Page 1 MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control) -R16MTCPU -R32MTCPU -R64MTCPU...
Page 3: Safety Precautions
SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. Refer to MELSEC iQ-R Module Configuration Manual for a description of the PLC system safety precautions.
Page 4 [Design Precautions] WARNING ● Configure a circuit so that the external power supply is turned off first and then the programmable controller. If the programmable controller is turned off first, an accident may occur due to an incorrect output or malfunction. ●...
Page 5 [Design Precautions] CAUTION ● Do not install the control lines or communication cables together with the main circuit lines or power cables. Doing so may result in malfunction due to electromagnetic interference. Keep a distance of 100mm or more between those cables. ●...
Page 6 Also, attach an extension connector protective cover to each unused extension cable connector as necessary. Directly touching any conductive parts of the connectors while power is on may result in electric shock. *1 For details, please consult your local Mitsubishi Electric representative.
Page 7 [Wiring Precautions] CAUTION ● Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction. ● Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.
Page 8 [Startup and Maintenance Precautions] WARNING ● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction. ● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so will cause the battery to produce heat, explode, ignite, or leak, resulting in injury and fire.
Page 9 [Startup and Maintenance Precautions] CAUTION ● Do not drop or apply shock to the battery to be installed in the module. Doing so may damage the battery, causing the battery fluid to leak inside the battery. If the battery is dropped or any shock is applied to it, dispose of it without using.
Page 10 [Disposal Precautions] CAUTION ● When disposing of this product, treat it as industrial waste. ● When disposing of batteries, separate them from other wastes according to the local regulations. For details on battery regulations in EU member states, refer to the MELSEC iQ-R Module Configuration Manual.
Page 11: Conditions Of Use For The Product
Notwithstanding the above restrictions, Mitsubishi Electric may in its sole discretion, authorize use of the PRODUCT in one or more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi Electric and provided further that no special quality assurance or fail-safe, redundant or other safety features which exceed the general specifications of the PRODUCTs are required.
Page 12: Table Of Contents
CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
Page 13 Cam data operation by file transmission function ..........91 CHAPTER 6 SYNCHRONOUS CONTROL Main Shaft Module.
Page 14 Fixed scan communication setting/inter-module synchronization setting ......190 Selection of slave CPU input axis type ............191 Multiple CPU advanced synchronous control monitor device .
Page 15: Relevant Manuals
RELEVANT MANUALS Manual Name [Manual Number] Description Available form MELSEC iQ-R Motion Controller Programming Manual This manual explains the dedicated instructions to use Print book (Advanced Synchronous Control) synchronous control by synchronous control parameters, device e-Manual [IB-0300243] (This manual) lists, etc. MELSEC iQ-R Motion Controller User's Manual This manual explains specifications of the Motion CPU modules, Print book...
Page 16: Terms
TERMS Unless otherwise specified, this manual uses the following terms. Term Description R64MTCPU/R32MTCPU/R16MTCPU or Abbreviation for MELSEC iQ-R series Motion controller Motion CPU (module) MR-J5(W)-B Servo amplifier model MR-J5-B/MR-J5W-B MR-J4(W)-B Servo amplifier model MR-J4-B/MR-J4W-B MR-J3(W)-B Servo amplifier model MR-J3-B/MR-J3W-B AMP or Servo amplifier General name for "Servo amplifier model MR-J5-B/MR-J5W-B/MR-J4-B/MR-J4W-B/MR-J3-B/...
Page 17: Manual Page Organization
MANUAL PAGE ORGANIZATION Representation of numerical values used in this manual ■Axis No. representation In the positioning dedicated signals, "n" in "M3200+20n", etc. indicates a value corresponding to axis No. as shown in the following table. Axis No. Axis No. Axis No.
Page 18 ■Machine No. representation In the positioning dedicated signals, "m" in "M43904+32m", etc. indicates a value corresponding to machine No. as shown in the following table. Machine No. Machine No. • Calculate as follows for the device No. corresponding to each machine. For machine No.8 in MELSEC iQ-R Motion device assignment M43904+32m ([St.2120] Machine error detection) M43904+32×7=M44128 D53168+128m ([Md.2020] Machine type)=M53168+28×7=D54064...
Page 19 Representation of device No. used in this manual The "R" and "Q" beside the device No. of positioning dedicated signals such as "[Rq.1140] Stop command (R: M34480+32n/ Q: M3200+20n)" indicate the device No. for the device assignment methods shown below. When "R" and "Q" are not beside the device No., the device No.
