1. Manuals
  2. Brands
  3. Mitsubishi Electric Manuals
  4. Controller
  5. FATEC MELSEC iQ-R
  6. Training manual

Mitsubishi Electric FATEC MELSEC iQ-R Training Manual

Hide thumbs
1
2
3
Table Of Contents
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
Table of Contents

Advertisement

Quick Links

Download this manual
Mitsubishi Electric
Programmable Controller
Training Manual
MELSEC iQ-R/iQ-F Simple Motion
(for GX Works3)

Advertisement

Table of Contents
loading

Related Manuals for Mitsubishi Electric FATEC MELSEC iQ-R

Summary of Contents for Mitsubishi Electric FATEC MELSEC iQ-R

  • Page 1 Mitsubishi Electric Programmable Controller Training Manual MELSEC iQ-R/iQ-F Simple Motion (for GX Works3)

  • Page 3: Introduction

    Introduction This document is a training manual prepared to facilitate the understanding of single-axis control and multi-axis control by MELSEC iQ-R Series simple motion module. It describes the features of the simple motion module, the procedures for setting the positioning data and creating the sequence programs using RD77MS4 simple motion module and GX Works3 as demonstration machine and the monitoring and testing operations.

  • Page 4: Table Of Contents

    Contents Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1 Chapter 1 Outline of Positioning Control 1-1 to 1-12 1 .1...
  • Page 5 4 .4 Basic Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6 4 .4 .1 Basic parameters 1 .
  • Page 6 5 .4 .1 Saving the project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21 5 .4 .2 Writing to the PLC .
  • Page 7 7 .1 .5 Main shaft main input axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6 7 .1 .6 Main shaft sub input axis .
  • Page 8 Appendix 2 .3 .3 Continuous positioning (2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . App-43 Appendix 2 .3 .4 Teaching, teaching playback .
  • Page 9  Safety Precautions  (Always read before performing practical work.) When designing systems, always read related manuals and give sufficient consideration to safety. Pay due attention to the following points when performing practical work, and ensure correct handling of the product. [Practical work precautions] ●...
  • Page 10 This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 11: Outline Of Positioning Control

    Chapter 1 Outline of Positioning Control Outline of Positioning Control The term “positioning” refers to the process to move a body, such as a workpiece or a tool, (hereinafter, collectively referred to as a workpiece) at the specified speed and stop the body accurately at the target position.
  • Page 12 Simple transfer control can be achieved with programmable controllers using timers and limit switches where high accuracy is not required as shown in previous page. For positioning control or transfer control where high accuracy is required, the positioning function of programmable controllers can be used to stop workpiece accurately at target position with high repeatability and high reliability.
  • Page 13 Positioning examples are as shown below: ■ Punch press (positioning for feeding in X- and Y-axis directions) • To punch an insulating material or Gear + ball screw 15 m/min leather with a single die, positioning is 160 mm 320 mm X-axis (2000 rev/min) Servo motor...
  • Page 14 ■ Lifter (storing of CRTs in aging rack) • CRTs are stored in the rack in the Unloading machine aging process by positioning with the Loading/unloading machine aid of AC servo motor. • The lifter is positioned in the vertical Conveyor B direction by using the one servo motor, Aging rack...

  • Page 15: Mechanism Of Positioning Control

    Mechanism of Positioning Control On the positioning system using RD77MS, various kinds of software and external devices are used for the functions shown in the following figure. RD77MS captures various signals, parameters and positioning data, and the CPU module controls them to realize complicated positioning control. Positioning control using RD77MS Stores the created program.

  • Page 16: Schematic Designs Of Positioning Systems

    1.2.1 Schematic designs of positioning systems The operations and schematic designs of positioning systems are shown below. (1) System using ball screw Travel and speed of system using ball screw A : Position detection unit (mm/pulse) Vs : Command pulse frequency (pulses/s) : Number of slits of pulse generator (pulse Pulse Workpiece...
  • Page 17 (2) Positioning system using RD77MS Outline of operation of positioning system using RD77MS Servo amplifier Servo motor CPU module RD77MS Position commands Position Speed Current Inverter control control control Control commands • Position commands Current feedback • Control commands Monitor data III / III / Reading,...

  • Page 18: Positioning Control Procedures

    Positioning Control Procedures 1.3.1 Procedures for implementing positioning control The positioning controls (used in this document) are implemented in accordance with the following procedures. Manual control Major positioning High-level Home position return control Extended control (JOG operation) control positioning control (Machine home position return) (Synchronous control) Set the parameters...

  • Page 19: Outline Of Start

    1.3.2 Outline of start When the servo amplifier is started and the start trigger is activated for each control, RD77MS starts the positioning control. Servo ON conditions To start the servo amplifier, the following output signals must be successively turned on. [1] PLC READY signal [Y0] ON [2] All axis servo ON [Y1] ON Start signals...

  • Page 20: Outline Of Stop

    1.3.3 Outline of stop The axis stop signal or stop signal from external input signal is used to stop the control. It is necessary to create a program for turning on the “[Cd.180] Axis stop signal” as the stopping program. Each control is stopped in the following cases.
  • Page 21 Stop process Home position return control Major Stop cause positioning Machine home Fast home position control position return control return control “Forced stop input signal“ OFF Forced stop from an external device Forced stop Servo READY OFF For the stop method of the servo amplifier, refer to Servo amplifier power supply OFF each servo amplifier instruction manual.

  • Page 22: Outline Of Restart

    *1. If an error occurs in a positioning data due to an invalid setting value, when the continuous positioning control uses multiple positioning data successively, it automatically decelerates at the previous positioning data. It does not stop rapidly even the setting value is rapid stop in stop group 3. If any of the following error occurs, the operation is performed up to the positioning data immediately before the positioning data where an error occurred, and then stops immediately.

  • Page 23: Chapter 2 System Configuration 2-1 To

    Chapter 2 System Configuration System Configuration Devices The general configuration including RD77MS and peripheral devices is shown below. Main base unit Extension cable Extended system Power supply module CPU module RD77MS External input signals of servo amplifier SSCNET III • Upper stroke limit cable •...

  • Page 24: Configuration Device List

    Windows ® Servo amplifier Manual pulse generator/ Recommendation: MR-HDP01 (manufactured Incremental synchronous by Mitsubishi Electric Corporation) encoder Cable for connecting RD77MS and servo SSCNET III cable amplifier or connecting servo amplifiers Cable for connecting RD77MS and external...
  • Page 25 [Connectors for external input signals] Software name Specifications Applicable connectors A6CON1, A6CON2 and A6CON4 (optional) When A6CON1 or A6CON4 0.088 to 0.3 mm (AWG28 to 22) stranded wire Applicable wire is used size When A6CON2 is used 0.088 to 0.24 mm (AWG28 to 24) stranded wire List of specifications for recommended pulse generator Item...

  • Page 26: Chapter 3 Specifications And Functions 3-1 To

    Chapter 3 Specifications and Functions Performance Specifications The performance specifications for RD77MS are shown below. Item RD77MS2 RD77MS4 RD77MS8 RD77MS16 Number of control axes 2 axes 4 axes 8 axes 16 axes Operation cycle 0.444 ms/0.888 ms/1.777 ms/3.555 ms 2-axis linear 2-, 3- or 4-axis linear interpolation interpolation Interpolation functions...
  • Page 27 Item RD77MS2 RD77MS4 RD77MS8 RD77MS16 Maximum number 0.7 ms of axes: 1-axis Operation Maximum number cycle 0.7 ms of axes: 2-axes 0.444 ms Maximum number 0.74 ms of axes: 4-axes Maximum number 1.1 ms of axes: 4-axes Operation Maximum number cycle 1.32 ms of axes: 8-axes...
  • Page 28 Item RD77MS2 RD77MS4 RD77MS8 RD77MS16 Height 106 mm External Width 27.8 mm dimensions Depth 110 mm Mass 0.22 kg 0.23 kg *1. The speed-position switching control (ABS mode) can be used only when the control unit is "degree". *2. When "Speed control 10 × multiplier setting for degree axis function" is valid, the setting range is 0.01 to 20000000.00 (degree/min).

  • Page 29: Main Features Of Rd77Ms Simple Motion Module

    Main Features of RD77MS Simple Motion Module (1) High-speed starting The module can start positioning quickly within 0.444 to 3.555 ms (set value in “Operation cycle setting”) (2) Various positioning control functions The module has a lot of functions including the basic functions, such as home position return control, positioning control and manual control functions, necessary for positioning systems and sub functions for restricting and reinforcing these controls.
  • Page 30 (3) Advance Synchronous Control The module is applicable to synchronous control and electronic cam control. (4) Mark detection function The module can detect a mark to latch any data using an external command signal [DI1 to DI16]. (5) High maintainability The maintainability of RD77MS has been improved by the following measures.
  • Page 31 (9) Connection with servo amplifiers through high-speed synchronous network by SSCNETIII(/H) The module can be connected directly with Mitsubishi MR-J4(W)-B/MR-J3(W)-B Series servo amplifiers through SSCNETIII(/H). (a) RD77MS and each servo amplifiers are connected through the high-speed synchronous network SSCNETIII(/H), the wiring can be saved. Maximum distance between two stations using SSCNET III(/H) is 100 m.

  • Page 32: Function List

    Function List RD77MS has some functions. This document explains the functions of RD77MS classifying them as shown below. (1) Main functions (1) Home position return control The home position return control is a function to determine the position of origin for positioning control (machine home position return) and move a workpiece to the origin (fast home position return).
  • Page 33 3.3.1 Main functions The main functions for positioning controls by using RD77MS are outlined below. Refer to the following user’s manuals for details of each function. • MELSEC iQ-R Simple Motion Module User's Manual (Application) • MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control) Main functions Details Mechanically establishes the positioning start point using a...
  • Page 34 Main functions Details First, carries out speed control, and then carries out position Speed, position switching control control (positioning with designated address or movement amount) by turning the "speed-position switching signal" ON. First, carries out position control, and then carries out speed control (continuous output of the command corresponding to the Position-speed switching control designated command speed) by turning the "position-speed...
  • Page 35 Main functions Details Outputs a command to servo amplifier while the JOG start signal JOG operation is ON. Outputs commands corresponding to minute movement amount Inching operation by manual operation to servo amplifier. (Performs fine adjustment with the JOG start signal.) Outputs pulses commanded with the manual pulse generator to Manual pulse generator operation servo amplifier.
  • Page 36 3.3.2 Sub function The sub functions for positioning controls using RD77MS are outlined below. Refer to MELSEC iQ-R Simple Motion Module User’s Manual (Application) for details of each function. Sub function Details This function retries the home position return with the upper/ lower limit switches during the machine home position Home position return return.
  • Page 37 Sub function Details This function changes the speed during positioning. Set the changed speed in the speed change buffer memory Speed change function (New speed value), and change the speed with the speed change request (Speed change request). This function changes the speed within a percentage of 0 to Override function 300 % during positioning.
  • Page 38 Sub function Details This function stops the positioning being executed Skip function (decelerates to a stop) when the skip signal is input, and carries out the next positioning. This function issues a command for a sub work (clamp or drill stop, tool change, etc.) according to the M code No. (0 M code output function to 65535) that can be set for each positioning data.
  • Page 39 3.3.3 Common function The functions to be executed as needed are outlined below. Refer to MELSEC iQ-R Simple Motion Module User’s Manual (Application) for details of each function. Common function Details This function returns the setting data stored in the buffer memory/internal memory and flash ROM/internal memory (nonvolatile) of RD77MS to the default values.

  • Page 40: Specifications Of I/O Signals With Cpu Modules

    Specifications of I/O Signals with CPU Modules 3.4.1 List of input/output signals with CPU modules The RD77MS uses 32 input points and 32 output points for exchanging data with the CPU module. The following table shows the input/output signals used when RD77MS is mounted in the slot No.0 in the base unit.
  • Page 41 Signal direction: RD77MS → CPU module Signal direction: CPU module → RD77MS Device No. Signal name Device No. Signal name Axis 1 Axis 1 Axis 2 Axis 2 Axis 3 Axis 3 Axis 4 Axis 4 Axis 5 Axis 5 Axis 6 Axis 6 Axis 7...

  • Page 42: Details Of Input Signals

    3.4.2 Details of input signals The ON/OFF timing and conditions of the input signals are shown below. Device No. Signal name Details • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting range is checked. If no error is found, this signal turns ON.

  • Page 43: Details Of Output Signals

    3.4.3 Details of output signals The ON/OFF timing and conditions of the output signals are shown below. Device No. Signal name Details (a) This signal notifies the simple motion module that the CPU module is normal. • It is turned ON/OFF with the program. (b) When the data (parameter, etc.) are changed, this signal is turned OFF depending on the parameter.

  • Page 44: Input/Output Interface With External Devices

    Input/output Interface with External Devices (1) Signal assignment on external device connection connector of RD77MS RD77MS2 RD77MS4 RD77MS8 RD77MS16 Pin layout (Front view of Signal Signal Signal Signal Pin No. Pin No. Pin No. Pin No. the module) name name name name 2B20...

  • Page 45: Input/Output Interface Signals

    *1. RD77MS2 does not have the connectors 2A20 to 2A1 and 2B20 to 2B1. *2. Set the signal input form in "[Pr.24] Manual pulse generator/Incremental synchronous encoder input selection". *3. With the manual pulse generator/incremental synchronous encoder of voltage-output/open-collector type Connect the A-phase/PULSE signal to HA, and the B-phase/SIGN signal to HB.
  • Page 46 (b) Manual pulse generator/Incremental synchronous encoder input [1] Interface between manual pulse generator/incremental synchronous encoder (Differential output type) Input or Signal name Pin No. Wiring example Specifications Description Output Manual HAH (A+) 1A17 pulse Internal circuit • Rated generator, HAL (A-) 1B17 input phase A/...

