program start Program call O0001 ; O0010 ; O0001 ; O0010 ; CALL JXJY P10 ; GOSUB JXJY P10 ; M02 ; M02 ; M02 ; M02 ;...
Page 350: Program Call 1 (Gosub)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.22 Program call 1 (GOSUB) The specified control program or axis Code GOSUB designation program is called Function Program call 1 G S B JYJZJUJ V J WJAJB P Motion program No. (1 to 1024) Format (Indirect setting is possible) J+starting axis name.
Page 351: Program Call 2 (Gosube)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.23 Program call 2 (GOSUBE) The specified control program or axis Code GOSUBE designation program is called Function Program call 2 The call source program is ended at the error occurrence. G S BE JYJZJUJ V J WJAJB P Motion program No.
Page 352 6 MOTION PROGRAMS FOR POSITIONING CONTROL (9) The end of rol program by CLEAR instruction in the control program or the CLEAR request control program No. setting register (D707) are normal. Call source program is not ended. Refer to the explanation of "Program start" for the difference between the program start and program call.
Page 353 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK Error list which the main program ends by an error occurrence is shown below. Error type Error code Starting 100, 101, 103, 104, 106, 107, 108, 109, 110, errors 115, 140, 142, 145, 160, 161 Positioning 200, 201, 202, 203, 206,207, 208, 209, 211 control errors...
Page 354: Control Program End (Clear)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.24 Control program end (CLEAR) Code CLEAR The specified control program is ended. Function Control program end Format Motion program No. (1 to 1024) (Indirect setting is possible) [Explanation] (1) The CLEAR is ended if it is executing it specifying the number of the control program from the control program.
Page 355 6 MOTION PROGRAMS FOR POSITIONING CONTROL (4) The CLEAR at the program call as the following operation. O100 ; (Control program) O200 ; O100 ; (Control program) O200 ; (Axis designation program) (Control program) GOSUB JXJY P200 ; G01 X100. Y100. ; GOSUB P200 ;...
Page 356: Time To Wait (Time)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.25 Time to wait (TIME) Time from the end of the block to the next block beginning is Code TIME specified at time. waiting Function Time to wait Format Waiting time (1 to 65535) [Explanation] (1) Time from the end of the block to the next block beginning is specified at waiting time.
Page 357: Block Transfers (Bmov : 16-Bit Unit)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.26 Block transfers (BMOV : 16-bit unit) Code BMOV The data of n words from the specified device are batch-transferred to the specified transfer destination. (16-bit unit) Function Block transfers (16-bit unit) D S n Number of transmission words (Constant or indirect setting (1 to 65535)) Format...
Page 358 6 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Program which batch-transfers a contents for 5 words from absolute address (0x06000000) of Motion CPU to all data for 5 words from D2000. BMOV #D2000 H06000000 5 D2000 0x06000000 Batch transfer D2001 0x06000002 (16-bit unit) D2002 0x06000004...
Page 359: Block Transfer (Bdmov : 32-Bit Unit)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.27 Block transfer (BDMOV : 32-bit unit) Code BDMOV The data of n words from the specified word device are batch- transferred to the specified transfer destination. (32-bit unit) Function Block transfer (32-bit unit) D S n Number of transmission words (Constant or indirect setting (1 to 65535))
Page 360 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] (1) Program which batch-transfers a contents for 4 words from D2000 to all data for 4 words from #@10. BDMOV #@10 #D2000 4 #@10 D2000 Batch transfer D2001 #@11 (32-bit unit) #@12 D2002 D2003 #@13...
Page 361: Identical Data Block Transfers (Fmov)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.28 Identical data block transfers (FMOV) Code FMOV The data of n words from the specified device are batch-transferred to the specified transfer destination. (a word [16-bit] unit) Function Identical data block transfers D S n Number of transmission words (Constant or indirect setting (1 to 65535)) Format...
Page 362 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] (1) Program which batch-transfers a contents for from D0 to all data for 5 words from #@10. FMOV #@10 #D0 5 #@10 Batch transfer #@11 (16-bit unit) #@12 #@13 #@14 The motion device is not initialized (0 set) at the power on. Please use it after initializing data by this instruction when it is necessary.
Page 363: Write Device Data To Shared Cpu Memory (Multw)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.29 Write device data to shared CPU memory (MULTW) Code MULTW A part for (n) words of data since the device specified with (S) of the self CPU module are written to since the shared CPU memory Write device data to shared Function address specified with (D) of the self CPU module.
Page 364 6 MOTION PROGRAMS FOR POSITIONING CONTROL An operation error will occur if : (a) Number of words (n) to be written is outside the range of 1 to 256. (b) The shared CPU memory address (D) of self CPU of the writing destination device is outside the range (800H to FFFH) of the shared CPU memory address.
Page 365: Read Device Data From Shared Cpu Memory Of The Other Cpu (Multr)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.30 Read device data from shared CPU memory of the other CPU (MULTR) Code MULTR A part for (n) words of data of the other CPU specified with (S1) are Read device data from read from the address specified with (S2) of the shared CPU memory, Function shared CPU memory of the...
Page 366 6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) When data are read normally from the target CPU specified with (S1), the reading complete flag M9216 to M9219 (CPU No.1:M9216, CPU No.2:M9217, CPU No.3:M9218, CPU No.4:M9219) corresponding to the target CPU turns on. If data cannot be read normally, the reading complete flag of the target CPU does not turn on.
Page 367: Write Words Data To Intelligent Function Module/Special Function Module (To)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.31 Write words data to intelligent function module/special function module (TO) Code A part for (n) words of data from device specified with (S) are written to Write words data to since address specified with (D2) of the buffer memory in the intelligent intelligent function function module/special function module controlled by the self CPU Function...
Page 368 6 MOTION PROGRAMS FOR POSITIONING CONTROL (4) The following analogue modules can be used as the control module of Motion CPU. • Q62DA • Q64DA • Q68DAV • Q68DAI • Q64AD • Q68ADV • Q68ADI (5) An operation error will occur if : (a) Number of words (n) to be written is outside the range of 1 to 256.
Page 369: Read Words Data From Intelligent Function Module/Special Function Module (From)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.32 Read words data from intelligent function module/special function module (FROM) Code FROM A part for (n) words of data are read from the address specified with Read words data from (S2) of the buffer memory in the intelligent function module/special intelligent function function module controlled by the self CPU specified with (S1), and are Function...