Page 20: Chapter 1 Overview
OVERVIEW Overview of 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, command generation axis, synchronous encoder axis), by setting "the parameters for synchronous control"...
Page 21: Performance Specifications
Performance Specifications Synchronous control specifications Item Number of settable axes R64MTCPU R32MTCPU R16MTCPU Input axis Servo input axis 64 axes/module 32 axes/module 16 axes/module Command generation axis 64 axes/module 32 axes/module 16 axes/module Synchronous encoder axis 12 axes/module Composite main shaft gear 1/output axis Main shaft main input axis 1 axis/output axis...
Page 22 • Coordinate data format Coordinate number Maximum number of cam registration 1024 1024 1024 2048 1024 4096 8192 16384 32768 65535 Cam operation specifications Item Specification Operation method of cam data • MT Developer2 Write/read/verify to cam file • Motion SFC program (Advanced synchronous control instruction) Write/read to cam file and cam open area Cam auto-generation function Automatically generate the following cam data...
Page 23: Chapter 2 Starting Up The System
STARTING UP THE SYSTEM The procedure for synchronous control positioning control is shown below. Starting Up the Advanced Control System The procedure to start up for synchronous control system is shown below. Preparation • ¢ MELSEC iQ-R Motion controller STEP 1 Set the following common parameter.
Page 24: Starting/Ending For Synchronous Control
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 are analyzed at the start of synchronous control, and the output axes synchronize with input axis operations. The advanced synchronous control is started/ended by the operation of "[Rq.380] Synchronous control start (R: M43440+n/Q: M12000+n)"...
Page 25 Synchronous control system monitor data Symbol Setting item Setting details Setting value Refresh Fetch Default Device No. cycle cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment St.380 Synchronous The bit device turns ON OFF: Normal Operation M40000+n M10880+n...
Page 26 Status when starting synchronous control The following signal are turned OFF when starting synchronous control. • [St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n) • [St.1060] Positioning start complete (R: M32400+32n/Q: M2400+20n) • [St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n) • [St.1063] Command in-position (R: M32403+32n/Q: M2403+20n) •...
Page 27: Stop Operation Of Output Axis
Stop Operation of Output Axis If the following causes occur in stopping the output axis during synchronous control, "[St.380] Synchronous control (R: M40000+n/Q: M10880+n)" turns OFF, and stops processing for the output axis is completed. After that, the "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)"...
Page 28 Deceleration stop/rapid stop The output axis stops with deceleration according to the stop and rapid stop conditions. The deceleration time and deceleration time for rapid stop are according to the parameter block conditions specified by "[Pr.448] Synchronous control deceleration time parameter block No. (R: D42709+160n/Q: D15069+150n)". When the synchronous control ends as the deceleration stop begins, the output axis monitor device is not updated, and only the monitor device for each axis is updated.
Page 29: Chapter 3 Synchronous Control Module
SYNCHRONOUS CONTROL MODULE List of Synchronous Control Module The module is used in synchronous control as follows. Input axis module Synchronous encoder axis parameter Synchronous encoder axis Synchronous parameter Command generation axis parameter Main shaft module Command generation Main shaft Composite main Main shaft axis...
Page 30 Input axis Classifi Name Parts Function description Maximum number of usable Reference cation Number per module Number per axis R64MTCPU R32MTCPU R16MTCPU Input axis Servo input Used to drive the input axis Page 30   module axis with the position of the servo Servo Input motor controlled by the Axis...
Page 31 Classifi Name Parts Function description Maximum number of usable Reference cation Number per module Number per axis R64MTCPU R32MTCPU R16MTCPU Speed Speed change It is used to change the Page change gear speed by setting speed 122 Speed gear change ratio during the Change Gear module operation.
Page 32: Chapter 4 Input Axis Module
INPUT AXIS MODULE Servo Input Axis Overview of servo input axis The servo input axis is used to drive the input axis based on the position of the servo motor that is being controlled by the Motion CPU. The status of a servo input axis can be monitored even before the synchronous control start since the setting of a servo input axis is valid after Multiple CPU system's power supply ON.
Page 33 Restrictions • If "1: Current feed value" or "2: Real current value" is set in "[Pr.300] Servo input axis type", turn ON the "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" to start the speed/position switching control. If the "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)"...