  • Page 47: Buffer Memory

    *3. The 5 V DC power supply from the RD77MS must not be used if a separate power supply is applied to the manual pulse generator/incremental synchronous encoder. If a separate power supply is used, use a stabilized power supply of voltage 5 V DC. Anything else may cause a failure.
  • Page 48 Writing Buffer memory area configuration Buffer memory address possibility Positioning data area 6000+1000n to 6009+1000n (No.1 to 100) 71000+1000n, 71001+1000n Positioning data area Positioning data area Set by GX Works3 (No.101 to 600) 22000+400n to 22049+400n Block start data area Block start data area 22050+400n to 22099+400n (No.7000)
  • Page 49 Writing Buffer memory area configuration Buffer memory address possibility Servo input axis parameters 32800+10n to 32805+10n Possible Servo input axis monitor data 33120+10n to 33127+10n possible Synchronous encoder axis parameter 34720+20j to 34735+20j Possible Synchronous encoder axis control data 35040+10j to 35047+10j Possible Synchronous encoder axis monitor data 35200+20j to 35212+20j...

  • Page 50: Explanation Of Buffer Memories Used In Practical Work

    3.6.2 Explanation of buffer memories used in practical work This section explains the buffer memories used in the programs in the training manual. Refer to the following user’s manuals for the details of each buffer memory. • MELSEC iQ-R Simple Motion Module User's Manual (Application) •...
  • Page 51 Buffer Default Memory Item Remarks/setting range value Address This area stores the states (ON/OFF) of various flags. Monitor value Buffer memory 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 Not used Default Stored items Meaning used...
  • Page 52 Buffer Default Memory Item Remarks/setting range value Address • Clears the axis error detection, axis error No., axis warning detection and axis warning No. • When the axis operation state of simple motion module is "in error occurrence", the error is cleared and the simple motion module is returned to the "waiting"...
  • Page 53 Buffer Default Memory Item Remarks/setting range value Address Positioning Set the address as the target value for positioning control. (Refer to 6006+1000n address/ “[Da.6] Positioning address/movement amount” in 4.9 “Positioning 6007+1000n movement data.”) amount • When the axis stop signal turns ON, the home position return control, positioning control, JOG operation, inching operation, manual pulse generator operation, speed-torque control, etc.
  • Page 54 Buffer Default Memory Item Remarks/setting range value Address • Set the clutch command ON/OFF status. Auxiliary shaft • The set values are shown below. 44083+20n clutch 0: Auxiliary shaft clutch command OFF command 1: Auxiliary shaft clutch command ON • Set the cam data operation command. •...
  • Page 55 *1. The parameters for cam automatic generation for rotary cutter are shown below. Buffer Memory Item Setting value Details Address 256/512/1024/2048/4096/ Set the resolution of the cam to be 53204 Cam resolution 8192/16384/32768 created. Set the sheet length. 1 to 2147483647 53206 Sheet length Set this value as the cam axis...

  • Page 56: Chapter 4 Types Of Data 4-1 To

    Chapter 4 Types of Data With the positioning system using the RD77MS, the various parameters and data explained in this chapter are used for control. The parameters and data include parameters set according to the device configuration, such as the system configuration, and parameters and data set according to each control.
  • Page 57 ● The data can be set by using a program or GX Works3. In this document, GX Works3 is used. ● The basic parameters 1, detailed parameters 1, home position return parameters, "[Pr.83] Speed control 10 × multiplier setting for degree axis", "[Pr.89] Manual pulse generator/Incremental synchronous encoder input type selection", "[Pr.90] Operation setting for speed-torque control mode"...

  • Page 58: Monitor Data

    4.1.2 Monitor data The data indicates the control status. Since the data is stored in the buffer memory, it can be monitored as needed. The monitor data is classified as follows. Monitor data System monitor data Monitors the specifications and the operation history of RD77MS. Monitors the data related to the operating axis, Axis monitor data such as the current position and speed.

  • Page 59: Identification Code List

    4.2.2 Identification code list 58021 58020 (High-order) (Low-order) Vendor ID Identification code Mitsubishi electric (Vendor ID: 0000) Identification Model Network Remarks code 0100 MR-J3-_B, MR-J3W-_B (2-axis type) SSCNET III 0101 MR-J3-_B_-RJ006 (For fully closed loop control) SSCNET III 0102 MR-J3-_B_-RJ004 (For linear servo motor)

  • Page 60: Common Parameters

    Common Parameters Default Parameters Item Setting value, setting range value 0: A-phase/B-phase multiplied by 4 Manual pulse generator/ 1: A-phase/B-phase multiplied by 2 [Pr.24] Incremental synchronous encoder 2: A-phase/B-phase multiplied by 1 input selection 3: PULSE/SIGN 0: Valid (External input signal) [Pr.82] Forced stop valid/invalid selection 1: Invalid...

  • Page 61: Basic Parameters 1

    [Pr.82] Forced stop valid/invalid selection Set the forced stop valid/invalid. All axes of the servo amplifier are made to batch forced stop when the forced stop input signal is turned on after the forced stop valid/invalid selection is set to "0: Valid (External input signal)"...
  • Page 62 [Pr.1] Unit setting Set the unit used for defining positioning operations. Choose from the following units depending on the type of the control target: mm, inch, degree, or pulse. Different units can be defined for different axes. (Ex.) mm or inch: X-Y table, conveyor (Select mm or inch depending on the machine specifications.) degree: Rotating body (360 degrees/rotation) pulse: X-Y table, conveyor...
  • Page 63 <Error correction method> When position control is performed an error may occur between command movement amount (L) and actual movement amount (L’), with the electronic gear (movement amount per pulse) set in the parameter. RD77MS can correct the error by adjusting the electronic gear.
  • Page 64 [Pr.7] Bias speed at start The bias speed at start is the lowest starting speed to be used for smooth motor rotation when a stepping motor is used. This parameter is enabled when the home position return, position control or JOG operation is performed.

  • Page 65: Basic Parameters 2

    4.4.2 Basic parameters 2 Unit used Setting range Default Parameters value Item inch degree pulse 1 to 1 to 1 to 1 to [Pr.8] Speed limit value 2000000000 2000000000 2000000000 1000000000 200000 (×10 mm/min) (×10 inch/min) (×10 degree/min) (pulse/s) [Pr.9] Acceleration time 0 1 to 8388608 ms 1000...

  • Page 66: Detailed Parameters 1

    Detailed Parameters The detailed parameters are classified into detailed parameters 1 and detailed parameters 2. 4.5.1 Detailed parameters 1 Unit used Setting range Default Parameters value Item inch degree pulse Backlash compensation 0 to 65535 0 to 65535 0 to 65535 0 to 65535 [Pr.11] amount...
  • Page 67 Unit used Setting range Default Parameters value Item inch degree pulse 0H: Simple motion module 1H: Servo amplifier Input type 2H: Buffer memory [Pr.117] signal FH: Invalid selection 01H to 0AH (RD77MS2) Input terminal 01H to 14H (RD77MS4/8/16) 0H: Simple motion module 1H: Servo amplifier Input type 2H: Buffer memory...
  • Page 68 [Pr.12][Pr.13] Software stroke limit upper limit value/lower limit value For the software stroke upper limit value, set the upper limit of the machine's movement range during positioning control. For the software stroke lower limit value, set the lower limit of the machine's movement range during positioning control.
  • Page 69 [Pr.18] M code ON signal output timing This parameter sets the M code ON signal output timing. Choose either WITH mode or AFTER mode as the M code ON signal output timing. WITH mode: An M code is output and the M code ON signal is turned ON when a positioning operation starts.
  • Page 70 [Pr.19] Speed switching mode Set whether to switch the speed switching mode with the standard switching or front-loading switching mode. 0: Standard switching • • • Switch the speed when executing the next positioning data. 1: Front-loading switching • • • The speed switches at the end of the positioning data currently being executed.
  • Page 71 [Pr.21] Feed current value during speed control Specify whether you wish to enable or disable the update of "[Md.20] Feed current value" while operations are performed under the speed control (including the speed control in speed-position and position-speed switching control). 0: The update of the feed current value is disabled •...

  • Page 72: Detailed Parameters 2

    4.5.2 Detailed parameters 2 Unit used Setting range Default Parameters value Item inch degree pulse [Pr.25 to Acceleration time 1/2/3 1 to 8388608 ms 1000 Pr.27] [Pr.28 to Deceleration time 1/2/3 1 to 8388608 ms 1000 Pr.30] 1 to 1 to 1 to 1 to [Pr.31]...
  • Page 73 [Pr.25] to [Pr.27] Acceleration time 1/2/3/[Pr.28] to [Pr.30] Deceleration time 1/2/3 Acceleration time 1/2/3 specify the time for the speed to increase from zero to the "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control). Deceleration time 1/2/3 specify the time for the speed to decrease from the "[Pr.8] Speed limit value"...
  • Page 74 [Pr.40] Positioning complete signal output time (a) Set the output time of the positioning complete signal "[Md.31] positioning complete signal (Status: b15)" output from the RD77MS. A positioning completes when the specified dwell time has passed after the RD77MS had terminated the command output. For the interpolation control, the positioning completed signal of interpolation axis is output only during the time set to the reference axis.
  • Page 75 (2) When the positioning pattern is “continuous positioning control” and the set time for the positioning completion signal is shorter than the time of the next positioning operation, the positioning completion signal will be turned on at the same time when the positioning by the next data No.
  • Page 76 [Pr.42] External command function selection Set the function to be allocated to the external command signal. 0: External positioning start • • • The external command signal input is used to start a positioning operation. 1: External speed change request •...
  • Page 77 [Pr.84] Restart allowable range when servo OFF to ON The restart function at switching servo OFF to ON performs continuous positioning operation (positioning start, restart) when switching servo OFF to ON while the RD77MS is stopped (including forced stop, servo forced stop). Restart at switching servo OFF to ON can be performed when the difference between the last command position of RD77MS at stop and the current value at switching servo OFF to ON is equal to or less than the value set in the buffer memory for the restart allowable range...
  • Page 78 [Pr.90] Operation setting for speed-torque control mode Operation setting of the speed control mode, torque control mode or continuous operation to torque control mode at the speed-torque control is executed. Torque initial value selection Speed initial value selection Condition selection at mode switching (1) Torque initial value selection Set the torque initial value at switching to torque control mode or to continuous operation to torque control mode.

  • Page 79: Home Position Return Parameters

    Home Position Return Parameters The home position return parameters are classified into basic parameters and detailed parameters. 4.6.1 Home position return basic parameters (The device cannot be changed while the programmable controllers is in the ready state.) Unit used Setting range Default Parameters value...
  • Page 80 [Pr.43] Home position return method (1) Proximity dog method (a) The machine home position return is started. (The machine begins the acceleration designated in "[Pr.51] Home position return acceleration time selection", in the direction designated in "[Pr.44] Home position return direction". It then moves at the "[Pr.46] Home position return speed" when the acceleration is completed.) (b) The machine begins decelerating when the proximity dog ON is detected.
  • Page 81 (2) Count method 1 (a) The machine home position return is started. (The machine begins the acceleration designated in "[Pr.51] Home position return acceleration time selection", in the direction designated in "[Pr.44] Home position return direction". It then moves at the "[Pr.46] Home position return speed" when the acceleration is completed.) (b) The machine begins decelerating when the proximity dog ON is detected.
  • Page 82 (3) Count method 2 (a) The machine home position return is started. (The machine begins the acceleration designated in "[Pr.51] Home position return acceleration time selection", in the direction designated in "[Pr.44] Home position return direction". It then moves at the "[Pr.46] Home position return speed" when the acceleration is completed.) (b) The machine begins decelerating when the proximity dog ON is detected.
  • Page 83 (e) After deceleration stop, the operation moves in direction of home position return at the "[Pr.47] Creep speed", and then the machine home position return will be completed at the detected nearest zero signal. Home position return direction Creep speed Proximity dog Zero signal [Pr.44] Home position return direction...
  • Page 84 [Pr.45] Home position address Set the address used as the reference point for positioning control (ABS system). (When the machine home position return is completed, the stop position address is changed to the address set in "[Pr.45] Home position address". At the same time, the "[Pr.45] Home position address"...
  • Page 85 [Pr.48] Home position return retry Set whether to carry out home position return retry. When home position return performed, workpiece started moving in home direction specified in home position return parameters. While returning to home position, it is searching for dog signal.

  • Page 86: Home Position Return Detailed Parameters

    4.6.2 Home position return detailed parameters (The device cannot be changed while the programmable controllers is in the ready state.) Unit Setting range Default Parameters value Item inch degree pulse Setting for the 0 to 0 to 0 to 0 to movement amount [Pr.50] 2147483647...
  • Page 87 [Pr.53] Home position shift amount Set the amount to shift (move) from the position stopped at with machine home position return. Home position return direction When home position shift amount is positive Shift point Start point Shift point When home position shift amount is negative Proximity dog signal Zero signal...

  • Page 88: Extended Parameters

    (b) Start/restart impossible control When the following cases at block start, condition start, wait start, repeated start, multiple axes simultaneous start and pre-reading start 1-axis linear control, 2/3/4-axis linear interpolation control, 1/2/3/4-axis fixed-feed control, 2-axis circular interpolation control (with sub point designation/center point designation), 3-axis helical interpolation control (with sub point designation/ center point designation), 1/2/3/4-axis speed control, speed-position switching control (INC mode/ ABS mode), position-speed switching control, and current...