Page 370 6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) The devices that may be set at (D), (S1), (S2) and (n) are shown below. Word devices (Note) Bit devices (Note) Setting data Constant (16-bit integer type) — — — — — — (S1) —...
Page 371: Conditional Branch Using Bit Device (On, Off)
6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.33 Conditional branch using bit device (ON, OFF) Code ON, OFF By describing this command in the conditional expression of IF or WHILE, branches processing according to the ON/OFF status of Bit device conditional Function the specified bit device.
Page 372 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Program Example] (1) When M100 is ON, a branch to line N03 is taken. N01 IF [ON #M100] GOTO3 ; Branches to line N03 if M100 is ON. Executes the next line (N02) if M100 is OFF. N02 G01 X100.
Page 373 6 MOTION PROGRAMS FOR POSITIONING CONTROL MEMO 6 - 186...
Page 374: Auxiliary And Applied Functions
7 AUXILIARY AND APPLIED FUNCTIONS 7. AUXILIARY AND APPLIED FUNCTIONS 7.1 Backlash Compensation Function This function compensates for the backlash amount in the machine system. When the backlash compensation amount is set, extra feed pulses equivalent to the backlash compensation amount set up whenever the travel direction is generated at the positioning control, JOG operation or manual pulse generator operation.
Page 375 7 AUXILIARY AND APPLIED FUNCTIONS (2) Backlash compensation processing Details of backlash compensation processing are shown below. Table 7.1 Details of backlash compensation processing Condition Processing • If travel direction is equal to home position return direction, the backlash compensation is not executed. First start after power on •...
Page 376: Torque Limit Function
7 AUXILIARY AND APPLIED FUNCTIONS 7.2 Torque Limit Function This function restricts the generating torque of the servomotor within the setting range. If the torque required for control exceeds the torque limit value during positioning control, it restricts with the setting torque limit value. (1) Setting range of the torque limit value It can be set within the range of 1 to 1000[%] of the rated torque.
Page 377 7 AUXILIARY AND APPLIED FUNCTIONS (3) Motion program O10; G90; N1 G00 X100. Y100. ; TL100; N2 G00 X200. Y200. ; N3 G00 X300. Y300. ; M02; Sequence No. (Note-1) Torque limit value[%] (Program command) CHGT Instruction (Note-2) S(P). CHGT Instruction Servo command X-axis CHGT Instruction...
Page 378: Home Position Return
7 AUXILIARY AND APPLIED FUNCTIONS 7.3 Home Position Return (1) Use the home position return at the power supply ON and other times where confirmation of axis is at the machine home position is required. The following six methods for home position return are shown below. •...
Page 379: Home Position Return Data
7 AUXILIARY AND APPLIED FUNCTIONS 7.3.1 Home position return data This data is used to execute the home position return. Set this data using a peripheral device. Table 7.2 Home position return data list Setting range Indirect setting inch degree Initial Units Item...
Page 380 7 AUXILIARY AND APPLIED FUNCTIONS Explanatory Remarks section • The home position return direction is set. • The home position return method is set. • The proximity dog type or count type are recommended for the servo amplifier which does not support absolute value. •...
Page 381 7 AUXILIARY AND APPLIED FUNCTIONS (1) Travel value after proximity dog ON (a) The travel value after proximity dog ON is set to execute the count type home position return. (b) After the proximity dog ON, the home position is the first zero-point after travel by the setting travel value.
Page 382 7 AUXILIARY AND APPLIED FUNCTIONS (2) Home position return retry function/dwell time at the home position return retry (a) Valid/invalid of home position return retry is set. (b) When the valid of home position return retry function is set, the time to stop at return of travel direction is set with dwell time at the home position return retry.
Page 383 7 AUXILIARY AND APPLIED FUNCTIONS (3) Home position shift amount/speed set at the home position shift (a) The shift (travel) amount from position stopped by home position return is set. (b) If the home position shift amount is positive value, it shifts from detected zero point signal to address increase direction.
Page 384 7 AUXILIARY AND APPLIED FUNCTIONS (d) Valid/invalid of the setting value for home position shift amount by the home position return method is shown below. Valid/invalid Home position return of home position shift methods amount Proximity dog type Count type Data set type Dog cradle type Stopper type...
Page 385 7 AUXILIARY AND APPLIED FUNCTIONS (5) Operation setting for incompletion of home position return (a) Operation in selecting "0: Execute Motion program" (Note) 1) When "0: Execute Motion program" is set in all axes among axes specified at Motion program start, the Motion program can be executed regardless of ON/OFF of the home position return request signal (M2409+20n).
Page 386 7 AUXILIARY AND APPLIED FUNCTIONS Example 1 Operation example in starting the Motion program in the condition that the fixed parameter and home position return request signal were set as the following is shown below. Home position return request signal Setting axis Operation setting for incompletion of home position return (M2409+20n)
Page 387 7 AUXILIARY AND APPLIED FUNCTIONS (6) Indirect setting of home position return data A part of home position return data can be executed the indirect setting by the word devices (D, W, #) of Motion CPU. (a) Data devices for indirect setting There are data registers (D), link registers (W) and Motion registers (#) as data devices for indirect setting.
Page 388 7 AUXILIARY AND APPLIED FUNCTIONS 3) G30 The second home position return address specified with the home position return data is read every time, and the positioning is executed with high-speed feed rate. POINT Take an interlock not to change the device data specified for indirect setting until the home position return is completed.
Page 389: Home Position Return By The Proximity Dog Type 1
7 AUXILIARY AND APPLIED FUNCTIONS 7.3.2 Home position return by the proximity dog type 1 [Control details] (1) Proximity dog type 1 Zero point position after proximity dog ON to OFF is home position in this method. When it does not pass (zero pass signal: M2406+20n OFF) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, an error will occur and home position return is not executed.
Page 390 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) Keep the proximity dog ON during deceleration from the home position return speed to the creep speed. If the proximity dog turns OFF before deceleration to the creep speed, a deceleration stop is made and the next zero point is set as the home position. Home position return speed The zero point is passed during deceleration stop by the proximity dog OFF.
Page 391 7 AUXILIARY AND APPLIED FUNCTIONS (3) When it does not pass (zero pass signal: M2406+20n ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, a minor error "ZCT not set" (error code: 120) will occur, a deceleration stop is made and home position return does not end normally.