Page 34: Servo Input Axis Parameters
Servo input axis parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Pr.300 Servo input axis Set the current value type to 0: Invalid At power ...
Page 35 [Pr.301] Servo input axis smoothing time constant Set the averaging time to execute a smoothing process for the input travel value from the servo input axis. The smoothing process can moderate speed fluctuation, when the "Real current value" or "Feedback value" is used as input values. The input response is delayed depending on the time corresponding to the setting by smoothing process setting.
Page 36 [Pr.304] Servo input axis rotation direction restriction Set this parameter to restrict the input travel value for the servo input axis to one direction. This helps to avoid reverse operation caused by machine vibration, etc. when "Real current value" or "Feedback value" is used as input values.
Page 37: Servo Input Axis Monitor Data
Servo input axis monitor data Symbol Monitor item Storage details Monitor value Refresh Device No. cycle MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Md.300 Servo input axis The current value for the servo -2147483648 to 2147483647 Operation D35440+16n D12280+10n...
Page 38 [Md.303] Servo input axis rotation direction restriction amount (R: D35446L+16n/Q: D12286L+10n) While the rotation direction is restricted for a servo input axis, the accumulation for input travel value in the opposite direction of the enabled direction is stored in servo input axis position units as follows. (Page 31 Servo input axis position units) Setting value of "[Pr.304] Servo input axis Storage details rotation direction restriction"...
Page 39: Command Generation Axis
Command Generation Axis Overview of command generation axis Command generation axis is the axis that performs only the command generation. It can be controlled independently with the axis to which the servo amplifier is connected. It is used to drive the input axis by the servo program or JOG operation. The command generation axis can be controlled or the state of command generation axis can be monitored after Multiple CPU system's power ON.
Page 40 ■Command generation axis start accept flag (System area) When the servo program start is executed by specifying "Jn" as axis No., the complete status of start accept flag is stored in the address of the start accept flag in the CPU shared memory for target CPU. CPU shared memory address( ) Description is decimal address...
Page 41 Units for the command generation axis The position units and speed units for the command generation axis are shown below for the setting "[Pr.341] Command generation axis type". ■Command generation axis position units Setting value of "[Pr.341] Command Command generation axis position unit Range generation axis type"...
Page 42 • In the case of indirect setting, the fixed position stop acceleration/deceleration time is input in the following timing. • Positioning start • Speed change request (CHGVS) • Fixed position stop command ON • When the positioning to specified address completes, the "[St.341] Command generation axis positioning complete signal (R: M36561+32n/Q: M9801+20n)"...
Page 43: Command Generation Axis Parameters
Command generation axis parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Pr.340 Command Set the invalid/valid of 0: Invalid At power  generation axis command generation to be 1: Valid supply ON...
Page 44 Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Pr.353 Command Set the word device to set the Word device Operation Optional device  generation axis override ratio.
Page 45 [Pr.346] Command generation axis length per cycle Set the length per cycle for the command generation axis current value per cycle. The current value of command generation axis is stored in "[Md.347] Command generation axis current value per cycle (R: D36490+32n, D36491+32n/Q: D12610+20n, D12611+20n)"...
Page 46 [Pr.351] Command generation axis new deceleration time value device Set the device to set the change value when changing the deceleration time at a speed change request. This setting can be omitted. The following change values are set in the new deceleration time value device. Setting value Description 1 to 8388608[ms]...
Page 47: Command Generation Axis Control Data (Word Device)
Command generation axis control data (Word device) Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Cd.340 Command Set the JOG speed of 1 to 2147483647 At JOG D41760+8n D14680+4n...
Page 48 [Rq.341] Command generation axis stop command (R: M40160+32n/Q: M10960+20n) This command is a signal which stop a starting command generation axis from an external source and becomes effective at leading edge of signal. (A command generation axis for which the stop command is turning on cannot be started.) The operation at stop command input is the same as the "[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)"...
Page 49 [Rq.346] Command generation axis error reset command (R: M40167+32n/Q: M10967+20n) This command is used to clear the "[Md.341] Command generation axis minor error code (R: D36482+32n/Q: D12602+20n)" and "[Md.342] Command generation axis major error code (R: D36483+32n/Q: D12603+20n)" storage register of a command generation axis for which the error detection signal has turn on "[St.344] Command generation axis error detection signal (R: M36567+32n/Q: M9807+20n)": ON), and reset the [St.344] Command generation axis error detection signal (R: M36567+32n/ Q: M9807+20n).