  • Page 89: Servo Parameters

    Servo Parameters The servo parameters include servo amplifier series and basic setting, gain/filter setting, extension setting, input/output setting, extension setting 2 and extension setting 3. This document shows the servo parameters of MELSERVO-J4 Series. 4.8.1 Basic setting (The device cannot be changed while the programmable controllers is in the ready state.) Default Parameters Item...
  • Page 90 Default Parameters Item Setting range value Machine characteristic Setting Guideline for machine value Response resonance frequency [Hz] response 10.0 11.3 12.7 14.3 16.1 18.1 20.4 23.0 25.9 29.2 32.9 37.0 41.7 47.0 52.9 [PA09] Auto tuning response 59.6 Middle response 67.1 75.6 85.2...
  • Page 91 Default Parameters Item Setting range value [PA15] Encoder output pulses 1 to 65535 [pulse/rev] 4000 [PA16] Encoder output pulses 2 1 to 65535 Parameters Linear servo Linear servo motor [Pr. PA17] [Pr. PA18] motor series (primary side) setting setting LM-H3P2A-07P-BSS0 2101H LM-H3P3A-12P-CSS0 3101H...
  • Page 92 Default Parameters Item Setting range value Setting PA19 operation Other Reading ○ than Writing ○ below Only Reading 000AH Only Writing Reading ○ ○ ○ 000BH Writing ○ ○ ○ Reading ○ ○ ○ ○ 000CH Writing ○ ○ ○ ○...
  • Page 93 Default Parameters Item Setting range value 0: Standard mode [PA24] Function selection A-4 1: 3 inertia mode 2: Low response mode One-touch tuning - Overshoot [PA25] 0 to 100 [%] permissible level 0: Disable [PA26] Function selection A-5 1: Enable *1.
  • Page 94 [PA08] Auto tuning mode Select the gain adjustment mode. Gain adjustment mode selection When “0: 2 gain adjustment mode 1 (interpolation mode)” is selected, the following parameters will be automatically set. • "[PB06] Load to motor inertia ratio/load to motor mass ratio" •...
  • Page 95 [PA16] Encoder output pulses 2 Set a denominator of the electronic gear for the A/B-phase pulse output. To set a denominator of the electronic gear, select "3: A-phase/B-phase pulse electronic gear setting" of “Encoder output pulse setting selection” in "[PC03] Encoder output pulse selection". [PA17] and [PA18] Servo motor series setting/Servo motor type setting When you use a linear servo motor, select its model.
  • Page 96 [PA24] Function selection A-4 Vibration suppression function selection When two low resonance frequencies are generated, select "1: 3 inertia mode". When the load to motor inertia ratio exceeds the recommended load to motor inertia ratio, select "2: Low response mode". [PA25] One-touch tuning - Overshoot permissible level This is used to set a permissible value of overshoot amount with a percentage to in-position range.

  • Page 97: Gain/Filter Setting

    4.8.2 Gain/filter setting (The device cannot be changed while the programmable controllers is in the ready state.) Default Parameters Item Setting range value 0: Disable Adaptive tuning mode [PB01] 1: Automatic setting (adaptive filter II) 2: Manual setting Vibration suppression 0: Disable control 1 tuning mode 1: Automatic setting...
  • Page 98 Default Parameters Item Setting range value Vibration suppression control 1 - Vibration [PB19] 0.1 to 300.0 [Hz] 100.0 frequency Vibration suppression control 1 - Resonance [PB20] 0.1 to 300.0 [Hz] 100.0 frequency Vibration suppression control 1 - Vibration [PB21] 0.00 to 0.30 0.00 frequency damping Vibration suppression control 1 - Resonance...
  • Page 99 Default Parameters Item Setting range value Vibration suppression control 1 - Vibration [PB35] 0.00 to 0.30 0.00 frequency damping after gain switching Vibration suppression control 1 - Resonance [PB36] 0.00 to 0.30 0.00 frequency damping after gain switching Command notch filter setting frequency 00 to 5F [PB45]...
  • Page 100 Default Parameters Item Setting range value Vibration suppression control 2 - Vibration [PB56] 0.0 to 300.0 [Hz] frequency after gain switching Vibration suppression control 2 - Resonance [PB57] 0.0 to 300.0 [Hz] frequency after gain switching Vibration suppression control 2 - Vibration [PB58] 0.00 to 0.30 0.00...
  • Page 101 [PB06] Load to motor inertia ratio/load to motor mass ratio This is used to set the load to motor inertia ratio or load to motor mass ratio. [PB07] Model loop gain Set the response gain up to the target position. [PB08] Position loop gain This is used to set the gain of the position loop.
  • Page 102 [PB17] Shaft resonance suppression filter This is used for setting the shaft resonance suppression filter. This is used to suppress a high-frequency machine vibration. Shaft resonance suppression filter setting frequency selection (For the set values, refer to the following table.) Notch depth selection Shaft resonance suppression filter setting frequency selection Setting value...
  • Page 103 [PB22, PB55] Vibration suppression control 1/2 - Resonance frequency damping Set a damping of the resonance frequency for vibration suppression control to suppress low-frequency machine vibration. [PB23] Low-pass filter selection Select the shaft resonance suppression filter and low-pass filter. Shaft resonance suppression filter selection Low-pass filter selection [PB24] Slight vibration suppression control Select the slight vibration suppression control and PI-PID switching control.
  • Page 104 [PB30] Position loop gain after gain switching Set the position loop gain when the gain switching is enabled. [PB31] Speed loop gain after gain switching Set the speed loop gain when the gain switching is enabled. [PB32] Speed integral compensation after gain switching Set the speed integral compensation when the gain changing is enabled.
  • Page 105 [PB35, PB58] Vibration suppression control 1/2 - Vibration frequency damping after gain switching Set a damping of the vibration frequency for vibration suppression control when the gain switching is enabled. This parameter will be enabled only when the following conditions are fulfilled. •...
  • Page 106 Setting Frequency [Hz] Setting Frequency [Hz] Setting Frequency [Hz] 12.2 11.7 11.3 10.8 10.4 35.2 33.1 31.3 29.6 28.1 26.8 25.6 24.5 23.4 22.5 21.6 20.8 20.1 19.4 18.8 18.2 Notch depth selection Setting Depth [dB] Setting Depth [dB] -40.0 -6.0 -24.1 -5.0...
  • Page 107 [PB46] Machine resonance suppression filter 3 Set the notch frequency of the machine resonance suppression filter 3. [PB47] Notch shape selection 3 Set the shape of the machine resonance suppression filter 3. Machine resonance suppression filter 3 selection Notch depth selection Notch width selection [PB48] Machine resonance suppression filter 4 Set the notch frequency of the machine resonance suppression filter 4.

  • Page 108: Extension Setting

    4.8.3 Extension setting (The device cannot be changed while the programmable controllers is in the ready state.) Default Parameters Item Setting range value [PC01] Error excessive alarm level 1 to 1000 [rev]/[mm] Electromagnetic brake sequence [PC02] 0 to 1000 [ms] output 0: Increasing A-phase 90°...
  • Page 109 Default Parameters Item Setting range value 00H: (Linear) servo motor speed (±8 V/max. speed) 01H: Torque or thrust (±8 V/max. torque or max. thrust) 02H: (Linear) servo motor speed (+8 V/max. speed) 03H: Torque or thrust (+8 V/max. torque or max.
  • Page 110 Default Parameters Item Setting range value 00H: (Linear) servo motor speed (±8 V/max. speed) 01H: Torque or thrust (±8 V/max. torque or max. thrust) 02H: (Linear) servo motor speed (+8 V/max. speed) 03H: Torque or thrust (+8 V/max. torque or max.
  • Page 111 Default Parameters Item Setting range value 0: Detection with ready-on and servo-on [PC18] Function selection C-5 command 1: Detection with servo-on command [AL. 10 Undervoltage] 0: [AL. 10] not occurrence detection method 1: [AL. 10] occurrence selection Function [PC20] selection C-7 0: [AL.
  • Page 112 [PC03] Encoder output pulse selection This is used to select the encoder pulse direction and encoder output pulse setting. Encoder output pulse phase selection Encoder output pulse setting selection Selection of the encoders for encoder output pulse [PC04] Function selection C-1 Select the serial encoder cable to be used.
  • Page 113 [PC09, PC10] Analog monitor 1/2 output Select a signal to output to MO1/2 (Analog monitor 1/2). Analog monitor 1/2 output selection PRECAUTIONS When this parameter is set to Servo motor-side droop pulses or Load-side droop pulses, the encoder pulse unit will be used. [PC11, PC12] Analog monitor 1/2 offset This is used to set the offset voltage of MO1/2 (Analog monitor 1/2).
  • Page 114 [PC24] Forced stop deceleration time constant This is used to set deceleration time constant when you use the forced stop deceleration function. Set the time per ms from the rated speed to 0 r/min or 0 mm/s. Dynamic brake Rated speed deceleration Forced stop deceleration Servo motor speed...

  • Page 115: I/O Setting

    [PC38] Error excessive warning level Set an error excessive warning level. This parameter setting is used with software version B4 or later. 4.8.4 I/O setting (The device cannot be changed while the programmable controllers is in the ready state.) Default Parameters Item Setting range...
  • Page 116 Default Parameters Item Setting range value 0: None 1: 0.888 [ms] [PD11] Input filter setting 2: 1.777 [ms] 3: 2.666 [ms] 4: 3.555 [ms] 0: Enable [PD12] Function selection D-1 1: Disable 0: Droop pulses are within the in-position range. [PD13] Function selection D-2 1: The command pulse frequency is 0, and...
  • Page 117 [PD07] to [PD09] Output signal device selection 1/2/3 You can assign any output device to the connector of the servo amplifier. *1. Output signal device selection 1: CN3-13 pin Output signal device selection 2: CN3-9 pin Output signal device selection 3: CN3-15 pin Output signal device setting [PD11] Input filter setting Select the input filter.
  • Page 118 [PD15] Driver communication setting This parameter is used to select master/slave axis for the driver communication. Master axis operation selection Slave axis operation selection When Slave axis operation selection has been set to “1: Enabled,” the following parameters will be enabled. •...

  • Page 119: Extension Setting 2

    4.8.5 Extension setting 2 (The device cannot be changed while the programmable controllers is in the ready state.) Default Parameters Item Setting range value 0: Always enabled [PE01] Fully closed loop function selection 1 1: Switching with the control command of controller (switching semi./full.) 0: Disable Fully closed loop control...
  • Page 120 Default Parameters Item Setting range value Lost motion 0: Lost motion compensation disabled Lost motion compensation selection 1: Lost motion compensation enabled compensation [PE48] Unit setting of lost motion function 0: 1 pulse unit compensation non- selection 1: 1 kpulse unit sensitive band [PE49] Lost motion compensation timing...
  • Page 121 [PE07] Fully closed loop control - Position deviation error detection level This is used to set [AL. 42.8 Fully closed loop control error by position deviation] of the fully closed loop control error detection. [PE08] Fully closed loop dual feedback filter This is used to set a dual feedback filter band.

  • Page 122: Extension Setting 3

    [PE49] Lost motion compensation timing Set the lost motion compensation timing in increments of 0.1 ms. You can delay the timing to perform the lost motion compensation for the set time. This parameter is supported with software version B4 or later. [PE50] Lost motion compensation non-sensitive band Set the lost motion compensation non-sensitive band.
  • Page 123 [PF06] Function selection F-5 Electronic dynamic brake selection [PF12] Electronic dynamic brake operating time Set an operating time for the electronic dynamic brake. [PF18] STO diagnosis error detection time Set the time from when an error occurs in the STO input signal or STO circuit until the detection of [AL.

  • Page 124: Positioning Data

    Positioning Data (The data can be changed while the programmable controllers is in the ready state.) Unit Setting range Para- Default meters value Item inch degree pulse 0: Positioning complete [Da.1] Operation pattern 1: Continuous positioning control 3: Continuous path control 01H: ABS Linear 1 [1-axis linear control (ABS)] 02H: INC Linear 1 [1-axis linear control (INC)] 03H: Fixed-feed 1 [1-axis fixed-feed control]...
  • Page 125 Unit Setting range Para- Default meters value Item inch degree pulse 00: [Pr.9] Acceleration time 0 01: [Pr.25] Acceleration time 1 [Da.3] Acceleration time No. 10: [Pr.26] Acceleration time 2 11: [Pr.27] Acceleration time 3 00: [Pr.10] Deceleration time 0 01: [Pr.28] Deceleration time 1 [Da.4] Deceleration time No.
  • Page 126 [Da.1 to Da.4] Positioning identifier Set the operation pattern, control method, acceleration time No. and deceleration time number. Operation pattern Acceleration time No., Deceleration time No. Control method [Da.1] Operation pattern The operation pattern designates whether positioning of a certain data No. is to be ended with just that data, or whether the positioning is to be carried out in succession depending on the next data No.
  • Page 127 (2) Continuous positioning control • • • The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the simple motion module command speed reaches 0 to carry out the next positioning data operation. If a dwell time is designated, the acceleration is carried out after the designated time elapses.
  • Page 128 [Da.2] Control method Set the "control method" for carrying out positioning control. (1) When "JUMP instruction" is set for the control method, the "[Da.9] Dwell time/JUMP destination positioning data No." and "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/Number of pitches" setting details will differ. (2) In case you selected "LOOP"...
  • Page 129 [Da.6] Positioning address/movement amount (a) Absolute (ABS) system, current value changing The setting value (positioning address) for the ABS system and current value changing is set with an absolute address (address from home position). Stop position (positioning start address) -1000 1000 3000 Movement amount: 2000 Movement amount: 2000...
  • Page 130 [Da.7] Arc address The arc address is data required only when carrying out 2-axis circular interpolation control or 3-axis helical interpolation control. • When carrying out circular interpolation with sub point designation, set the sub point (passing point) address as the arc address. •...
  • Page 131 [Da.9] Dwell time/JUMP destination positioning data No. Set the "dwell time" or "positioning data No." corresponding to the "[Da.2] Control method". • When a method other than "JUMP instruction" is set for "[Da.2] Control method": Set the "dwell time". • When "JUMP instruction" is set for "[Da.2] Control method": Set the "positioning data No." for the JUMP destination.