Page 392 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.3 Home position return by the proximity dog type 2 [Control details] (1) Proximity dog type 2 Zero point position after proximity dog ON to OFF is home position in this method. When it passed (zero pass signal: M2406+20n ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, operation for "proximity dog type 2"...
Page 393 7 AUXILIARY AND APPLIED FUNCTIONS (3) Home position return execution Home position return by the proximity dog type 2 is executed using the CHGA instruction in Section 7.3.16. When the home position return request is ON, the proximity dog type 2 home position is also made even G28 of the Motion program.
Page 394: Home Position Return By The Count Type 1
7 AUXILIARY AND APPLIED FUNCTIONS 7.3.4 Home position return by the count type 1 [Control details] (1) Count type 1 After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. (If the proximity dog signal of servo amplifier is used, the count type 1 home position return cannot be executed.) When the zero point is not passed (zero pass signal: M2406+20n OFF) until it...
Page 395 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) Home position return and continuously start of home position return are also possible in the proximity dog ON in the count type 1. When the home position return or continuously start of home position return are executed in the proximity dog ON, the home position return is executed after return the axis once to position of the proximity dog OFF.
Page 396: Home Position Return By The Count Type 3
7 AUXILIARY AND APPLIED FUNCTIONS 7.3.5 Home position return by the count type 2 [Control details] (1) Count type 2 After the proximity dog ON, the position which traveled the specified distance (travel value after proximity dog ON) is home position in this method. (If the proximity dog signal of servo amplifier is used, the count type 2 home position return cannot be executed.) It is not related for zero point pass or not pass.
Page 397 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) Home position return and continuously start of home position return are also possible in the proximity dog ON in the count type 2. When the home position return and continuously start of home position return are executed in the proximity dog ON, the home position return is executed after return the axis once to position of the proximity dog OFF.
Page 398 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.6 Home position return by the count type 3 [Control details] (1) Count type 3 After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. (If the proximity dog signal of servo amplifier is used, the count type 3 home position return cannot be executed.) When the zero point is passed (zero pass signal: M2406+20n ON) during travel...
Page 399 7 AUXILIARY AND APPLIED FUNCTIONS (3) Home position return execution Home position return by the count type 3 is executed using the CHGA instruction in Section 7.3.16. When the home position return request is ON, the count type 3 home position return is also made even G28 of the Motion program.
Page 400: Home Position Return By The Data Set Type 1
7 AUXILIARY AND APPLIED FUNCTIONS 7.3.7 Home position return by the data set type 1 [Control details] (1) Data set type 1 The proximity dog is not used in this method for the absolute position system. (2) Home position return by the data set type 1 Home position is the command position at the home position return operation.
Page 401 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.8 Home position return by the data set type 2 [Control details] (1) Data set type 2 The proximity dog is not used in this method for the absolute position system. (2) Home position return by the data set type 2 Home position is the real position of servomotor at the home position return operation.
Page 402: Home Position Return By The Dog Cradle Type
7 AUXILIARY AND APPLIED FUNCTIONS 7.3.9 Home position return by the dog cradle type [Control details] (1) Dog cradle type After deceleration stop by the proximity dog ON, if the zero point is passed after traveling to reverse direction and turning the proximity dog OFF, the deceleration stop is made.
Page 403 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) When home position return retry function is not set, if home position return is executed again after home position return end, a minor error "home position return complete signal is turning ON at the dog cradle type home position return start" (error code: 115) will occur, the home position return is not executed.
Page 404 7 AUXILIARY AND APPLIED FUNCTIONS (3) When the proximity dog is set in the home position return direction, the proximity dog is turned OFF during travel to reverse direction of home position return, and the zero point is not passed, it continues to travel in the reverse direction of home position return with home position return speed until the zero point is passed.
Page 405 7 AUXILIARY AND APPLIED FUNCTIONS (4) When it starts in the proximity dog, the zero point is not passed at the time of the proximity dog is turned OFF during travel to reverse direction of home position return, it continues to travel with home position return speed until the zero point is passed.
Page 406: Home Position Return By The Stopper Type 1
7 AUXILIARY AND APPLIED FUNCTIONS 7.3.10 Home position return by the stopper type 1 [Control details] (1) Stopper type 1 Position of stopper is home position in this method. It travels to the direction set in the "home position return direction" with the "home position return speed", after a deceleration starts by proximity dog OFF to ON and it presses against the stopper and makes to stop with the torque limit value set in the "torque limit value at the creep speed"...
Page 407 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) A zero point does not must be passed (zero pass signal: M2406+20n ON) between turning on the power supply and executing home position return. (2) Home position return retry function cannot be used in the stopper type 1. (3) Set the torque limit value after reaching the creep speed for system.
Page 408 7 AUXILIARY AND APPLIED FUNCTIONS 7.3.11 Home position return by the stopper type 2 [Control details] (1) Stopper type 2 Position of stopper is home position in this method. It travels the direction set in the "home position return direction" with the "creep speed", and it presses against the stopper and makes to stop with the "creep speed".
Page 409 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) A zero point does not must be passed (zero pass signal: M2406+20n ON) between turning on the power supply and executing home position return. (2) Home position return retry function cannot be used in the stopper type 2. (3) Set the torque limit value at the reaching creep speed for system.
Page 410: Home Position Return By The Limit Switch Combined Type
7 AUXILIARY AND APPLIED FUNCTIONS 7.3.12 Home position return by the limit switch combined type [Control details] (1) Limit switch combined type The proximity dog is not used in this method. Home position return can be executed by using the external upper/lower limit switch. When the home position return is started, it travels to direction of home position return with "home position return speed".
Page 411 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) For the axis which executes the home position return by the limit switch combined type, if the external input signal has not set in the system settings, a minor error "the positioning control which use the external input signal was executed for the axis which has not set the external input signal in the system settings"...
Page 412: Home Position Return Retry Function
7 AUXILIARY AND APPLIED FUNCTIONS 7.3.13 Home position return retry function When a work has been exceeded home position during positioning control, etc., even if it executes the home position return, depending on the position of work, a work may not travel to home position direction.
Page 413 7 AUXILIARY AND APPLIED FUNCTIONS (2) Home position return retry operation setting a work outside the range of external limit switch (a) When the direction of "work home position" and home position return is same, normal home position return is operated. Direction of "work home position"...