Page 50: Command Generation Axis Monitor Data (Word Device)
Command generation axis monitor data (Word device) Symbol Monitor item Storage details Monitor value Refresh Device No. cycle MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Md.340 Command generation The feed current value for the -2147483648 to 2147483647 Operation D36480+32n D12600+20n...
Page 51 [Md.342] Command generation axis error code (R: D36483+32n/Q: D12603+20n) • This register stores the corresponding error code at the error occurrence of command generation axis. If another error occurs after error code storing, the previous error code is overwritten by the new error code. •...
Page 52: Command Generation Axis Monitor Data (Bit Device)
Command generation axis monitor data (Bit device) Symbol Monitor item Storage details Monitor value Refresh Device No. cycle MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment St.340 Command The positioning start complete ON: Positioning start complete Operation M36560+32n M9800+20n generation axis...
Page 53 [St.341] Command generation axis positioning complete (R: M36561+32n/Q: M9801+20n) This signal turns on with the completion of the positioning control for the command generation axis specified with the servo program. It does not turn on at the start or stop on the way using JOG operation or speed control. It does not turn on at the stop on the way during positioning.
Page 54 [St.346] Command generation axis speed change accepting flag (R: M36571+32n/Q: M9811+20n) This flag turns on at the start of speed change of command generation axis by the control change (CHGVS) instruction of the Motion SFC program or Motion dedicated PLC instruction (M(P).CHGVS/D(P).CHGVS). [St.347] Command generation axis speed change "0"...
Page 55: Synchronous Encoder Axis
Synchronous Encoder Axis Overview of synchronous encoder axis The synchronous encoder is used to drive the input axis based on input pulse from a synchronous encoder that is connected externally. The status of a synchronous encoder axis can also be monitored after the Multiple CPU system power supply turns ON. Input pulse [Pr.320] Synchronous encoder axis of synchronous...
Page 56 Synchronous encoder axis type The following synchronous encoders can be used for the synchronous encoder axis. Refer to setting method for synchronous encoder for the setting method for each synchronous encoder axis. (Page 57 Setting method for synchronous encoder) Synchronous encoder axis type Details Via module The encoder value is acquired via a module controlled by Motion CPU.
Page 57 Units for the synchronous encoder axis The position units and speed units for the synchronous encoder axis are shown below for the setting of "[Pr.321] Synchronous encoder axis unit setting". ■Synchronous encoder axis position units Setting value of "[Pr.321] Synchronous encoder axis Synchronous encoder axis Range unit setting"...
Page 58 Data refresh cycle of synchronous encoder axis The data refresh cycle of the synchronous encoder input travel value is as follows depending on the setting for "[Pr.320] Synchronous encoder axis type". [Pr.320] Synchronous encoder Refresh cycle Remarks axis type Via module The longer of the operation cycle and inter-module Refer to the following for the setting of inter-module synchronization cycle.
Page 59: Setting Method For Synchronous Encoder
Setting method for synchronous encoder Via module ■Setting method Used to operate an encoder that is connected to a high-speed counter module, etc. controlled by Motion CPU as the synchronous encoder axis. By setting "1: Via module" in "[Pr.320] Synchronous encoder axis type", and setting "[Pr.331] I/O number" and "[Pr.332] Channel number"...
Page 60 ■Setting example The following shows an example for setting an incremental synchronous encoder via a high-speed counter module (I/O number: 0040, channel number:1) as synchronous encoder axis 2. High-speed R32MTCPU counter module Incremental synchronous encoder (Resolution 1024) Synchronous encoder axis 2 Axis 1 Axis 2 Axis 3...
Page 61 Via servo amplifier ■Setting method The device connected to the servo amplifier is used as the synchronous encoder axis. The following shows a list of devices that can be connected as a synchronous encoder axis depending on the type of servo amplifier used.
Page 62 • Servo amplifiers with "ABS" or "INC" set to "External synchronous encoder input" of amplifier setting, have servo parameter "Scale measurement function selection " set. (When servo parameter "Scale measurement function selection " has been changed, after transmitting parameter to the servo amplifier, the power supply of the servo amplifier must be turned OFF once, and turned ON again.) •...
Page 63 ■Setting example The following shows an example for setting a serial absolute synchronous encoder (Q171ENC-W8) via servo amplifier (MR- J4-B-RJ, axis 3) as synchronous encoder axis 2. R32MTCPU Servo amplifier MR-J4- B-RJ Q171ENC-W8 Axis 1 Axis 2 Axis 3 (4194304pulse/rev) Synchronous encoder axis 2 •...