  • Page 132: Control Modes

    4.10 Control Modes This section explains the details of the positioning controls that can be selected by “[Da.2] Control method.” These methods correspond to the “major positioning control” functions. 4.10.1 Linear control ABS linear 1 to 4 (1-axis linear control and 2- to 4-axis linear interpolation controls) The absolute 1-axis linear control and 2- to 4-axis linear interpolation controls are used for positioning from the current stop position (start point address) to the address (end point address) set in "[Da.6] Positioning address/movement amount.”...
  • Page 133 Setting required/not required for the Setting required/not required reference axis for the interpolation axis Parameters Setting item ABS linear 1 ABS linear 2 ABS linear 3 ABS linear 4 ABS linear 2 ABS linear 3 ABS linear 4 Axis to be interpolated [Da.21] ...
  • Page 134 When using the 1-axis linear control or one of 2- to 4-axis linear interpolation controls (INC linear 1 to 4), set the following parameters. : Always set, : Set as required, : Setting restricted, -: Setting not required Setting required/not required for the Setting required/not required reference axis for the interpolation axis...

  • Page 135: Fixed-Feed Control

    4.10.2 Fixed-feed control Fixed-feed 1 to 4 (fixed-feed controls 1 to 4) In fixed-feed control, the address ([Md.20] Feed current value) of the current stop position (start point address) is set to "0". Positioning is then carried out to a position at the end of the movement amount set in "[Da.6] Positioning address/movement amount".

  • Page 136: 2-Axis Circular Interpolation Control With Sub Point Designation

    Setting required/not required for the Setting required/not required reference axis for the interpolation axis Parameters Setting item Fixed-feed 1 Fixed-feed 2 Fixed-feed 3 Fixed-feed 4 Fixed-feed 2 Fixed-feed 3 Fixed-feed 4 Axis to be interpolated [Da.21]   No.2 Axis to be interpolated [Da.22] ...
  • Page 137 When using 2-axis circular interpolation control with sub point designation (ABS circular sub), set the following parameters. : Always set, : Set as required, : Setting restricted, -: Setting not required Setting required/not Setting required/not Parameters Setting item required for the required for the reference axis interpolation axis...
  • Page 138 INC circular sub (2-axis circular interpolation control with sub point designation) In the incremental system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/movement amount" in an arc path that passes through the sub point address set in "[Da.7] Arc address".

  • Page 139: 2-Axis Circular Interpolation Control With Center Point Designation

    Setting required/not Setting required/not Parameters Setting item required for the required for the reference axis interpolation axis [Da.22] Axis to be interpolated No.3 [Da.27] M code ON signal output timing  [Da.28] ABS direction in degrees  [Da.29] Interpolation speed designation method ...
  • Page 140 Setting required/not required Setting required/not required for the reference axis for the interpolation axis Parameters Setting item ABS circular right ABS circular left ABS circular right ABS circular left M code/Condition data No./No. of [Da.10] LOOP to LEND repetitions/No. of ...
  • Page 141 When using 2-axis circular interpolation control with center point designation (INC circular right, INC circular left), set the following parameters. : Always set, : Set as required, : Setting restricted, -: Setting not required Setting required/not required Setting required/not required for the reference axis for the interpolation axis Parameters...

  • Page 142: 3-Axis Helical Interpolation Control With Sub Point Designation

    4.10.5 3-axis helical interpolation control with sub point designation Helical interpolation control with sub point designation (ABS) (3-axis helical interpolation control with sub point designation) In the absolute system and 3-axis helical interpolation control with sub point designation, the positioning is performed from the current stop position (X0, Y0, Z0) to the position indicated with the arc end point address (X1 and Y1) and the linear interpolation axis end point address (Z1) set in "[Da.6] Positioning address/movement amount".
  • Page 143 Setting Setting requirement Setting requirement Parameters Setting item requirement of of circular of linear reference axis interpolation axis interpolation axis [Da.20] Axis to be interpolated No.1  [Da.21] Axis to be interpolated No.2  [Da.22] Axis to be interpolated No.3 [Da.27] M code ON signal output timing ...
  • Page 144 When using 3-axis helical interpolation control with sub point designation (helical interpolation control with sub point designation (INC)), set the following parameters. : Always set, : Set as required, : Setting restricted, -: Setting not required Setting Setting requirement Setting requirement Parameters Setting item requirement of...

  • Page 145: 3-Axis Helical Interpolation Control With Center Point Designation

    4.10.6 3-axis helical interpolation control with center point designation Helical interpolation control with center point designation (ABS, CW)/(ABS, CCW) (3-axis helical interpolation control with center point designation) In the absolute system and 3-axis helical interpolation control with center point designation, the positioning is performed from the current stop position (X0, Y0, Z0) to the position indicated with the arc end point address (X1 and Y1) and the linear interpolation axis end point address (Z1) set in "[Da.6] Positioning address/movement amount".
  • Page 146 Setting required/not required Setting requirement of Setting requirement of for the reference axis circular interpolation axis linear interpolation axis Para- Helical interpolation Helical interpolation Helical interpolation Helical interpolation Helical interpolation Helical interpolation Setting item meters control with center control with center control with center control with center control with center...
  • Page 147 When using the 3-axis helical interpolation control with sub point designation (helical interpolation control with sub point designation (INC)), set the following parameters. : Always set, : Set as required, : Setting restricted, -: Setting not required Setting required/not required Setting requirement of Setting requirement of for the reference axis...

  • Page 148: Speed Control

    4.10.7 Speed control Forward run/reverse run: speed 1 to 4 (speed control) The control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed" until the input of a stop command.
  • Page 149 When using speed control (forward run: speed 1 to 4, reverse run: speed 1 to 4), set the following parameters. : Always set, : Set as required, : Setting restricted, -: Setting not required • Forward run speed Setting required/not required for the Setting required/not required reference axis for the interpolation axis...
  • Page 150 Setting required/not required for the Setting required/not required reference axis for the interpolation axis Parameters Setting item Reverse Reverse Reverse Reverse Reverse Reverse Reverse run speed 1 run speed 2 run speed 3 run speed 4 run speed 2 run speed 3 run speed 4 [Da.8] Command speed...

  • Page 151: Speed-Position Switching Control

    4.10.8 Speed-position switching control The speed-position switching control in the INC or ABS mode is selected by “[Pr.81] Speed- position function selection.” Forward run: speed/position, Reverse run: speed/position (speed-position switching control (INC mode)) The pulses of the speed set in "[Da.8] Command speed" are kept output on the axial direction set to the positioning data.
  • Page 152 When using speed-position switching control (INC mode) (Forward run: speed/position, Reverse run: speed/position), set the following parameters. : Always set, : Set as required, : Setting restricted, -: Setting not required Setting required/not required Parameters Setting item Forward run: Reverse run: speed/position speed/position [Da.1]...
  • Page 153 Forward run: speed/position, Reverse run: speed/position (Speed-position switching control (ABS mode)) The pulses of the speed set in "[Da.8] Command speed" are kept output in the axial direction set to the positioning data. When the "speed-position switching signal" is input, position control to the address set in "[Da.6] Positioning address/movement amount"...
  • Page 154 When using speed-position switching control (ABS mode) (Forward run: speed/position, Reverse run: speed/position), set the following parameters. : Always set, : Set as required, : Setting restricted, -: Setting not required Setting required/not required Parameters Setting item Forward run: Reverse run: speed/position speed/position [Da.1]...

  • Page 155: Position-Speed Switching Control

    4.10.9 Position-speed switching control Forward run: position/speed, Reverse run: position/speed (position-speed switching control) Before the position-speed switching signal is input, position control is carried out for the movement amount set in "[Da.6] Positioning address/movement amount" in the axis direction in which the positioning data has been set. When the position-speed switching signal is input, the position control is carried out by continuously outputting the pulses for the speed set in "[Da.8] Command speed"...
  • Page 156 When using position-speed switching control (forward run: position/speed, reverse run: position/speed), set the following parameters. : Always set, : Set as required, : Setting restricted, -: Setting not required Setting required/not required Parameters Setting item Forward run: Reverse run: position/speed position/speed [Da.1] Operation pattern...

  • Page 157: Current Value Change

    4.10.10 Current value change Current value change The control is carried out in which the "[Md.20] Feed current value" of the stopped axis is changed to a random address set by the user. (The "[Md.21] Machine feed value" is not changed when the current value is changed.) The two methods for changing the current value are shown below.

  • Page 158: Nop Instruction

    4.10.11 NOP instruction NOP (NOP instruction) The NOP instruction is used for the nonexecutable control method. The positioning data No. to which the NOP instruction is set transfers, without any processing, to the operation for the next positioning data No. When using the NOP instruction, set the following positioning data.

  • Page 159: Jump Instruction

    4.10.12 JUMP instruction JUMP (JUMP instruction) The JUMP instruction is used to control the operation so it jumps to a positioning data No. set in the positioning data during "continuous positioning control" or "continuous path control". JUMP instruction includes the following two types of JUMP. •...

  • Page 160: Loop Control

    4.10.13 Loop control LOOP, LEND (loop control) The LOOP is used for loop control by the repetition of LOOP to LEND. • LOOP LOOP is the loop head, and LED is the loop tail. • LEND When the number of repetitions specified in LOOP reaches 0, the loop will be terminated, and the processing for the next positioning data No.

  • Page 161: Demonstration Machine System Configuration

    Chapter 5 Practice (1) Test Operation with GX Works3 (RD77MS4) Demonstration Machine System Configuration Main base R35B RD77MS4 R62P Extension base connector RX40C7 RG60 RG60 RG60 SSCNET III cable cable MR-J3BUS015M Servo amplifier Servo amplifier Servo amplifier cable MR-J4-10B1 MR-J4-10B1 MR-J4-10B1 Axis 1 Axis 2...

  • Page 162: Cpu Module Setting

    CPU Module Setting Using the demonstration machine system configuration as an example, start up GX Works3, create a new project, and add extension modules. 5.2.1 New project creation (1) Click the Windows ® [start] button, and then select [All Programs] → [MELSOFT] → [GX Works3] →...
  • Page 163 From previous page (4) The dialog box shown on the left appears, press button. Setting Change Click! (5) The Options dialog box appears. Change the setting for “Use Module Label” to “Yes,” and click the button. Click! (6) The display then returns to the dialog box shown on the left.
  • Page 164 From previous page (7) If a dialog box relating to the label editor appears, click the button. Click!

  • Page 165: Adding Extension Modules

    5.2.2 Adding extension modules (1) Select [Project] in the [Navigation window], and then double-click [Module Configuration]. Double-click! (2) If a dialog box relating to Module Configuration appears, click the button. Click! (3) A Module Configuration screen appears. CPU module (R08CPU) (4) Click [View] →...
  • Page 166 The Element Selection list is displayed. (5) Drag iQ-R Series Main Base “R35B” from the Element Selection list, and drop it on the Module Configuration screen. Drag! Drop! (6) Drag and drop the CPU module (R08CPU) in the CPU slot of R35B. Drag! Drop! Go to next page...
  • Page 167 From previous page (7) Drag iQ-R Series Power Supply “R62P” from the Element Selection list, and drop it in the POW slot of R35B. Drop! Drag! (8) Drag iQ-R Series Simple Motion “RD77MS4” from the Element Selection list, and drop it in the 0 slot of R35B.
  • Page 168 From previous page (9) Drag iQ-R Series input “RX40C7” from the Element Selection list, and drop it in the slot 1 of R35B. Drag! Drop! (10) Drag iQ-R Series Blank Cover “RG60” from the Element Selection list, and drop it in the slot 2 of R35B. Drag! Drop! Drag and drop “RG60”...
  • Page 169 From previous page (11) Click the tool bar option [Fix]. Click! The dialog box for entering the parameters appears. Click the button. Click! (12) The dialog box shown on the left appears, press button. Click! Go to next page...
  • Page 170 From previous page (13) The data on the extension modules added to the module configuration is reflected in the navigation window. (14) Refresh the data on added RD77MS4. In the [Navigation window], select [Parameter] → [Module Information] → [0000:RD77MS4], and double-click [Module Parameter]. Double-click! (15) The module parameter screen for RD77MS4 appears.
  • Page 171 From previous page (16) Enable the CPU module setting. Click [Convert] → [Convert]. Click! 5-11...

  • Page 172: Simple Motion Module Setting

    Simple Motion Module Setting Set various parameters from the Simple Motion Module setting tool to use the positioning functions of RD77MS4. Part of the parameters can be set by using the assistant function. For the assistant function, refer to Appendix 3. 5.3.1 System configuration (1) Start the Simple Motion Module setting tool.

  • Page 173: Parameters

    From previous page (4) Set Axis #2 (d02) and Axis #3 (d03) as shown below in accordance with the procedures in Steps (2) and (3). Servo Amplifier Series: MR-J4(W)-B (-RJ) Amplifier Operation Mode: Standard 5.3.2 Parameters (1) Set parameters of the RD77MS4. In the [Navigation window], select [0000:RD77MS4], and double-click [Parameter].
  • Page 174 From previous page (3) Specify Common parameters as shown below. Refer to Section 4.3 for details on Common Parameters. (4) Specify Basic parameters 1 as shown below. Refer to Section 4.4.1 for details on Basic parameters 1. (5) Specify Basic parameters 2 as shown below. Refer to Section 4.4.2 for details on Basic parameters 2.
  • Page 175 From previous page (6) Specify Detailed parameters 1 as shown below. Refer to Section 4.5.1 for details on Detailed parameters 1. Go to next page 5-15...
  • Page 176 From previous page (7) Specify Detailed parameters 2 as shown below. Refer to Section 4.5.2 for details on Detailed parameters 2. (8) Specify Home position return basic parameters as shown below. Refer to Section 4.6.1 for details on Home position return basic parameters. Go to next page 5-16...