Page 414 7 AUXILIARY AND APPLIED FUNCTIONS (3) Dwell time setting at the home position return retry Reverse operation by detection of the external upper/lower limit switch and dwell time function at the home position return start after stop by proximity dog OFF are possible with the dwell time at the home position return retry in the home position return retry function.
Page 415 7 AUXILIARY AND APPLIED FUNCTIONS (2) Make a system for which does not execute the servo amplifier power off or servo OFF by the external upper/lower limit switch. Home position return retry cannot be executed only in the state of servo ON. (3) Deceleration is made by detection of the external limit switch and travel to reverse direction of home position return is started.
Page 416: Home Position Shift Function
7 AUXILIARY AND APPLIED FUNCTIONS 7.3.14 Home position shift function Normally, when the machine home position return is executed, a position of home position is set by using the proximity dog or zero point signal. However, by using the home position shift function, the position to which only the specified travel value was travelled from the position which detected the zero point signal can be regarded as home position.
Page 417 7 AUXILIARY AND APPLIED FUNCTIONS [Control details] (1) Home position shift operation Operation for the home position shift function is shown below. Home position shift amount is positive value Address increase Address decrease direction direction Home position Home position Set the operation speed at return direction return speed the home position shift with...
Page 418 7 AUXILIARY AND APPLIED FUNCTIONS (2) Setting range of home position shift amount Set the home position shift amount within the range of from the detected zero signal to external upper/lower limit switch (FLS/RLS). If the range of external upper/lower limit switch is exceeded, a major error "external limit switch detection error"...
Page 419 7 AUXILIARY AND APPLIED FUNCTIONS (b) Home position shift operation with the "creep speed" Home position return direction Home position shift amount is positive Creep speed Home position Home position Home position return start Home position shift Proximity dog amount is negative Zero point Fig.
Page 420: Condition Selection Of Home Position Set
7 AUXILIARY AND APPLIED FUNCTIONS 7.3.15 Condition selection of home position set A home position return must be made after the servomotor has been rotated more than one revolution to pass the axis through the Z-phase (motor reference position signal) and the zero pass signal (M2406+20n) has been turned ON.
Page 421: Execution Of Home Position Return
7 AUXILIARY AND APPLIED FUNCTIONS 7.3.16 Execution of home position return The home position return is executed using the CHGA instruction. [Control details] (1) Home position return is executed by the home position return method specified with the home position return data (Refer to Section 7.3.1). Refer to the following sections for details of the home position return methods : •...
Page 422: Speed Change (Chgv Instruction)
7 AUXILIARY AND APPLIED FUNCTIONS 7.4 Speed Change (CHGV instruction) The speed change is executed at the positioning control or JOG operation. S(P).CHGV instruction of PLC program or CHGV instruction of Motion program is used for the speed change. [Control details] (1) A speed of operating axis is forcibly changed to the speed specified with the speed change registers.
Page 423 7 AUXILIARY AND APPLIED FUNCTIONS Command Speed after Execution of Speed Change Travel mode at speed Command speed at execution of (Note-1) Travel mode after speed change (Note-1) change travel instruction after speed change (Note-2) PTP/OSC (Note-2) (Note-6) Program command speed (Note-3) Constant speed (Note-2)
Page 424 7 AUXILIARY AND APPLIED FUNCTIONS [Data setting] (1) The setting ranges to speed change registers are shown below. Units inch degree (Note) Item Setting range Units Setting range Units Setting range Units 0 to 0 to 0 to Speed change value 600000000 mm/min 600000000...
Page 425 7 AUXILIARY AND APPLIED FUNCTIONS (1) If a speed change is executed, the setting speed is ignored in the following cases. (An error will not occur.) (a) During motion program execution (b) During deceleration by the stop command (c) During a stop (d) During manual pulse generator operation [Operation Timing] The operation timing for a speed change is shown in Fig.
Page 426: Jog Operation
7 AUXILIARY AND APPLIED FUNCTIONS 7.5 JOG Operation The setting JOG operation is executed. Individual start or simultaneous start can be used in the JOG operation. JOG operation can be executed using the PLC program, control program or test mode of peripheral device.
Page 427: Individual Start
7 AUXILIARY AND APPLIED FUNCTIONS 7.5.2 Individual start JOG operation for the specified axes is started. JOG operation is executed by the following JOG operation commands : • Forward JOG start command... M3202+20n • Reverse JOG start command... M3203+20n [Control details] (1) JOG operation continues at the JOG speed setting register value while the JOG operation signal turns on, and a deceleration stop is made by the JOG operation signal OFF.
Page 428 7 AUXILIARY AND APPLIED FUNCTIONS (2) The setting range for JOG speed setting registers are shown below. Setting range JOG operation JOG speed setting register inch degree (Note) Most Setting Setting Setting Forward JOG Reverse JOG Setting range Units Units Units significant range...
Page 429 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) If the forward JOG start command (M3202+20n) and reverse JOG start command (M3203+20n) turn on simultaneously for a single axis, the forward JOG operation is executed. When a deceleration stop is made by the forward JOG start command OFF, the reverse JOG operation is not executed even if the reverse JOG start command is ON.
Page 430 7 AUXILIARY AND APPLIED FUNCTIONS (3) JOG operation by the JOG operation command (M3202+20n/M3203+20n) is not executed during the test mode using a peripheral devices. After release of test mode, the JOG operation is executed by turning the JOG operation command OFF to ON. JOG operation is impossible JOG operation without turning JOG operation...
Page 431 7 AUXILIARY AND APPLIED FUNCTIONS (3) Motion program (Control program) O0100 SET #M2042; All axes servo ON command turns on. N10 IF[[ON #M2415] AND [ON #M2435]] GOTO 20; Wait until axis 1 and axis 2 servo ON. GOTO 10; N20 #D640L = 100000; Transfer the JOG operation speed to D640L and D642L. #D642L = 100000;...
Page 432 7 AUXILIARY AND APPLIED FUNCTIONS 7.5.3 Simultaneous start Simultaneous start JOG operation for specified multiple axes. [Control details] (1) JOG operation continues at the JOG speed setting register value for each axis while the JOG operation simultaneous start command (M2048) turns on, and a deceleration stop is made by the M2048 OFF.