Page 64 • Set the following in synchronous encoder axis setting for the synchronous encoder axis 1 on the synchronous encoder axis parameter screen. Setting item Setting value [Pr.320] Synchronous encoder axis type 101: Via Servo Amplifier Connected axis No. [Motion Control Parameter]  [Synchronous Control Parameter]  [Input Axis Parameter]  [Synchronous Encoder Axis Parameter] Window •...
Page 65 ■Restrictions • When optional data monitor is set to a servo amplifier axis selected as "101: Via servo amplifier" by "[Pr.320] Synchronous encoder axis type", set the number of communication data points so that the total comes to 2 points or less per axis. •...
Page 66 Via device (Synchronous encoder value input of via device) ■Setting method Used to operate a gray code encoder that is connected to the input module of the Motion CPU control as a synchronous encoder axis. By setting "201: Via device" in "[Pr.320] Synchronous encoder axis type", the synchronous encoder is controlled by the encoder value which is the input value of "[Cd.325] Input value for synchronous encoder via device (R: D42326+16n, D42327+16n/Q: D14826+10n, D14827+10n)".
Page 67 Read the encoder value of the gray code encoder with a sequence program, and update "[Cd.325] Input value for synchronous encoder via device (R: D42326+16n, D42327+16n/Q: D14826+10n, D14827+10n)" of the synchronous encoder axis 4 at every time. [Motion Control Parameter]  [Synchronous Control Parameter]  [Input Axis Parameter]  [Synchronous Encoder Axis Parameter] Window ■Restrictions...
Page 68 Via sensing module ■Setting method The encoder that is connected to the sensing encoder I/F module (MR-MT2400) is used as a synchronous encoder axis. By setting "601: Via sensing module" in "[Pr.320] Synchronous encoder axis type", and setting the channel No. (CH.A is "1", CH.B is "2") of the connector (CN1/CN2) for encoder signal input where the encoder is connected, in "[Pr.332] Channel number", the position information of the encoder is obtained via the sensing encoder I/F module and controls the synchronous encoder axis.
Page 69 • Set the following in amplifier setting Setting item Setting value Amplifier model MR-MT2010 RIO axis No. Operation mode Station occupying mode Number of connected expansion modules Extension module setting information MR-MT2400 [Motion CPU Common Parameter]  [Servo Network Setting]  "Amplifier Setting" Window •...
Page 70 [Motion Control Parameter]  [Synchronous Control Parameter]  [Input Axis Parameter]  [Synchronous Encoder Axis Parameter] Window • Set the servo parameters of RIO axis 603 to connect the sensing encoder I/F module and synchronous encoder. Set the servo parameters while referring to the manual of the sensing module. Refer to the following for details. Sensing Module Instruction Manual •...
Page 71: Synchronous Encoder Axis Parameters
Synchronous encoder axis parameters Symbol Setting item Setting details Setting value Setting Default Device No. value value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Pr.320 Synchronous • Set the synchronous Invalid At power  encoder axis encoder axis type to be Via module supply ON...
Page 72 Symbol Setting item Setting details Setting value Setting Default Device No. value value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Pr.327 Synchronous Set the time constant to 0 to 65535[ms] At power 10[ms]  encoder axis affect the phase supply ON phase...
Page 73 [Pr.320] Synchronous encoder axis type Set the type of synchronous encoder that will be the source for generating the input value for the synchronous encoder axis. When operating as a slave CPU in a Multiple CPU advanced synchronous control configuration, set the input axis of the master CPU.
Page 74 [Pr.324] Synchronous encoder axis length per cycle Set the length per cycle for the synchronous encoder axis current value per cycle. The current value of synchronous encoder axis is stored in "[Md.321] Synchronous encoder axis current value per cycle (R: D38562+32n, D38563+32n/Q: D13242+20n, D13243+20n)"...
Page 75 [Pr.325] Synchronous encoder axis smoothing time constant Set the averaging time to execute a smoothing process for the input travel value from synchronous encoder. The smoothing process can moderate speed fluctuation of the synchronous encoder input. The input response is delayed depending on the time corresponding to the setting by smoothing process setting.