  • Page 177: Servo Parameters

    From previous page (9) Specify Home position return detailed parameters as shown below. Refer to Section 4.6.2 for details on Home position return detailed parameters. 5.3.3 Servo parameters (1) Set parameters of the servo amplifier. In the [Navigation window], select [0000:RD77MS4], and double-click [Servo Parameter].
  • Page 178 From previous page (2) A Servo Parameter Setting screen appears. Click [Function display] → [Component parts] in the Parameter Setting screen display selection tree, and then specify the following settings. Click! (3) Absolute pos. detection system selection. : Enabled (Used in ABS pos. detect system) (4) Switch to Axis 2 and 3, and set the parameter settings in a manner similar to Axis 1.

  • Page 179: Positioning Data

    5.3.4 Positioning data (1) Set the positioning data. Select [0000:RD77MS4] → [Positioning Data], and double-click [Axis #1 Positioning Data]. Double-click! (2) Axis #1 Positioning Data Setting screen appears. Specify positioning as shown below. Refer to Section 4.9 for details on positioning data.

  • Page 180: Simulation

    5.3.5 Simulation The simulation (virtual positioning) function is designed to confirm whether the set positioning data including the operation pattern, control method, addresses and command speed is appropriate. (1) Click the button on the Axis 1 Click! Offline Simulation Positioning Data Setting screen. (2) Offline Simulation window appears.

  • Page 181: Writing To The Rd77Ms

    Writing to the RD77MS The set parameters are written to RD77MS. 5.4.1 Saving the project (1) Terminate the Simple Motion Module setting tool. Click [Project] → [Exit] on the Simple Motion Module setting tool menu. Click! Click [Project] → [Save As...] on the GX Works3 menu.

  • Page 182: Writing To The Plc

    5.4.2 Writing to the PLC Write settings data to the CPU module. POINT If the data cannot be written to the CPU module, delete the data in the CPU module, and write it again. For the method for deleting data, refer to Appendix 2. (1) Connect the personal computer and CPU module with the USB cable, and set the RUN/STOP/RESET switch of the CPU module to STOP.
  • Page 183 From previous page (5) The dialog box for writing to the PLC appears, and writing is started. If the message shown left is displayed, click the button. Yes to all Click! The message shown left is displayed in the middle of writing. Click the button.

  • Page 184: Test Operation

    Test Operation The home position return test and the test operation with written positioning data are performed to check the operation of RD77MS. For the Simple Motion Monitor, refer to Appendix 5. (1) Click [Online] → [Test] of the Simple Motion Module setting tool.
  • Page 185 From previous page (4) The 0000:RD77MS[ ]- Test dialog box (JOG operation test display) appears. Click the button, and the servo Servo ON amplifiers of axes 1 to 3 are turned on. Click! (5) Input 200.00 mm/min in [JOG Speed] of Axis 1 in the Basic Setting field, and click the Forward button.
  • Page 186 From previous page (6) Switch the display to Home Position Return test Click! mode. Click the [Home Position Return] tab. (7) Uncheck the [Target Axis] checkboxes of the axes not to be returned to the home positions in the Operation Setting field. Click , and each axis will return to the Execute...
  • Page 187 From previous page (9) Terminate the test mode. Click [Project] → [Exit Test] in the dialog box. Click! The message shown on the left appears, press button. Click! 5-27...

  • Page 188: Practice Content

    Chapter 6 Practice (2) Training in Positioning Control Practice Content In this chapter, we will learn the basic home position return operation and JOG operation using programs. In addition, we will practice positioning to the standby point using major positioning control functions and positioning by specifying the point or address from the demonstration machine operation panel.
  • Page 189 Internal relay (M) M4020 Axis 2 home position return FB start M6803 Advanced synchronous control 2 switch M4021 Axis 2 home position return FB operating flag M6850 Positioning program startup M4022 Axis 2 home position return FB operation OK flag Data register (D) D2002 Axis 1 Feed current value...

  • Page 190: Rd77Ms Demonstration Machine System Configuration

    RD77MS Demonstration Machine System Configuration 6.3.1 System configuration In this training, the following system with two axes is used. Main base R35B R62P RD77MS4 Extension base connector RX40C7 RG60 RG60 RG60 SSCNET III cable MR-J3BUS015M Servo amplifier Servo amplifier MR-J4-10B1 MR-J4-10B1 cable Axis 1...

  • Page 191: Demonstration Machine Operation Panel

    6.3.2 Demonstration machine operation panel Demonstration machine operation panel is as follows. [Start screen] [Course selection screen] [JOG•home position return operation panel] [Screen switching menu] Related positioning controls 　・JOG operation (Refer to Section 6.8.2) 　・Home position return (Refer to Section 6.8.2) [Positioning operation screen] [Error display screen] The error display screen is common to all screens.

  • Page 192: Opening The Project For Rd77Ms

    Opening the Project for RD77MS Open the project data for practice. (1) Click [Project] → [Open] on the GX Works3 menu. Click! (2) A dialog box for opening the project will open. Select “SCHOOL_(positioning_text), and click button. Open Select! Click! (3) If the message shown left is displayed, click the button.

  • Page 193: Simple Motion Module Setting

    Simple Motion Module Setting Set various parameters from the Simple Motion Module setting tool to use the positioning functions of RD77MS4. 6.5.1 System configuration (1) Start the Simple Motion Module setting tool. In the [Navigation window], select [Parameter] → [Module Information] → [0000:RD77MS4], and double-click [Simple Motion Module Setting].

  • Page 194: Parameters

    From previous page (4) Set Axis #2 (d02) and Axis #3 (d03) as shown below in accordance with the procedures in Steps (2) and (3). Servo Amplifier Series: MR-J4(W)-B (-RJ) Amplifier Operation Mode: Standard 6.5.2 Parameters (1) Set parameters of the RD77MS4. In the [Navigation window], select [0000:RD77MS4], and double-click [Parameter].
  • Page 195 From previous page (3) Specify Common parameters as shown below. (4) Specify Basic parameters 1 as shown below. (5) Specify Basic parameters 2 as shown below. Go to next page...
  • Page 196 From previous page (6) Specify Detailed parameters 1 as shown below. Go to next page...
  • Page 197 From previous page (7) Specify Detailed parameters 2 as shown below. Go to next page 6-10...

  • Page 198: Servo Parameters

    From previous page (8) Specify Home position return basic parameters as shown below. (9) Specify Home position return detailed parameters as shown below. 6.5.3 Servo parameters (1) Set parameters of the servo amplifier. In the [Navigation window], select [0000:RD77MS4], and double-click [Servo Parameter].
  • Page 199 From previous page (2) A Servo Parameter Setting window appears. Click [Function display] → [Component parts] in the Parameter Setting screen display selection tree, and then specify the following settings. Click! (3) Absolute pos. detect system selection. : Enabled (Used in ABS pos. detect system) Home pos, set condition sel.

  • Page 200: Positioning Data

    6.5.4 Positioning data (1) Set the positioning data. Select [0000:RD77MS4] → [Positioning Data], and double-click [Axis #1 Positioning Data]. Double-click! (2) Axis 1 Positioning Data Setting screen appears. Specify positioning as shown below. Axis 1 Positioning data Go to next page 6-13...

  • Page 201: Position Control Program

    From previous page Position Control Program The positioning control practice programs include various programs, such as initial processing, JOG operation and home position return. Refer to the respective descriptions of each program in this manual for details. The RD77MS programs for operation have been created with GX Works3. An explanatory drawing of the demonstration machine GOT operation panel is shown in Section 6.3.2.

  • Page 202: Initial Processing

    6.6.1 Initial processing This program checks all parameters and starts all axes servo. When the CPU module is set to the RUN status, the PLC READY signal will turn on. When the PLC READY signal turns on, the program will check the servo parameters and positioning data.
  • Page 203 (2) Program example (3) Demonstration machine operation panel Servo ON M1000: All axes servo ON command (4) Timing chart PLC READY signal (Y0) READY signal (X0) All axes servo ON command (M1000) All axes servo ON (Y1) 6-16...

  • Page 204: Jog Operation

    6.6.2 JOG operation This is a manual operation program to operate each axis only while the button is held down. (1) Control data Buffer memory Item Setting value Axis 1 Axis 2 Axis 3 [Cd.16] Inching movement 0 (When a value other than 0 is set, 4317 4417 4517...
  • Page 205 [2] Example of JOG operation program 6-18...
  • Page 206 6-19...
  • Page 207 Remarks To run the programs for this practice, the GOT control programs are required. The following GOT control programs are contained in the project data for this practice, “SCHOOL_ (positioning)_text.” 6-20...
  • Page 208 (3) Demonstration machine operation panel [JOG•home position return operation panel] M1011: Axis 1 forward rotation JOG M1010: Axis 1 reverse rotation JOG M1013: Axis 2 forward rotation JOG M1012: Axis 2 reverse rotation JOG M1014: Axis 3 forward rotation JOG M1015: Axis 3 reverse rotation JOG D640 (U0¥G4319, U0¥G4318): Axis 1 JOG speed setting register D642 (U0¥G4419, U0¥G4418): Axis 2 JOG speed setting register...

  • Page 209: Home Position Return

    6.6.3 Home position return This program is designed for home position return. The home position return operation for each axis is as follows. Axis 1: Data set method The point where home position return is executed is consider as the home position (-5 mm).
  • Page 210 [2] Example of home position return program 6-23...
  • Page 211 For the procedure for inserting the FB, refer to Appendix 4. 6-24...
  • Page 212 For the procedure for inserting the FB, refer to Appendix 4. 6-25...
  • Page 213 The following "Error detection program" is the same as that shown in p6-19. (4) Demonstration machine operation panel [JOG•home position return operation panel] M1020: Home position return command input for all axes Axis 1 Home position return U0¥G2417.4: Home position return complete flag of Axis 1 ([Md.31] status: b4) Axis 2 Home position return U0¥G2517.4: Home position return complete flag of Axis 2 ([Md.31] status: b4)

  • Page 214: Standby Point Positioning

    6.6.4 Standby point positioning This program is designed for positioning in the standby point (0) from any position on Axis 1. Standby point refers to a work standby position at other than the mechanical home position. (There may be times when the position is the same as the home position.) (1) Control data Buffer memory address Item...
  • Page 215 Axis 1 Positioning Data [3] Example of standby point positioning program To execute the following standby point positioning, the positioning execute program is required. Refer to Section 6.6.8 on positioning execute program. (4) Demonstration machine operation panel [Positioning operation screen] M10: Standby point positioning in-operation flag Standby point M0: Standby point positioning command input of Axis 1 6-28...

  • Page 216: Point Selection Positioning

    (5) Timing chart Axis 2 Start position Standby point (0) Axis 1 Standby point positioning command input (M0) Positioning start signal (Y10) Standby point positioning in-operation flag (M10) 6.6.5 Point selection positioning This program positions the Axis 1 in the point specified on the demonstration machine operation panel.
  • Page 217 (3) Program example [1] Point selection positioning condition item Condition item Axis 1 Point No. input One of the values 30, 31 or 32 has been input in D2000. Point selection positioning command input [2] Positioning data to be used (Positioning data Nos. 2 to 4) 1-axis linear control is performed on Axis 1.
  • Page 218 [3] Example of point selection positioning program To execute the following point selection positioning, the positioning execute program is required . Refer to Section 6.6.8 on positioning execute program. 6-31...

  • Page 219: Address Indirect Specification Positioning

    (4) Demonstration machine operation panel [Positioning operation screen] Value specification Setting for D2000: Point No. input M11: Standby point positioning in-operation flag Position selection M1: Point selection positioning command input POINT Touch the set Value specification Setting for D2000, and the numeric input window will appear.
  • Page 220 (2) Control data Buffer memory address Item Setting value Axis 1 [Cd.3] Positioning start No. 4300 5 (Positioning data No. 5) POINT When the address indirect specification positioning command input turns on, the module FB “M+RD77_StartPositioning” writes the positioning start No. in “[Cd.3] Positioning start No.” (3) Output signal Item Axis 1...
  • Page 221 [3] Example of address indirect specification positioning program To execute the following address indirect specification positioning, the positioning execute program is required. Refer to Section 6.6.8 on positioning execute program. 6-34...
  • Page 222 (4) Demonstration machine operation panel [Positioning operation screen] Value specification Setting for D2000: Positioning address input M12: Address indirect specification positioning in-operation flag Indirect specification M2: Address indirect specification positioning command input POINT Touch the set value of D2000 setting, and the numeric input window will appear.

  • Page 223: Speed Change

    6.6.7 Speed change This program is designed to change the speed in three stages during positioning and temporarily stop the positioning operation. The speed can be changed to the speed selected on the demonstration machine operation panel during standby point positioning, point selection positioning, address indirect specification positioning, continuous positioning (1), continuous positioning (2), teaching/ teaching playback and fixed-feed/fixed-feed stepping operation.
  • Page 224 [2] Example of speed change program 6-37...
  • Page 225 6-38...
  • Page 226 (3) Demonstration machine operation panel 2000 M20: Speed change command (2000 mm/min) 1000 M21: Speed change command (1000 mm/min) 500 M22: Speed change command (500 mm/min) 0 M23: Temporary stop command (0 mm/min) (4) Timing chart During operation 2000 mm/min 1000 mm/min 500 mm/min Speed change...