Page 433 7 AUXILIARY AND APPLIED FUNCTIONS (3) The setting range for JOG speed setting registers are shown below. Setting range JOG operation JOG speed setting register inch degree Setting Setting Setting (Note) Forward JOG Reverse JOG Most significant Setting range Units Units Units range...
Page 434 7 AUXILIARY AND APPLIED FUNCTIONS [Program Example] Program for simultaneous start of JOG operations are shown as the following conditions. (1) System configuration JOG operation for Axis 1 and Axis 2. Motion CPU control module Q61P Q02H Q172 QX41 Q172H JOG operation command (PX000) Axis Axis...
Page 435: Manual Pulse Generator Operation
7 AUXILIARY AND APPLIED FUNCTIONS 7.6 Manual Pulse Generator Operation Positioning control based on the number of pulses inputted from the manual pulse generator is executed. Simultaneous operation for 1 to 3 axes is possible with one manual pulse generator, the number of connectable modules are shown below.
Page 436 7 AUXILIARY AND APPLIED FUNCTIONS (b) Output speed The output speed is the positioning speed corresponding to the number of pulses input from a manual pulse generator in unit time. [Output speed] = [Number of input pulses per 1 ms] [Manual pulse generator 1-pulse input magnification setting] (3) Setting of the axis operated by the manual pulse generator...
Page 437 7 AUXILIARY AND APPLIED FUNCTIONS (5) The setting manual pulse generator 1-pulse input magnification checks the "1- pulse input magnification setting registers of the manual pulse generator" of the applicable axis at the turning manual pulse generator enable flag turns off to on. If the value is outside of range, the manual pulse generator axis setting error register (D9185 to D9187) and manual pulse generator axis setting error flag (M9077) are set and a value of "1"...
Page 438 7 AUXILIARY AND APPLIED FUNCTIONS (7) Errors details at the data setting for manual pulse generator operation are shown below. Error details Error processing • Duplicated specified axis is ignored. Axis set to manual pulse generator • First setting manual pulse generator operation is operation is specified.
Page 439 7 AUXILIARY AND APPLIED FUNCTIONS (5) If the same manual pulse generator enable flag turns on again for axis during smoothing deceleration after manual pulse generator enable flag turns off, an error [214] is set and manual pulse generator input is not enabled. Turn the manual pulse generator enable flag on after smoothing deceleration stop (after the start accept flag OFF).
Page 440 7 AUXILIARY AND APPLIED FUNCTIONS [Program Example] Program executes manual pulse generator operation is shown as the following conditions. (1) System configuration Manual pulse generator operation of Axis 1. Motion CPU control module Q172H Q172 QX41 Q61P Q02H Manual pulse generator enable flag Manual pulse generator P1 (M2051 : P1, M2052 : P2) Manual pulse generator P2...
Page 441: Override Ratio Setting Function
7 AUXILIARY AND APPLIED FUNCTIONS 7.7 Override Ratio Setting Function The speed change can be executed by setting the override ratio to the command speed of the Motion program in this function. [Control details] (1) The override ratio is set in the range of 0 to 100[%] in 1[%] units to the command speed in the Motion program.
Page 442 7 AUXILIARY AND APPLIED FUNCTIONS (2) When the speed is changed by the override ratio setting function, acceleration/deceleration processing is executed according to the "acceleration time" and "deceleration time" in the parameter block. (3) The override ratio setting is valid for Motion program operation only. (Invalid for JOG operation and so on.) (4) The error contents for override ratio data setting are shown below.
Page 443: Fin Signal Wait Function
7 AUXILIARY AND APPLIED FUNCTIONS 7.8 FIN signal wait function By selecting the FIN signal wait function and setting a M-code at each executing point, a process end of each executing point is synchronized with the FIN signal, the FIN signal turns ON to OFF and then the next positioning is executed.
Page 444 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) When the stop command (external, M3200+20n, M3201+20n), cancel signal or skip signal is input, the M-code outputting signal turns OFF. (2) When M-code is set at the end point, positioning ends after the FIN signal has turn OFF to ON to OFF.
Page 445 7 AUXILIARY AND APPLIED FUNCTIONS (6) The command in-position signal for FIN signal wait function is output as below. (a) When the automatic deceleration is started by positioning to the executed point (including the last point) during FIN signal wait. If the difference between the positioning address (command position) of executing point and the machine value reaches within the command in- position range during FIN signal wait deceleration, the command in-position...
Page 446 7 AUXILIARY AND APPLIED FUNCTIONS POINTS (1) The fixed acceleration/deceleration time method is acceleration/deceleration processing that the time which acceleration/deceleration takes is fixed, even if the command differs. Acceleration/deceleration time is fixed (a) The following processing and parameters are invalid in the fixed acceleration/deceleration time method.
Page 447: Single Block Operation
7 AUXILIARY AND APPLIED FUNCTIONS 7.9 Single Block Operation This function is used to execute the program operation block-by-block and check the operation of Motion program. The single block is available in two modes: a mode where a single block is specified before a program start, and a mode where a single block is executed at any point during program execution.
Page 448 7 AUXILIARY AND APPLIED FUNCTIONS (b) Single block mode (M4408) This signal makes a single block valid. (c) Single block start (M4409) This single starts a program in a single block waiting status. (2) How to execute single block from a start When the single block mode signal (M4408) turns ON, the single block processing signal (M4009) turns ON.
Page 449 7 AUXILIARY AND APPLIED FUNCTIONS (4) How to start operation continuously during execution of single block Turn the single block mode signal (M4408) from ON to OFF. When the single block start signal (M4409) turns OFF to ON in this state, the single block processing signal (M4409) turns OFF and the program makes continuous operation.
Page 450 7 AUXILIARY AND APPLIED FUNCTIONS (6) How to execute single block during continuous operation Turn the single block mode signal (M4408) ON during program operation. During move block execution, the program is stopped after termination of that block and execution waits for the single block start signal (M4409) to turn from OFF to ON.
Page 451 7 AUXILIARY AND APPLIED FUNCTIONS [Cautions] (1) Single block mode signal (M4408) and single block command (M4403+10n) If the single block by single block mode signal (M4408) and the single block by single block command (M4403+10n) are executed simultaneously, the operation by the single block command (M4403+10n) is made invalid.
Page 452: Control Program Stop Function From The Plc Cpu
7 AUXILIARY AND APPLIED FUNCTIONS 7.10 Control Program Stop Function from The PLC CPU The No. of control program during execution is specified to end a program from the PLC CPU. (This function is equivalent to a Motion program (CLEAR) for positioning control.) (1) The control program set as the CLEAR request control program No.