Page 76 [Pr.328] Synchronous encoder axis rotation direction restriction Set this parameter to restrict the input travel value for the synchronous encoder axis to one direction. This helps to avoid reverse operation caused by machine vibration, etc. when "Real current value" or "Feedback value" is used as input values. Setting value Description 0: Without rotation direction restriction...
Page 77: Synchronous Encoder Axis Control Data (Word Device)
Synchronous encoder axis control data (Word device) Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Cd.320 Synchronous • If set to "101 to 164", the Other than below: Start without D42322+16n D14822+10n...
Page 78 [Cd.321] Synchronous encoder axis control method (R: D42323+16n/Q: D14823+10n) Set the control method for the synchronous encoder axis. Setting value Description 0: Current value change The synchronous encoder axis current value and the synchronous encoder axis current value per cycle are changed as follows. Set the new current value in "[Cd.322] Synchronous encoder axis current value setting address (R: D42324+16n, D42325+16n/Q: D14824+10n, D14825+10n)".
Page 79: Synchronous Encoder Axis Control Data (Bit Device)
Synchronous encoder axis control data (Bit device) Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Rq.323 Synchronous If turns ON for resetting ON: Error reset request Main cycle M42240+8n M11600+4n...
Page 80 • When this signal is ON, if "101 to 164" is set to "[Cd.320] Synchronous encoder axis control start condition (R: D42322+16n/Q: D14822+10n)", the synchronous encoder axis control starts based on the corresponding high-speed input request signal. [Md.320] Synchronous encoder axis current value (R: D38560+32n, D38561+32n/ Q:D13240+20n, D13241+20n) High-speed input request signal 3...
Page 81: Synchronous Encoder Axis Monitor Data (Word Device)
Synchronous encoder axis monitor data (Word device) Symbol Monitor item Storage details Monitor value Refresh Device No. cycle MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Md.320 Synchronous The current value for the -2147483648 to 2147483647 Operation D38560+32n D13240+20n encoder axis...
Page 82 [Md.322] Synchronous encoder axis speed (R: D38564L+32n/Q: D13244L+20n) The speed for a synchronous encoder axis is stored in synchronous encoder axis speed units. (Page 55 Synchronous encoder axis speed units) If the speed for a synchronous encoder axis exceeds the monitor range (Refer to Section 4.3.1), warning (error code: 0BD2H) will occur.
Page 83: Synchronous Encoder Axis Monitor Data (Bit Device)
Synchronous encoder axis monitor data (Bit device) Symbol Monitor item Storage details Monitor value Refresh Device No. cycle MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment St.320 Synchronous This flag turns ON when the ON: Setting valid At power ON M38640+16n M10440+10n...
Page 84 [St.323] Synchronous encoder axis current value setting request flag (R: M38643+16n/ Q: M10443+10n) This flag turns ON, when a synchronous encoder axis current value change is never executed or when the synchronous encoder current value is lost by the battery error, etc. in the serial absolute synchronous encoder. If the current value setting request flag is ON for the synchronous encoder connection, the synchronous encoder axis current value starts counting with 0.
Page 85: Chapter 5 Cam Function
CAM FUNCTION Control Details for Cam Function The output axis for synchronous control is operated with a cam. The following operations can be performed with cam functions. • Two-way operation: Reciprocating operation with a constant cam strokes range. • Feed operation: Cam reference position is updated every cycle. •...
Page 86: Type Of Cam Data
Type of cam data The cam data methods used in the cam function are linear cam, stroke ratio data format, coordinate data format, and auto- generation data format. Cam data is arranged in the "Cam storage area" and "Cam open area". Refer to memory operation of cam data for details of each area.
Page 87 Coordinate data format The coordinate data format is defined in coordinates of more than 2 points for one cam cycle. The coordinate data is represented as input value and output value, with "input value = cam axis current value per cycle", and "output value = stroke position from cam reference position".
Page 88 Auto-generation data format A cam pattern is created using the CAMMK instruction of Motion SFC program based on the specified parameter (data for auto-generation). Control cam data is created in the stroke ratio data format in the cam open area. Therefore, the operation during the control conforms to the cam operation in the stroke ratio data format.
Page 89: Overview Of Cam Operation
Overview of cam operation Current feed value of cam axis The current feed value is calculated as shown below. ■Stroke ratio data format Current feed value=Cam reference position + (Cam stroke amount × Stroke ratio corresponding to cam axis current value per cycle) ■Coordinate data format Current feed value = Cam reference position + Output value corresponding to cam axis current value per cycle...