  • Page 227: Positioning Execute Program

    6.6.8 Positioning execute program This program is used to execute the standby point positioning, point selection positioning and address indirect specification positioning. When one of these positioning command inputs turns on, the module FB “M+RD77_ StartPositioning:” • writes the start No. compatible with each positioning in “[Cd.3] Positioning start No.” and •...

  • Page 228: Writing To The Rd77Ms

    Writing to the RD77MS The set parameters are written to RD77MS. 6.7.1 Saving the project (1) Terminate the Simple Motion Module setting tool. Click [Project] → [Exit] on the Simple Motion Module setting tool menu. Click! (2) Click [Project] → [Save] on the GX Works3 menu.

  • Page 229: Writing To The Plc

    6.7.2 Writing to the PLC Write settings data to the CPU module. (1) Connect the personal computer and CPU module with the USB cable, and set the RUN/STOP/RESET switch of the CPU module to STOP. Click [Online] → [Write to PLC...]. Click! (3) An Online Data Operation dialog box appears.
  • Page 230 From previous page (6) The dialog box for writing to the PLC appears, and writing is started. If the message shown left is displayed, click the button. Yes to all Click! The message shown left is displayed in the middle of writing. Click the button.

  • Page 231: Demonstration Machine Operation

    Demonstration Machine Operation Execute the positioning operations in accordance with the programs stated in Section 6.6 operating the demonstration machine operation panel. If any positioning operation cannot be performed, refer to the troubleshooting (Section 6.8.8). To confirm the current value of each parameter, use the Simple Motion Monitor. (refer to Appendix 5.) 6.8.1 Starting the servo amplifiers...

  • Page 232: Jog Operation

    6.8.2 JOG operation (1) Touch on the screen JOG•home position return switching menu. The JOG•home position return operation screen will appear. JOG•home position (2) Touch the on the JOG•home M6800 position return operation screen to turn on M6800, and the JOG•home position return operation screen will be operable.
  • Page 233 From previous page (4) Set the JOG speed arbitrarily. Touch the set value of the axis JOG speed to be changed. The numeric input window will appear. (5) Input the JOG speed with the numeric keys. The input range is shown below. Axis No.

  • Page 234: Home Position Return

    6.8.3 Home position return Perform operation on the JOG•home position return operation screen in the same manner as in the case of the JOG operation. (1) Touch Home position return , and home position return will be started. M1020 (2) After the operation is stopped, check Axis 1 home position return U0¥G2417.4, Axis 2 home position return U0¥G2517.4 and Axis 3 home position return U0¥G2617.4.

  • Page 235: Standby Point Positioning

    6.8.4 Standby point positioning (1) Touch on the screen switching Positioning control menu. Positioning operation screen appears. Positioning (2) Touch on the positioning operation operation screen to turn on the positioning command M6001, and the positioning operation screen will be operable. Standby point (3) Touch , and the Axis 1 will be moved...
  • Page 236 From previous page The standby point positioning trajectory is as shown below. [Operation example] Standby point positioning from (50, -5) Axis 2 -5 mm Axis 1 -5 mm Standby point (Current position) Home (0, -5) position (4) Upon completion of standby point positioning, make sure that the feed current value of X-axis is 0.0 mm.

  • Page 237: Point Selection

    6.8.5 Point selection Perform operation on the positioning operation screen in the same manner as in the case of the standby point positioning. (1) Touch the set value of D2000 setting, and the numeric input window will appear. (2) Input one of 30, 31 and 32, and touch ENTER reflect the input value.

  • Page 238: Address Indirect Specification Positioning

    6.8.6 Address indirect specification positioning Perform operation on the positioning operation screen in the same manner as in the case of the standby point positioning and point selection positioning. (1) Touch the set value of D2000 setting, and the numeric input window will appear. (2) Input the positioning address arbitrarily.

  • Page 239: Speed Change

    From previous page Positioning (5) To terminate the positioning, touch operation turn off the positioning command M6001. Touch to display the screen switching Menu menu. Servo ON (6) Touch to stop the servo amplifiers of M1000 Axes 1 to 3. POINT The speed can be changed during positioning operation.

  • Page 240: Troubleshooting

    6.8.8 Troubleshooting When the module does not work, check the following points. On the GOT screen, the error codes are displayed in decimal notation. Check item Countermeasures Servo ON Check that the servo amplifiers have If the servo amplifiers have not started, touch on the M1000 started (all axes servo ON).
  • Page 241 Check item Countermeasures Check whether home position return is not performed when the servo parameter “PC17 Function selection C-4” has been set to the default Perform home position return after JOG operation. (0000H) and the JOG operation has not been performed. (6522 is stored as the error code.) Check whether a point inapplicable to If a point other than 30, 31 and 32 has been set, point selection...

  • Page 242: Sequence Program List

    Sequence Program List This shows a list of the sequence programs. 6-55...
  • Page 243 6-56...
  • Page 244 6-57...
  • Page 245 6-58...
  • Page 246 6-59...
  • Page 247 6-60...
  • Page 248 6-61...
  • Page 249 6-62...
  • Page 250 6-63...
  • Page 251 6-64...

  • Page 252: What Is The Synchronous Control

    Chapter 7 Advanced Synchronous Control Practice What is the Synchronous Control? "Synchronous control" can be achieved using software instead of controlling mechanically with gear, shaft, speed change gear or cam, etc. "Synchronous control" synchronizes movement with the input axis (servo input axis or synchronous encoder axis), by setting "parameters for synchronous control"...

  • Page 253: Synchronous Control Module List

    7.1.2 Synchronous control module list The number of modules that can be used with synchronous control is shown below. (Indicates the number of modules for RD77MS4.) Maximum number of usable Classification Name Parts Number per Number per axis module Servo input axis ―...

  • Page 254: Servo Input Axes

    7.1.3 Servo input axes Servo input axes are used to drive input axes based on the position of servo motors controlled with the simple motion module. Buffer Load Symbol Setting item Setting details Setting value Default memory cycle address • Set in decimal. Sets the current 0: Disable value type from...

  • Page 255: Synchronous Encoder Axes

    7.1.4 Synchronous encoder axes Use if driving input axes with input pulses from externally connected synchronous encoders. Buffer Load Symbol Setting item Setting details Setting value Default memory cycle address • Set in decimal. 0: Disable 1: Incremental synchronous encoder 101 to 116: Synchronous Synchronous Sets the type of...
  • Page 256 Buffer Load Symbol Setting item Setting details Setting value Default memory cycle address Synchronous encoder axis Sets the time to • Set in decimal. Operation 34730+20j Pr.326 phase advance or delay -2147483648 to cycle 34731+20j compensation the phase. 2147483647 [μs] advance time Synchronous encoder axis...

  • Page 257: Main Shaft Main Input Axis

    7.1.5 Main shaft main input axis This is the input axis at the main shaft module main side. This is the reference for the main shaft position. Setting Load Buffer memory Symbol Setting details Setting value Default item cycle address •...

  • Page 258: Main Shaft Gear

    7.1.8 Main shaft gear The gear ratio for which the travel value after the composite main shaft gear is set is converted and transferred. Setting Load Buffer memory Symbol Setting details Setting value Default item cycle address Main shaft Sets the main •...
  • Page 259 Setting Load Buffer memory Symbol Setting details Setting value Default item cycle address • Set in decimal. Main 0: Current value after shaft When Sets the clutch composite main clutch starting Pr.406 reference shaft gear 36409+200n reference synchronous address. 1: Current value per address control cycle after main...
  • Page 260 Setting Load Buffer memory Symbol Setting details Setting value Default item cycle address • Sets the travel value until the clutch is actually turned OFF after the clutch OFF Travel conditions are • Set in decimal. value established. -2147483648 to When before •...

  • Page 261: Auxiliary Shafts

    7.1.10 Auxiliary shafts These are input axes for auxiliary shaft modules. For the auxiliary shaft module, the input values are generated from the auxiliary shafts. Furthermore, input values can be converted to values taking the mechanical reduction ratio and rotation direction into consideration with an auxiliary shaft gear.

  • Page 262: Auxiliary Shaft Clutch

    7.1.12 Auxiliary shaft clutch The auxiliary shaft travel value is turned ON and OFF with the clutch and transferred. This is used if conveying/isolating command pulses from auxiliary shaft input to the output axis module side, and controlling servo motor operation/stoppage. Setting Load Buffer memory...
  • Page 263 Setting Load Buffer memory Symbol Setting details Setting value Default item cycle address • Sets the travel value until the clutch is actually turned ON after Travel the clutch ON • Set in decimal. conditions are value -2147483648 to When before established.

  • Page 264: Auxiliary Shaft Composite Gear

    Setting Load Buffer memory Symbol Setting details Setting value Default item cycle address • Set in decimal. 0: Direct 1: Time constant method (index) 2: Time constant Auxiliary method (linear) shaft Sets the clutch 3: Slippage amount Pr.428 clutch smoothing 36446+200n method (index) smoothing...

  • Page 265: Speed Change Gear

    7.1.14 Speed change gear The speed change gear is used for changing the input speed from the main shaft, auxiliary shaft, or composite auxiliary shaft gear during operation. If not used, set "0: No speed change gear" for [Pr.434] speed change gear allocation. Setting Load Buffer memory...
  • Page 266 Setting Load Buffer memory Symbol Setting details Setting value Default item cycle address Cam axis Sets the input • Set in decimal. 36472+200n Pr.439 cycle amount required 1 to 2147483647 4194304 36473+200n length for 1 cam cycle. [Cam axis cycle unit] •...
  • Page 267 [Cam data] Synchronous control output axes are moved with cams. Output axis movement patterns (return movements, feed movements) relative to output axis module input travel values are registered in the cam data. The movement patterns are as below: • Return movement: Return movement within fixed cam stroke range Cam data Cam axis current value per cycle...

  • Page 268: Starting/Ending For Synchronous Control

    7.1.16 Starting/ending for synchronous control Set the parameters for synchronous control for each output axis to start synchronous control. The status changes to synchronous control after the parameters for synchronous control are analyzed at the start of synchronous control, and the output axes synchronize with input axis operations.

  • Page 269: Stop Operation Of Output Axis

    7.1.17 Stop operation of output axis If the following causes occur in stopping the output axis during synchronous control, synchronous control is completed after stops processing for the output axis (BUSY signal is OFF, axis operation status is standby). Synchronous alignment must be executed for the output axis to restart the synchronous control.
  • Page 270 (2) Deceleration stop The output axis stops with deceleration according to the setting in "[Pr.37] Stop group 1 rapid stop selection" to "[Pr.39] Stop group 3 rapid stop selection". The deceleration time is set in "[Pr.446] Synchronous control deceleration time" for deceleration stop, and in "[Pr.36] Rapid stop deceleration time"...

  • Page 271: Practice Content

    Practice Content (1) Advanced synchronous control 1: Travel cutter You will practice mainly the "Clutch function" that is used in the synchronous control. The travel cut takes place seamlessly by the travel of the disc axis and start of stop by the clutch function.
  • Page 272 7.2.1 Advanced synchronous control 1: Travel cutter System A sensor detects the workpiece on the conveyor that travels at a constant speed. With reference to the detected white mark as a start point, the cutter shaft starts travel movement in the direction of the conveyor move. After the cutter shaft has moved a certain distance, it starts the cutting movement.
  • Page 273 7.2.2 Advanced synchronous control 2: Rotary cutter System A sensor detects the workpiece once for the first time on the conveyor that travels at a constant speed. With reference to the detected white mark as a start point, the disc rotates to carry out the operation for the simulated cutting.

  • Page 274: Assignment Of Devices Used For Practice

    Assignment of Devices Used for Practice Input (X) Output (Y) READY PLC ready Synchronization flag All axis servo ON Axis 1.BUSY Axis 1.Positioning start Axis 2.BUSY Axis 2.Positioning start Axis 3.BUSY Axis 3.Positioning start Sensor input (SEN1) Internal relay (M) [PB for GOT] Home position return start (Advanced 1) M4010 Home position return Axis 1 FB start...
  • Page 275 Internal relay (M) M312 [Advanced 1 status] End processing M4512 Advanced 2 Axis 1 FB operation OK flag M320 Advanced 1 1 cycle start command M4513 Advanced 2 Axis 1 FB operation NG flag [Advanced 2 status] Home position return M401 M4520 Advanced 2 Axis 2 FB start...
  • Page 276 Data register (D) D640 D6052 [GOT setting] Automatic Cam generation Axis 1 JOG speed Sheet length D641 D6053 D642 D6054 [GOT setting] Automatic Cam generation Axis 2 JOG speed Sheet synchronous width D643 D6055 D644 D6060 Axis 3 JOG speed D645 D6061 Length per cycle initial calculated value...

  • Page 277: Opening The Project For Rd77Ms

    Opening the Project for RD77MS Open the project data for practice. (1) Click [Project] → [Open] on the GX Works3 menu. Click! (2) A dialog box prompting the user to open a project appears. Select the “SCHOOL_ (advanced)”, and then click the button.

  • Page 278: Simple Motion Module Setting

    Simple Motion Module Setting Set the parameters when performing practical work (traveling cutter and rotary cutter) with the Simple Motion Module setting tool. 7.5.1 Parameters (1) Set parameters of the RD77MS4. In the [Navigation window], select [0000:RD77MS4], and double-click [Parameter]. Double-click! (2) The RD77MS4 Parameter Setting screen appears.
  • Page 279 From previous page (4) Specify Basic parameters 1 as shown below. (5) Specify Basic parameters 2 as shown below. (6) Specify Detailed parameters 1 as shown below. Go to next page 7-28...
  • Page 280 From previous page (7) Specify Detailed parameters 2 as shown below. (8) Specify Home position return basic parameters as shown below. Go to next page 7-29...