Page 453 7 AUXILIARY AND APPLIED FUNCTIONS MEMO 7 - 80...
Page 454: User Files
8 USER FILES 8. USER FILES A user file list and directory structure are shown below 8.1 Projects User files are managed on a "project" basis. When you set a "project name", a "project name" folder is created as indicated on the next page, and under that, an editing folder (temp) are created.
Page 455: User File List
D, W, special M, special D) Device setting screen devset.inf Device setting information file of device setting screen information file (Note-1) Q series PLC common (10) param.wpa Data file of Multiple CPU setting, I/O assignment, etc. parameter file Communication setting...
Page 456: Appendices
APPENDICES APPENDICES APPENDIX 1 Error Codes Stored Using The Motion CPU The Motion program setting errors and positioning errors are detected in the Motion CPU side. (1) Motion program setting errors These are positioning data errors set in the Motion program, at it checks the parameter block No.
Page 457 APPENDICES Table 1.1 Error code storage registers, error detection signals Device Error code storage register Error detection Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Error class signal Minor error D26 D46 D66 D86 D106 D126 D146 D166 D186 D206 D226 D246 D266 D286 D306 M2407+20n Major error D27 D47 D67 D87 D107 D127 D147 D167 D187 D207 D227 D247 D267 D287 D307...
Page 458: Appendix 1.1 Motion Program Setting Errors (Stored In D9190)
APPENDICES APPENDIX 1.1 Motion program setting errors (Stored in D9190) The error codes, error contents and corrective actions for Motion program setting errors are shown in Table 1.2. Table 1.2 Motion program setting error list Error code Error name Error contents Error processing Corrective action stored in D9190...
Page 459: Appendix 1.2 Minor Errors
APPENDICES APPENDIX 1.2 Minor errors These errors are detected in the PLC program or Motion program, and the error codes of 1 to 999 are used. Minor errors include the setting data errors, starting errors, positioning control errors, speed change/torque control value change errors and Motion program execution errors.
Page 460 APPENDICES Table 1.3 Setting data error (1 to 99) list (Continued) Error Erroneous Error Check timing Error cause Corrective action code data processing The interpolation control Control with Set the same control unit unit of the parameter the control of the fixed parameters Parameter Interpolation control block is different from...
Page 461 APPENDICES (2) Positioning control start errors (100 to 199) These errors are detected at the positioning control start. The error codes, causes, processing, and corrective actions are shown in Table 1.4 below. Table 1.4 Positioning control start error (100 to 199) list Control mode Error Error...
Page 462 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Error Error Error cause Corrective action code processing The address that does not generate an arc is set at • Correct the addresses of the the central point-specified circular interpolation or Motion program.
Page 463 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Error Error Error cause Corrective action code processing The travel value of the reference axis is set at "0" • Do not set axis of travel value in the linear interpolation for reference axis "0"...
Page 464 APPENDICES (3) Positioning control errors (200 to 299) These are errors detected during the positioning control. The error codes, causes, processing and corrective actions are shown in Table 1.5 below. Table 1.5 Positioning control error (200 to 299) list Control mode Error Error Error cause...
Page 465 APPENDICES Table 1.5 Positioning control error (200 to 299) list (Continued) Control mode Error Error Error cause Corrective action code processing All axes rapid stop ([Back Space] key input) is • Return to a point before the executed using the test mode of a peripheral device proximity dog signal ON using during the home position return.
Page 466 APPENDICES Table 1.5 Positioning control error (200 to 299) list (Continued) Control mode Error Error Error cause Corrective action code processing The manual pulse generator was enabled during Manual • Execute the manual pulse the start of the applicable axis, the manual pulse pulse generator operation after the generator operation was executed.
Page 467 APPENDICES (4) Speed change/torque limit value change errors (300 to 399) These are errors detected at speed change or torque limit value change. The error codes, causes, processing and corrective actions are shown in Table 1.6 below. Table 1.6 Speed change/torque limit value change error (300 to 399) list Control mode Error Error...
Page 468 APPENDICES (5) Motion program running errors (500 to 699) These errors are detected during Motion program execution. Check the execute Motion program No., execute sequence No. and execute block No., and correct the Motion program. Table 1.7 lists the processings and corrective actions for Motion program running errors.
Page 469 APPENDICES Table 1.7 Motion program running error (500 to 699) list (Continued) Control mode Error Error Error cause Corrective action code processing [ , ] exceeded 5 levels. • Correct the Motion program. The IF [condition] GOTO statement is in error. •...
Page 470 APPENDICES Table 1.7 Motion program running error (500 to 699) list (Continued) Control mode Error Error Error cause Corrective action code processing Cancel start (G24) program No. error • Correct the Motion program No.. High-speed oscillation (G25) amplitude range error •...
Page 471 APPENDICES Table 1.7 Motion program running error (500 to 699) list (Continued) Control mode Error Error Error cause Corrective action code processing The sequence No. started by CALL, Positioning • Correct the sequence No.. GOSUB/GOSUBE is outside the range of 1 to 9999. control starts from beginning...
Page 472 APPENDICES Table 1.7 Motion program running error (500 to 699) list (Continued) Control mode Error Error Error cause Corrective action code processing Write device data to shared CPU memory • Correct the program so that the (MULTW) execution error number of words (n) to be written is •...
Page 473 APPENDICES Table 1.7 Motion program running error (500 to 699) list (Continued) Control mode Error Error Error cause Corrective action code processing Write device data to intelligent function • Correct the program so that the module/special function module (TO) execution error number of words (n) to be written •...
Page 474 APPENDICES (6) System errors (900 to 999) Table 1.8 System error (900 to 999) list Control mode Error Error Error cause Corrective action code processing • Check the position. • The motor travel value while the power is off Further •...
Page 475: Appendix 1.3 Major Errors
APPENDICES APPENDIX 1.3 Major errors These errors occur by control command from the external input signal or Motion program, and the error codes 1000 to 1999 are used. Major errors include the positioning control start errors, positioning control errors absolute position system errors and system errors. (1) Positioning control start errors (1000 to 1099) These errors are detected at the positioning control start.