Page 90 Create cam data for two-way cam operation as shown below. ■Stroke ratio data format Create cam data so that the stroke ratio is 0% at the last point. ■Coordinate data format Create cam data with the same output value for the point where the input value is 0 and the input value is equal to the cam axis length per cycle.
Page 91: Create Cam Data
Create Cam Data Memory operation of cam data Cam data is arranged in the following 2 areas. Area Storage item Details Remark Cam storage area Cam storage data Data is written by the following operations. Data is preserved even when turning the Multiple (Standard ROM/ (Cam file) •...
Page 92 Cam data operation with MT Developer2 Cam data can be modified while viewing the waveform with MT Developer2. The cam data is written/read to the cam file with MT Developer2, however it cannot be executed to the cam open area. The waveform generated by the cam auto-generation function can be confirmed on the "Cam graph"...
Page 93: Cam Data Operation By Motion Sfc Program
Cam data operation by Motion SFC program Cam data read/write operation and cam auto-generation can be executed with the synchronous control dedicated function of Motion SFC program. Refer to the following for details. MELSEC iQ-R Motion controller Programming Manual (Program Design) Classification Symbol Instruction...
Page 94: Chapter 6 Synchronous Control
SYNCHRONOUS CONTROL Main Shaft Module Overview of main shaft module For the main shaft module, the input value is generated as a composite value from two input axes (the main and sub input axis) through the composite main shaft gear. The composite input value can be converted by the main shaft gear that provides the deceleration ratio and the rotation direction for the machine system, etc.
Page 95: Main Shaft Parameters
Main shaft parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Pr.400 Main input axis Set the input axis No. on 0: Invalid At start of D42640+160n D15000+150n the main input side for...
Page 96 [Pr.401] Sub input axis No. (R: D42641+160n/Q: D15001+150n) Set the sub input axis No. for the main shaft. Setting value Description 0: Invalid The input value is always 0. 1 to 64: Servo input axis Set the servo input axis (axis 1 to 64). When the servo input axis is not set in the servo network setting, the input value is always 0.
Page 97: Main Shaft Clutch Parameters
Main shaft clutch parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Pr.405 Main shaft Set the control method • Set in hexadecimal. Operation 0000H D42648+160n D15008+150n...
Page 98 Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Pr.409 Main shaft • Set the clutch OFF -2147483648 to 2147483647 Operation D42654+160n D15014+150n clutch OFF address for the [Main input axis position units , or...
Page 99 [Pr.405] Main shaft clutch control setting (R: D42648+160n/Q: D15008+150n) Set the ON and OFF control methods separately for the main shaft clutch. The clutch control setting can be changed during synchronous control, however, the setting "No clutch" (Direct coupled operation) cannot be selected during synchronous control after already selecting another setting. Refer to control method for clutch for details on the clutch control.
Page 100 ■High speed input request signal Set the high speed input request signal No. for the "(a) ON control mode" and the "(b) OFF control mode" when using the setting "5: High speed input request". Signal No. Setting value Signal No. Setting value Signal No.
Page 101 [Pr.408] Travel value before main shaft clutch ON (R: D42652L+160n/Q: D15012L+150n) Set the travel value for the reference address with a signed number for the distance between the clutch ON condition completing and the clutch closing. Setting value Description 1 to 2147483647(Positive value) Used when the reference address is increasing in direction.
Page 102 [Pr.411] Main shaft clutch smoothing method (R: D42658+160n/Q: D15018+150n) Set the smoothing method for clutch ON/OFF. (Page 116 Smoothing method for clutch) Setting value Description 0: Direct No smoothing. 1: Time constant method (Exponent) Smoothing with an exponential curve based on the time constant setting. 2: Time constant method (Linear) Smoothing with linear acceleration/deceleration based on the time constant setting.
Page 103: Main Shaft Clutch Control Data
Main shaft clutch control data Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Rq.400 Main shaft clutch Set the clutch command ON/ OFF: Main shaft clutch Operation M42400+16n M11680+10n...
Page 104: Auxiliary Shaft Module
Auxiliary Shaft Module Overview of auxiliary shaft module For the auxiliary shaft module, the input value is generated from the auxiliary shaft. The input value can be converted by the auxiliary shaft gear that provides the deceleration ratio and the rotation direction for the machine system etc. Refer to the following for details on setting for the auxiliary shaft module.