  • Page 281: Servo Parameters

    From previous page (9) Specify Home position return detailed parameters as shown below. (10) Specify Extended parameters as shown below. 7.5.2 Servo parameters (1) Set parameters of the servo amplifier. In the [Navigation window], select [0000:RD77MS4], and double-click [Servo Parameter]. Double-click! (2) A Servo Parameter Setting window appears.

  • Page 282: Positioning Data

    From previous page (3) Absolute pos. detect system selection : Enabled (Used in ABS pos. detect system) (4) Switch to Axis 2 and 3, and set the parameter settings in a manner similar to Axis 1. 7.5.3 Positioning data (1) Set the positioning data. Select [0000:RD77MS4] →...
  • Page 283 From previous page (2) Axis 1 Positioning Data Setting screen appears. Specify positioning parameters as shown below. Axis 1 Positioning data Remarks The positioning data can be edited by selecting the range by dragging the mouse and using the [Cut], [Copy] and [Paste] functions in the [Edit] mode. (3) Switch to the Positioning Data of Axis 2 and 3, and set the parameter settings in a manner similar to Axis 1.
  • Page 284 Axis 2 Positioning data Axis 3 Positioning data 7-33...

  • Page 285: Synchronous Control Parameters

    7.5.4 Synchronous control parameters (1) Set the input axis parameters in the synchronous control parameters. In the [Navigation window] of the Simple Motion setting tool, select [0000:RD77MS4] → [Synchronous Control Parameter], and double- click [Input Axis Parameter]. Double-click! (2) The RD77MS4 Input Axis Parameter Setting screen appears.
  • Page 286 From previous page (4) Set synchronous parameters of the Axis 2. In the [Navigation window] of the Simple Motion setting tool, select [0000:RD77MS4] → [Synchronous Control Parameter] → [Synchronous parameter], and double-click [Axis 2 synchronous parameter]. Double-click! (5) The Axis 2 Synchronous Parameter Setting screen appears. Go to next page 7-35...
  • Page 287 From previous page (6) Set the main shaft, the main shaft clutch, the auxiliary shaft and the auxiliary shaft composite gear as follows. Go to next page 7-36...
  • Page 288 From previous page (7) Set the auxiliary shaft clutch and the output axis as follows. (8) Next, switch to the Synchronous control parameter of Axis 3, and set the parameter settings in a manner similar to Axis 2. Go to next page 7-37...
  • Page 289 From previous page (9) Set the main shaft, the composite main shaft gear and the main shaft clutch as follows. Go to next page 7-38...
  • Page 290 From previous page (10) Set the auxiliary shaft clutch as follows. 7-39...

  • Page 291: Cam Data

    7.5.5 Cam data (1) Create cam data for Axis 2. In the [Navigation window] of the Simple Motion setting tool, right-click [Cam Data], and click [Add New Data]. Click! (2) Specify the following settings at the New Data dialog box that appears. •...
  • Page 292 From previous page (4) Display "Length per cycle setting" and "Stroke Len. per Cycle Setting amount setting". Set them as shown on the Unit: mm Len. per Cycle: 70000.0 [µm] right. Stroke Amount Setting Unit: degree Stroke Amount: 360.00000 [degree] (5) Specify the setting screen stroke settings as follows.
  • Page 293 From previous page (7) To view the stroke ratio, speed, acceleration, and jerk relative to the movement position in numerical values, click the "Point Data" button. View Click! There are tables from No. 1 to 256. Scroll to view all tables. After checking, click the button.
  • Page 294 From previous page Cam No. 1 Stroke Graph -50.0 -100.0 -150.0 -200.0 17500.0 35000.0 52500.0 70000.0 Length per Cycle [µm] Speed Graph 2.00 1.00 0.00 -1.00 -2.00 17500.0 35000.0 52500.0 70000.0 Length per Cycle [µm] Cam No. 2 Stroke Graph -50.0 -100.0 -150.0...

  • Page 295: Advanced Synchronous Control Programs

    Advanced Synchronous Control Programs 7.6.1 Advanced synchronous control 1: Travel cutter program The sequence program used with advanced synchronous control 1 is shown in the following table. 7-44...
  • Page 296 7-45...
  • Page 297 7-46...
  • Page 298 7-47...
  • Page 299 7-48...
  • Page 300 7-49...
  • Page 301 7-50...
  • Page 302 7-51...
  • Page 303 7-52...
  • Page 304 7-53...

  • Page 305: Advanced Synchronous Control 2: Rotary Cutter Program

    7.6.2 Advanced synchronous control 2: Rotary cutter program The sequence program used with advanced synchronous control 2 is shown in the following table. 7-54...
  • Page 306 7-55...
  • Page 307 7-56...
  • Page 308 7-57...
  • Page 309 7-58...
  • Page 310 7-59...
  • Page 311 7-60...
  • Page 312 7-61...
  • Page 313 7-62...
  • Page 314 7-63...
  • Page 315 7-64...

  • Page 316: Writing To The Plc

    Writing to the PLC Write settings data to the CPU module. (1) Connect the personal computer and CPU module with the USB cable, and set the RUN/STOP/RESET switch of the CPU module to STOP. (2) Click [Online] → [Write to PLC…] of GX Works3.
  • Page 317 From previous page (6) The dialog box for writing to the PLC appears, and writing is started. The message shown on the left appears, press button. Yes to all Click! The message shown left is displayed in the middle of writing. Click the button.

  • Page 318: Demonstration Machine Operation

    Demonstration Machine Operation 7.8.1 Advanced synchronous control 1: Travel cutter Advanced synchronous control 1 screen Demonstration machine operation panel (1) In the [Navigation window] of the Simple Motion setting tool, select [Module Monitor], and double-click [Axis Monitor]. Double-click! (2) The monitor window axis monitor appears. Refer to Appendix 5 for details.
  • Page 319 From previous page (3) Set the CPU module to "RUN". [Servo ON] Servo ON (4) If the servo is not on, touch at the Demonstration machine M1000 operation panel demonstration machine operation panel. The servo status for axes 1 to 3 changes to ready. Advanced (5) Touch synchronous control 1...
  • Page 320 From previous page [Set cam No. to "2"] (7) Press of the "Cam No.". The numerical input screen appears. There, change "1" to "2". Changes [Contents to be checked] (8) Confirm that the disc moves differently from the cam No. 1. Refer to the following cam data graphs.

  • Page 321: Advanced Synchronous Control 2: Rotary Cutter

    7.8.2 Advanced synchronous control 2: Rotary cutter Advanced synchronous control 2 screen Demonstration machine operation panel (1) In the [Navigation window] of the Simple Motion setting tool, select [Module Monitor], and double-click [Axis Monitor]. Double-click! (2) The monitor window axis monitor appears. Refer to Appendix 5 for details.
  • Page 322 From previous page (3) Set the CPU module to "RUN". [Servo ON] Servo ON (4) If the servo is not on, touch at the Demonstration machine M1000 operation panel demonstration machine operation panel. The servo status for axes 1 to 3 changes to ready. Advanced (5) Touch synchronous control 2...
  • Page 323 From previous page Error check operation Starting history Simple Motion setting tool [Navigation window] ⇓ [Module monitor] ⇓ [Starting history] [Change cam automatic generation parameters] (7) Change the three parameters as follows. • Sheet length: (Length of sheet to be cut off) •...

  • Page 324: Sequence Program List

    Sequence Program List This shows a list of the sequence programs. 7-73...
  • Page 325 7-74...
  • Page 326 7-75...
  • Page 327 7-76...
  • Page 328 7-77...
  • Page 329 7-78...
  • Page 330 7-79...
  • Page 331 7-80...
  • Page 332 7-81...
  • Page 333 7-82...
  • Page 334 7-83...
  • Page 335 7-84...
  • Page 336 7-85...
  • Page 337 7-86...
  • Page 338 7-87...
  • Page 339 7-88...
  • Page 340 7-89...
  • Page 341 7-90...
  • Page 342 7-91...
  • Page 343 7-92...
  • Page 344 7-93...
  • Page 345 7-94...
  • Page 346 7-95...
  • Page 347 7-96...
  • Page 348 7-97...
  • Page 349 7-98...
  • Page 350 7-99...
  • Page 351 Appendices Appendix 1 Sequence Program List A list of sequence programs for project “SCHOOL_(positioning)” is shown below. App-1...
  • Page 352 App-2...
  • Page 353 App-3...
  • Page 354 App-4...
  • Page 355 App-5...
  • Page 356 App-6...
  • Page 357 App-7...
  • Page 358 App-8...
  • Page 359 App-9...
  • Page 360 App-10...
  • Page 361 App-11...
  • Page 362 App-12...
  • Page 363 App-13...
  • Page 364 App-14...
  • Page 365 App-15...
  • Page 366 App-16...

  • Page 367: Appendix 2 Application Practice

    Appendix 2 Application Practice Here, we practice the continuous positioning, teaching/teaching playback and fixed-feed/ fixed-feed stepping. Start the practice after writing the project “SCHOOL_(positioning)” to the PLC. For the steps to the practical training, refer to Chapter 6 “Practice (2) Training in Positioning Control.” If this training is performed after practice in advanced synchronous control (refer to Chapter 7), perform the home position return (refer to Section 6.8.3), and delete the project “SCHOOL_(advanced)”...

  • Page 368: Appendix 2.1 Practice Content

    From previous page (3) Check [R08], and click the button. Execute Click! (4) After the parameters are deleted, the message shown left will be displayed. Click the button. Click! Appendix 2.1 Practice Content In this training, we practice not individual positioning operations stated in Chapter 6 “Practice (2) Training in Positioning Control,”...

  • Page 369: Appendix 2.2 Practice Program

    Appendix 2.2 Practice Program Appendix 2.2.1 Continuous positioning (1) This program is designed for stepping operation using the block start data. 2nd stepping operation 1st stepping operation 3rd stepping operation 140 (mm) The outline of the program operation is shown below. Continuous positioning (1) start Continuous positioning (1) command input ON Positioning start No.: 11 (Positioning data No.
  • Page 370 (1) Control data Buffer memory address Item Setting value Axis 1 Axis 2 11 (Positioning data No. 11) 7000 (Block start data No. 0) [Cd.3] Positioning start No. 4300 7001 (Block start data No. 1) 7002 (Block start data No. 2) POINT When the continuous positioning (1) command input turns on, the module FB “M+RD77_ StartPositioning”...
  • Page 371 Axis 1 Positioning data App-21...
  • Page 372 Axis 2 Positioning data [3] Block start data to be used (block start data Nos. 0 to 2) Block start data Details of operation Block No. 0 The Axes 1 and 2 are simultaneously positioned according (Stepping operation (1)) to the data No. 12 to complete the positioning. The Axis 1 is positioned according to the data No.
  • Page 373 Remarks The settings in the block start data can be displayed in accordance with the following procedure. (1) Select [0000:RD77MS4] → [Axis #1 block start data] in the [Navigation Window] of the Simple Motion setting tool, and double-click [Block start data].
  • Page 374 [4] Example of continuous positioning (1) program To execute the following continuous positioning (1), the positioning execute program is required. Refer to Section 6.6.8 on positioning execute program. App-24...
  • Page 375 App-25...
  • Page 376 (4) Demonstration machine operation panel [Positioning operation screen] M13: Continuous positioning (1) executing flag Continuous (1) M3: Continuous positioning (1) command input M14: Continuous positioning (1) stepping executing flag Continuous (1) stepping M4: Continuous positioning (1) stepping command input App-26...
  • Page 377 (5) Timing chart 3000 mm/min Speed 2000 mm/min 1000 mm/min 500 mm/min 0 mm Axis 1 -140 30 mm 60 mm 90 mm 140 mm Time 2000 mm/min 5000 mm/min Speed 2000 mm/min 0 mm Axis 2 140 mm -140 60 mm Time 2000 mm/min...
  • Page 378 Appendix 2.2.2 Continuous positioning (2) This program is used to continuously execute positioning operations using continuous path control. Standby point (0, 0) (mm) (1) Control data Buffer memory address Item Setting value Axis 1 Axis 2 [Cd.3] Positioning start No. 4300 20 (Positioning data No.
  • Page 379 [2] Positioning data to be used (Positioning data Nos. 20 to 28) The continuous path control of Axes 1 and 2 is performed in the following order. The interpolation speed is the composite speed calculated by RD77MS based on the command speed of Axis 1. 2-axis linear interpolation control(absolute method) 2-axis linear interpolation control (incremental method) 2-axis circular interpolation control with...
  • Page 380 Axis 2 Positioning data App-30...
  • Page 381 [3] Example of continuous positioning (2) program To execute the following continuous positioning (2), the positioning execute program is required. Refer to Section 6.6.8 on positioning execute program. (4) Demonstration machine operation panel [Positioning operation screen] M15: Continuous positioning (2) executing flag Continuous (2) M5: Continuous positioning (2) command input App-31...

  • Page 382: Appendix 2.2.3 Teaching, Teaching Playback

    (5) Timing chart Repeated 6 times by loop control +5 mm Axis 1 -5 mm +100 mm +5 mm +100 mm Axis 2 -100 mm -5 mm positioning Continuous command input (M5) Positioning start signal (Y10) positioning Continuous executing flag (M15) Positioning data No.
  • Page 383 (2) Output signal Item Axis 1 Axis 2 Positioning start signal POINT When the teaching command input turns on, the module FB “M+RD77_StartPositioning” turns on the positioning start signal. The positioning start signal for the axis (Axis 2) to be interpolated is not turned on.
  • Page 384 [3] Example of teaching program App-34...
  • Page 385 POINT To write the position data in the flash ROM while teaching, the flash ROM write request must be executed while the PLC READY signal [Y0] is off. To write the data in the flash ROM by this practice program, it is necessary to add the following circuit near the top of the program.