Page 476 APPENDICES (2) Positioning control errors (1100 to 1199) These errors are detected at the positioning control. The error codes, causes, processing and corrective actions are shown in Table 1.10. Table 1.10 Positioning control error (1100 to 1199) list Control mode Error Error Error cause...
Page 477 APPENDICES (3) Absolute position system errors (1200 to 1299) These errors are detected at the absolute positioning system. The error codes, causes, processing and corrective actions are shown in Table 1.11. Table 1.11 Absolute position system error (1200 to 1299) list Control mode Error Error...
Page 478 APPENDICES (4) System errors (1300 to 1399) These errors are detected at the power-on. The error codes, causes, processing and corrective actions are shown in Table 1.12. Table 1.12 System error (1300 to 1399) list Control mode Error Error Error cause Corrective action code processing...
Page 479: Appendix 1.4 Servo Errors
APPENDICES APPENDIX 1.4 Servo errors (1) Servo amplifier errors (2000 to 2899) These errors are detected by the servo amplifier, and the error codes are [2000] to [2899]. The servo error detection signal (M2408+20n) turns on at the servo amplifier error occurrence.
Page 480 APPENDICES Table 1.13 Servo error (2000 to 2899) list Error Error cause Error Error check Corrective action code processing Name Description • Power supply voltage is low. • Review the power supply. MR-J3- B: 160VAC or less MR-J3- B1: 83ACV or less •...
Page 481 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Encoder connector (CN2) disconnected. • Connect correctly. • Encoder fault • Replace the servomotor. • Encoder cable faulty •...
Page 482 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Wrong setting of system setting • Check the regenerative brake of (regenerative brake) system setting and set correctly. •...
Page 483 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Short occurred in servomotor power (U, • Correct the wiring. V, W). • Transistor (IPM) of the servo amplifier •...
Page 484 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Servo amplifier failure • Replace the servo amplifier. • The power supply was turned on and off •...
Page 485 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Machine struck something. • Review operation pattern. • Install limit switches. • Wrong connection of servomotor. (Servo •...
Page 486 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Bttery cable for absolute position • Repair the cable or replace the detection system is open. battery. 2102 Open battery •...
Page 487 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description • Continuous operation was performed • Reduce the servomotor speed. 2153 Output watt with the output wattage (speed Any time during Operation •...
Page 488 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Parameter error • The servo parameter value is outside the setting range. (Any unauthorized parameter is ignored and the value before setting is held.) Error Parameter...
Page 489 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Error Parameter Name code 2336 PB17 For manufacturer setting 2337 PB18 Low-pass filter Vibration suppression control 2338 PB19 vibration frequency setting Vibration suppression control 2339...
Page 490 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Error Parameter Name code Encoder output pulses 2367 PC03 selection 2368 PC04 Function selection C-1 2369 PC05 Function selection C-2 2370 PC06 For manufacturer setting...
Page 491 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Error Parameter Name code 2407 PD11 For manufacturer setting 2408 PD12 For manufacturer setting PD13 For manufacturer setting 2409 2410 PD14...
Page 492 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Initial parameter error • The parameter setting is wrong. • The parameter data was corrupted. Error Parameter Name code PA01 For manufacturer setting...
Page 493 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Error Parameter Name code 2636 PB17 For manufacturer setting 2637 PB18 Low-pass filter Vibration suppression control 2638 PB19 vibration frequency setting Vibration suppression control 2639...
Page 494 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Error Parameter Name code Encoder output pulses 2667 PC03 selection 2668 PC04 Function selection C-1 2669 PC05 Function selection C-2 2670 PC06 For manufacturer setting...
Page 495 APPENDICES Table 1.13 Servo error (2000 to 2899) list (Continued) Error Error cause Error Error check Corrective action code processing Name Description Error Parameter Name code 2707 PD11 For manufacturer setting 2708 PD12 For manufacturer setting PD13 For manufacturer setting 2709 2710 PD14...
Page 496: Appendix 1.5 Pc Link Communication Errors
APPENDICES APPENDIX 1.5 PC link communication errors Table 1.14 PC link communication error codes list Error codes stored Corrective action Error description in D9196 • A receiving packet for PC link • Check whether the power of PC has communication does not been turned on.
Page 497: Appendix 2 Motion Dedicated Signal
APPENDICES APPENDIX 2 Motion dedicated signal APPENDIX 2.1 Internal relay (M) (1) Axis status list Axis No. Device No. Signal name M2400 to M2419 M2420 to M2439 Signal name Refresh cycle Fetch cycle Signal direction M2440 to M2459 M2460 to M2479 Positioning start complete M2480 to M2499 Positioning complete...
Page 498 APPENDICES (2) Axis command signal list Axis No. Device No. Signal name M3200 to M3219 M3220 to M3239 Signal Signal name Refresh cycle Fetch cycle direction M3240 to M3259 M3260 to M3279 0 Stop command Operation cycle M3280 to M3299 1 Rapid stop command Command M3300 to M3319...
Page 499 APPENDICES (3) Axis status 2 list Axis No. Device No. Signal name M4000 to M4009 M4010 to M4019 Signal name Refresh cycle Fetch cycle Signal direction M4020 to M4029 M4030 to M4039 Unusable — — — M4040 to M4049 M4050 to M4059 Automatic start Operation cycle Status signal...
Page 500 APPENDICES (4) Axis command signal 2 list Axis No. Device No. Signal name M4400 to M4409 M4410 to M4419 Signal Signal name Refresh cycle Fetch cycle direction M4420 to M4429 M4430 to M4439 0 Temporary stop command M4440 to M4449 1 Optional program stop command M4450 to M4459 2 Optional block skip command...
Page 501 APPENDICES (5) Common device list Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction (Note-4) direction (Note-4) Command Status M2054 Operation cycle over flag Operation cycle M2000 PLC ready flag Main cycle signal M3072...
Page 502 APPENDICES Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-4) (Note-4) direction direction M2119 M2180 M2120 M2181 M2121 M2182 M2122 M2183 Unusable — — — — M2123 M2184 (9 points)
Page 503 APPENDICES Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-4) (Note-4) direction direction M2240 Axis 1 M2280 M2241 Axis 2 M2281 M2242 Axis 3 M2282 M2243 Axis 4 M2283 M2244 Axis 5 M2284...