  • Page 386: Appendix 2.2.4 Fixed-Feed, Fixed-Feed Stepping

    (5) Timing chart (Teaching play back) Axis 2 Specified address Interpolation speed Start position Axis 1 Teaching playback command input (M6) Positioning start signal (Y10) Teaching playback executing flag (M16) Appendix 2.2.4 Fixed-feed, fixed-feed stepping This program is used for fixed-feed of Axis 1 in the stepping operation. (1) Positioning data (Positioning data No.
  • Page 387 (3) Output signal Item Axis 1 Positioning start signal POINT When the fixed-feed stepping command input turns on, the module FB “M+RD77_ StartPositioning” turns on the positioning start signal. (4) Program example [1] Fixed-feed, fixed-feed stepping condition items Condition item Axis 1 Fixed-feed enable command input Fixed-feed stepping command...
  • Page 388 [3] Example of fixed-feed/fixed-feed stepping program To execute the following fixed-feed/fixed-feed stepping, the positioning execute program is required. Refer to Section 6.6.8 on positioning execute program. POINT After the fixed-feed/fixed-feed stepping is started, fixed-feed stepping can be performed 10 times. App-38...
  • Page 389 (4) Demonstration machine operation panel [Positioning operation screen] Value specification Setting for D2000: movement amount input M17: Fixed-feed enable flag Enable fixed pitch M7: Fixed-feed enable command input Execute fixed pitch M8: Fixed-feed stepping command input POINT Touch the Value specification Setting for D2000, and the numeric input window will appear.

  • Page 390: Appendix 2.3 Demonstration Machine Operation

    Appendix 2.3 Demonstration Machine Operation Execute the positioning operations in accordance with the programs stated in Appendix 1.2 operating the demonstration machine operation panel. This practice is performed on the condition that (Axis 1, Axis 2) = (0, 0) after execution of the standby point positioning (refer to Section 6.8.4).

  • Page 391: Appendix 2 .3 .2 Continuous Positioning (1)

    Appendix 2.3.2 Continuous positioning (1) (1) Touch on the screen switching Positioning control menu. Positioning operation screen appears. Positioning (2) Touch on the positioning operation operation screen to enable the buttons on the positioning operation screen. Continuous (1) (3) Touch , and the Axis 1 will be moved from the current position to the standby position (30 mm) and stop.
  • Page 392 From previous page Continuous (1) stepping (4) Touch , and the Axes 1 and 2 will perform stepping operation. After three times of stepping operation, the axes will be positioned at (Axis 1, Axis 2) = (0, 0), and Continuous positioning (1) will end. The trajectory of Continuous positioning (1) is as shown below.

  • Page 393: Appendix 2 .3 .3 Continuous Positioning (2)

    Appendix 2.3.3 Continuous positioning (2) Perform operation on the positioning operation screen. Continuous (2) Touch , and Continuous positioning (2) will be started. M15 is on during Continuous positioning (2) operation. The trajectory of Continuous positioning (2) is as shown below. After positioning at the start point ((Axis 1, Axis 2) = (10, 20)), the following operation will be repeated 6 times.
  • Page 394 From previous page JOG•home position (4) Touch to turn on M6000 and M6800 enable the buttons on the JOG•home position return operation screen. It is allowed to perform the positioning in (1) by JOG operation (refer to Section 6.8.2) from the JOG•home position return operation screen.
  • Page 395 From previous page The trajectory of teaching playback is as shown below. [Operation example] Axis 2 Teaching playback from (0, 0) to (70, 70) (Teaching position) -5 mm (Current position) Axis 1 -5 mm Home position (11) After the completion of teaching playback, check that the positioning address of X-axis and Y-axis in the feed current value field is identical with the address registered in Step (5).

  • Page 396: Appendix 2.3.5 Fixed-Feed, Fixed-Feed Stepping

    Appendix 2.3.5 Fixed-feed, fixed-feed stepping Perform operation on the positioning operation screen. (1) Touch the Value specification Setting for D2000, and the numeric input window will appear. (2) Input any movement amount for fixed-feed. The input range is from 0 to 140 (mm). Touch , and the input value will be ENTER...
  • Page 397 From previous page (4) During fixed-feed stepping, check that the positioning address of X-axis in the feed current value field is identical with the value specified in Step (2). (5) After the completion of fixed-feed/fixed-feed Positioning stepping, touch to display Menu operation the screen switching menu.

  • Page 398: Appendix 2.3.6 Troubleshooting

    Appendix 2.3.6 Troubleshooting When the module does not work, check the following points. On the GOT screen, the error codes are displayed in decimal notation. Check item Countermeasures Servo ON Check that the servo amplifiers have If the servo amplifiers have not started, touch on the screen M1000 started (all axes servo ON).

  • Page 399: Appendix 3 Assistant Function

    Appendix 3 Assistant Function For supporting the simple motion module setting, an assistant function is available. Examples of use of the function are shown below. (1) Click the tool bar option [Assistant] on the Simple Motion Module setting tool. Click! (2) The assistant window will appear just under the navigation window.
  • Page 400 From previous page (6) The screen will change to the Parameter Setting screen. For the details of setting, refer to Section 5.3.2. (7) Select the axis No. to set the parameters in step 1: Select axis No. (8) Click the button in step 2: Set Basic Parameters 1 the basic parameters 1.
  • Page 401 From previous page (13) Click the button in step 3: Set the JOG Operation JOG operation parameter. Set the detailed parameters 2. (15) (14) Click the button in step 4: Set the HPR basic parameters. Set the home position return basic Click! parameters.
  • Page 402 From previous page (18) The screen will change to the Operation Setting screen. For the details of setting, refer to Section 5.3.4. This example of use is designed for “Control Target: Major Positioning Control.” (19) Click button in step 1: Control target Target Selection selection.

  • Page 403: Appendix 4 Fb (Function Block) Insertion Procedure

    Appendix 4 FB (function block) Insertion Procedure The procedure for inserting FB is shown below. (1) Click [View] → [Docking Window] → [Element Selection]. Click! (2) The Element Selection window will appear. Click the Module tab. Click! (3) Expand RD77MS4 of the displayed module FB, and the FB list will be displayed.
  • Page 404 From previous page (4) Drag “M+RD77_StartPositioning_00E,” and drop it in the ladder editor. Drop! Drag! (5) The FB instance name input dialog box appears. Select the local label for the instance, input the Click! instance name, and click the button. (6) The FB will be inserted into the ladder editor.
  • Page 405 From previous page Create the input circuit and output circuit blocks of the FB instance as shown below. Input circuit block Output circuit block (7) Click [Convert] → [Convert]. Click! App-55...

  • Page 406: Appendix 5 Simple Motion Monitor

    Appendix 5 Simple Motion Monitor The parameters and error codes relating to all operation axes can be collectively monitored from the Simple Motion setting tool. You can check the parameters and errors of each axis during system operation. Appendix 5.1 Starting the Monitor (in the case of Axis Monitor) (1) In the [Navigation window] of the Simple Motion setting tool, select [Module Monitor], and double-click [Axis Monitor].

  • Page 407: Appendix 5.3 Switching The Monitor

    Appendix 5.3 Switching the Monitor The monitor screen can be switched by clicking a button on the monitor screen tool bar. : Axis Monitor : Starting History : Current Value History Appendix 5.4 Types of Monitors (1) Axis Monitor The current values of positioning parameters (monitor data and control data) are displayed.

  • Page 408: Appendix 5.5 Adding/Deleting Monitor Items

    Appendix 5.5 Adding/deleting Monitor Items On the axis monitor, items to be monitored can be added and deleted. (1) Click the button on the axis monitor. Select Monitor Item Click! (2) Select Monitor item window appears. The items monitored on the axis monitor are displayed in the Monitor Item and the Display Order field.

  • Page 409: Appendix 6 Digital Oscilloscope

    Appendix 6 Digital Oscilloscope Position commands, position droop, motor speed, motor current and speed commands and so on can be sampled by the digital oscilloscope of the Simple Motion Module setting tool (GX Works3). For the performance and specifications, refer to the Help (digital oscilloscope) for the Simple Motion Module setting tool.
  • Page 410 (2) Digital Oscilloscope window The digital oscilloscope window screen is configured as shown below. The screen in the time axis indication mode (FIXED grid mode) is shown below. Item Details Menu bar This menu is used to perform each function. Toolbar Displays tool buttons used to perform each function.
  • Page 411 Item Details Word waveform item name Displays the probe name for the word waveform selected with the (Time axis indication) word waveform selection button. Displays the probe name selected for the X-axis. X-axis probe setting (Two dimensional locus display) Displays the probe name selected for the Y-axis. Y-axis probe setting (Two dimensional locus display) Displays the data unit for the word waveform selected with the word...
  • Page 412 Item Details Displays which area of the 100 % sampling data is the data area (X-axis range) displayed in the graph display field with a black band. The display area is only the X-axis scale range. The Y-axis scale display area is not applicable. By left-clicking any position in the MAP window, a graph displays with the clicked X-axis position as the center (vicinity).
  • Page 413 (3) Probe Setting and Sampling Setting (1) Select the item to be probed. Click [Probe Setting...] on the [Edit] menu at the Digital Oscilloscope window. Click! (2) The Probe Setting screen will appear. Select “Output signal Y” from the “Input signal X” dropdown list.
  • Page 414 From previous page (5) Click “Md.103: Motor speed”, “Md.104: Motor current value” and “Md.20: Feed current value,” and click to register them in the Item column. After registering, click the button. Next Click! Select! Click! (6) Sampling Setting screen appears. Click! Specify the default settings as follows.
  • Page 415 (4) Waveform measurement (1) Execute the standby point positioning to set the positioning address to (0, 0). (Refer to Section 6.8.4) (2) Select [Action] in the Digital oscilloscope window, and click [Run]. Sampling is started. Click! (3) Execute the address indirect specification positioning (refer to Section 6.8.6). Position selection Set any positioning address, and touch to execute the positioning.

  • Page 416: Appendix 7 Melsec Iq-F Series Simple Motion Module

    Appendix 7 MELSEC iQ-F Series Simple Motion Module Appendix 7.1 Major Features of MELSEC iQ-F Series Simple Motion Module (1) Modules for 4 axes and 8 axes are available. iQ-F Simple Motion Modules for 4 axes and 8 axes are available. •...

  • Page 417: Appendix 7.2 System Configuration

    Appendix 7.2 System Configuration (1) System Configuration FX5U/FX5UC Simple motion CPU module module External input signals of servo amplifier SSCNET III ・Upper stroke limit cable ・Lower stroke limit ・Proximity dog signal External input Ethernet signal cable cable Peripheral device (Computer) Manual pulse generator/Incremental synchronous encoder 1 unit...

  • Page 418: Appendix 7.3 Major Differences From Melsec Iq-R Series Simple Motion Module

    Appendix 7.3 Major Differences from MELSEC iQ-R Series Simple Motion Module The major difference between iQ-R simple motion module and iQ-F simple motion module are shown below. For the details of iQ-F Simple Motion Module, refer to the following manuals. •...
  • Page 419 CPU module → iQ-R simple motion module CPU module → iQ-F simple motion module Buffer memory Device No. Signal name Signal name address PLC READY 5950 PLC READY All ax servo ON 5951 All ax servo ON Y2 to YF Use prohibited ―...

  • Page 420: Appendix 8 Glossary

    Appendix 8 Glossary Absolute system This is a method used to express the Absolute encoder positioning address. This is a detector that allows angular data This is an absolute address method. contained in a single motor rotation to be This method expresses the distance from the output externally, and standard encoders reference 0.
  • Page 421 Creep speed Differential output type Speed of slow movement When one signal is output, another signal It is difficult to stop the machine suddenly at with reversed polarity is simultaneously a precise point when traveling at a high output. This type is characterized by speed, and therefore the speed is once transmission at high frequency and high switched to the creep speed.
  • Page 422 Droop pulse As the machine has inertia Feed back pulse (GD<244>2</244>), if positioning module A command is issued during automatic speed commands are issued as is, the control, and the pulse train is returned to machine becomes delayed and is therefore confirm whether the machine has operated unable to keep up.
  • Page 423 Incremental encoders emit between 100 and 10,000 pulses per axis rotation, and are the most commonly used encoders. B signal slit A signal slit Slit disk Made by Mitsubishi Electric Corporation (Model MR-HDP01) Zero signal slit Photo transistor Rotational Master axis...
  • Page 424 Positioning parameter The positioning parameters are the basic Override function data used for positioning control and include Function to change the speed (current the control unit, movement amount per speed) during positioning in the range from 1 rotation, speed limit value, upper and lower to 300 %.
  • Page 425 Resolver Speed integral compensation This is a device used to resolve angle Frequency responses are issued when detection into two analog voltages. performing positioning control at item 1 in the Also referred to as a two-phase synchro, as positioning data servo parameters, and opposed to single phase voltage input, the transient characteristics are improved.
  • Page 426 Stroke limit Tracking function This is the range in which positioning can be Travel values are entered from an external performed, or the movement range beyond controller, and by adding these travel values which the machine will be damaged. (In the to servo command values, positioning is JOG mode, the machine can be moved to performed at a relative speed with respect to...
  • Page 427 Zero phase signal One (or two) pulse(s) generated per rotation of pulse generator shaft. This signal is used for home position return for positioning. It is expressed also as a Z signal or PG0. Feedback pulses Axis 1 rotation Zero shift function After execution of home position return, the home position can be shifted in the positive or negative direction by determining the shift...
  • Page 428 MEMO App-78 SH-030278ENG-A...
  • Page 430 Mitsubishi Electric Programmable Controller Training Manual MELSEC iQ-R/iQ-F Simple Motion (for GX Works3) MODEL MODEL CODE SH(NA)-030278ENG-A(1712)MEE HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

This manual is also suitable for:

Fatec melsec iq-f

Table of Contents