Page 504 APPENDICES Explanation of the request register Function Bit device Request register PLC ready flag M2000 D704 All axes servo ON command M2042 D706 JOG operation simultaneous start command M2048 D708 Manual pulse generator 1 enable flag M2051 D755 Manual pulse generator 2 enable flag M2052 D756 Manual pulse generator 3 enable flag...
Page 505 APPENDICES (6) Special relay allocated device list (Status) (Note) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark M2320 Fuse blown detection M9000 M2321 AC/DC DOWN detection M9005 M2322 Battery low M9006 Error occurrence M2323 Battery low latch M9007 M2324 Self-diagnostic error...
Page 506 APPENDICES (7) Common device list (Command signal) Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1) , (Note-2) Command Main cycle M3072 PLC ready flag M2000 signal M3073 Unusable — — — — Operation M3074 All axes servo ON command M2042 cycle JOG operation simultaneous start...
Page 507: Appendix 2.2 Data Registers (D)
APPENDICES APPENDIX 2.2 Data registers (D) (1) Axis monitor device list Axis Device No. Signal name D0 to D19 D20 to D39 Signal Signal name Refresh cycle Fetch cycle Unit direction D40 to D59 D60 to D79 Machine value D80 to D99 Command D100 to D119 unit...
Page 508 APPENDICES (2) Control change register list Axis Device No. Signal name D640, D641 D642, D643 Signal Signal name Refresh cycle Fetch cycle Unit direction D644, D645 D646, D647 Command Command JOG speed setting At start D648, D649 unit device D650, D651 D652, D653 D654, D655 D656, D657...
Page 509 APPENDICES (3) Axis monitor device 2 list Axis Device No. Signal name D800 to D819 D820 to D839 Signal Signal name Refresh cycle Fetch cycle Unit direction D840 to D859 D860 to D879 Command Current value Operation cycle D880 to D899 unit D900 to D919 Execute sequence No.
Page 510 APPENDICES (4) Control program monitor device list Device No. Signal name D1440 to D1445 Signal D1446 to D1451 Signal name Refresh cycle Fetch cycle Unit direction D1452 to D1457 0 Program No. D1458 to D1463 1 Sequence No. D1464 to D1469 Monitor 2 Block No.
Page 511 APPENDICES (5) Control change register 2 list Axis Device No. Signal name D1536 to D1538 Signal D1539 to D1541 Signal name Refresh cycle Fetch cycle Unit direction D1542 to D1544 Override ratio setting D1545 to D1547 Command Operation cycle register (0 to 100) D1548 to D1550 device D1551 to D1553...
Page 512 APPENDICES (6) Tool length offset data setting register list (Higher rank, lower rank) Device No. Signal name D1651, D1650 Tool length offset data 1 D1653, D1652 Tool length offset data 2 D1655, D1654 Tool length offset data 3 D1657, D1656 Tool length offset data 4 D1659, D1658 Tool length offset data 5...
Page 513 APPENDICES (7) Common device list Device Signal Device Signal Signal name Refresh cycle Signal name Refresh cycle Fetch cycle Fetch cycle direction direction Manual pulse generator 1 D704 PLC ready flag request smoothing magnification D752 setting register At the manual pulse Manual pulse generator 2 Speed switching point generator enable flag...
Page 514: Appendix 2.3 Motion Registers (#)
APPENDICES APPENDIX 2.3 Motion Registers (#) Motion registers (#) Axis Device No. Signal name #8064 to #8067 #8068 to #8071 Signal (Note-1) Signal name Signal description Refresh cycle direction #8072 to #8075 #8076 to #8079 Unused +0 Servo amplifier type When the servo amplifier power-on 256 : MR-J3-B #8080 to #8083...
Page 515: Appendix 2.4 Special Relays
APPENDICES APPENDIX 2.4 Special Relays Special relays are internal relays whose applications are fixed in the Motion CPU. For this reason, they cannot be used in the same way as the normal internal relays by the Motion programs. However, they can be turned ON/OFF as needed in order to control the Motion CPU. The headings in the table that follows have the following meanings.
Page 516 APPENDICES Special relay list Set by Name Meaning Details Remark (When set) • OFF : Normal Turn on when there is one or more output modules control M9000 Fuse blown detection : Fuse blown module of self CPU which fuse has been blown. detected Remains on if normal status is restored.
Page 517 APPENDICES Special relay list (continued) Set by Name Meaning Details Remark (When set) • This flag indicates whether the setting designated at the : At least one D714 to manual pulse generator axis setting register (D714 to D719) D719 setting is Manual pulse generator is normal or abnormal.
Page 518: Appendix 2.5 Special Registers
APPENDICES APPENDIX 2.5 Special Registers Special registers are internal registers whose applications are fixed in the Motion CPU. For this reason, it is not possible to use these registers in Motion SFC programs in the same way that normal registers are used. However, data can be written as needed in order to control the Motion CPU.
Page 519 APPENDICES Special register list Set by Name Meaning Details Remark (When set) Module No. with • When fuse blown modules are detected, the lowest I/O module No. is stored D9000 Fuse blown No. blown fuse in D9000. • 1 is added to the stored value each time the input voltage becomes AC/DC DOWN Number of times 85[%](AC power supply/65[%] DC power supply) or less of the rating while...
Page 520 APPENDICES Special register list (continued) Set by Name Meaning Details Remark (When set) • Stores the day and hour in BCD. Example : 31st, 10 a.m. Clock data H3110 D9026 Clock data (Day, hour) Hour • Stores the minute and second in BCD. Example : 35 min., 48 sec.
Page 521 3) : M.RUN 7) : No used 4) : BAT.ALARM 8) : MODE Bit patterns for MODE 0 : OFF 1 : Green 2 : Orange (Note) : It adds newly at the Motion controller Q series. APP - 66...
Page 522: Appendix 3 Processing Times Of The Motion Cpu
APPENDICES APPENDIX 3 Processing Times of the Motion CPU The processing time of each signal and each instruction for positioning control in the Multiple CPU system is shown below. (1) CPU processing time [ms] Q173HCPU Q172HCPU Operation cycle 0.88 1.77 3.55 7.11 0.88...
Page 523 WARRANTY Please confirm the following product warranty details before using this product. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
Page 524 MOTION CONTROLLER Qseries SV43 Programming Manual (Q173HCPU/Q172HCPU) HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN Q173H-P-SV43-E MODEL MODEL 1XB915 CODE When exported from Japan, this manual does not require application to the IB(NA)-0300115-A(0602)MEE Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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