Page 105 [Pr.418] Auxiliary shaft axis No. (R: D42664+160n/Q: D15024+150n) Set the input axis No. for the auxiliary shaft. Setting value Description 0: Invalid The input value is always 0. 1 to 64: Servo input axis Set the servo input axis (axis 1 to 64). When the servo input axis is not set in the servo network setting, the input value is always 0.
Page 106: Auxiliary Shaft Clutch Parameters
Auxiliary shaft clutch parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Pr.422 Auxiliary shaft Set the control method • Set in hexadecimal. Operation 0000H D42670+160n D15030+150n...
Page 107 Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Pr.426 Auxiliary shaft • Set the clutch OFF -2147483648 to 2147483647 Operation D42676+160n D15036+150n clutch OFF address for the [Auxiliary shaft position units , or...
Page 108 [Pr.422] Auxiliary shaft clutch control setting (R: D42670+160n/Q: D15030+150n) Set the ON and OFF control methods separately for the auxiliary shaft. The clutch control setting can be changed during synchronous control, however the setting to "No clutch" (Direct coupled operation) cannot be selected during synchronous control after already selecting another setting. Refer to control method for clutch for details on the clutch control.
Page 109 ■High speed input request signal Set the high speed input request signal No. for the "ON control mode" and the "OFF control mode" when using the setting "5: High speed input request". Signal No. Setting value Signal No. Setting value Signal No.
Page 110 [Pr.425] Travel value before auxiliary shaft clutch ON (R: D42674L+160n/Q: D15034L+150n) Set the travel value for the reference address with a signed numbers for the distance between the clutch ON condition completing and the clutch closing. Setting value Description 1to 2147483647(Positive value) Used when the reference address is increasing in direction.
Page 111 [Pr.428] Auxiliary shaft clutch smoothing method (R: D42680+160n/Q: D15040+150n) Set the smoothing method for clutch ON/OFF. (Page 116 Smoothing method for clutch) Setting value Description 0: Direct No smoothing. 1: Time constant method (Exponent) Smoothing with an exponential curve based on the time constant setting. 2: Time constant method (Linear) Smoothing with linear acceleration/deceleration based on the time constant setting.
Page 112: Auxiliary Shaft Clutch Control Data
Auxiliary shaft clutch control data Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Rq.403 Auxiliary shaft Set the clutch command ON/ OFF: Auxiliary shaft clutch Operation M42404+16n M11684+10n...
Page 113: Clutch
Clutch Overview of clutch The clutch is used to transmit/disengage command pulses from the main/auxiliary shaft input side to the output module side through turning the clutch ON/OFF, which controls the operation/stop of the servo motor. A clutch can be configured for the main and auxiliary shafts. Control method for clutch Set the ON and OFF control methods separately in "[Pr.405] Main shaft clutch control setting (R: D42648+160n/Q: D15008+150n)"...
Page 114 ON control mode ■No clutch (Direct coupled operation) Execute direct coupled operation without clutch control. Other clutch parameters are not applicable during direct coupled operation by setting "0: No clutch". "Clutch forced OFF command" and the change of the clutch control setting are ignored during direct coupled operation.
Page 115 ■Address mode The clutch is turned ON when the reference address reaches "Clutch ON address". The travel value after passing through the ON address is calculated as the output travel value of the clutch based on the reference address passing through, thereby controlling the clutch with an accurate travel value. Clutch ON/OFF status Clutch ON address Current value specified in clutch...
Page 116 OFF control mode ■ OFF control invalid Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control. ■One-shot OFF The clutch is turned OFF after moving the distance "Travel value before clutch OFF" (One-shot operation) after the clutch command turn ON.
Page 117 ■Address mode The clutch is turned OFF when the reference address reaches "Clutch OFF address". The travel value before passing through the OFF address is calculated as the output travel value of the clutch based on the reference address passing through, thereby controlling the clutch with an accurate travel value. Clutch ON/OFF status Clutch OFF address Current value specified in clutch...
Page 118: Smoothing Method For Clutch
Smoothing method for clutch Set the clutch smoothing method in "[Pr.411] Main shaft clutch smoothing method (R: D42658+160n/Q: D15018+150n)" and "[Pr.428] Auxiliary shaft clutch smoothing method (R: D42680+160n/Q: D15040+150n)". The 2 types of clutch smoothing include the following. • Time constant method smoothing •...
Page 119 ■Time constant method linear acceleration/deceleration smoothing Set "2: Time constant method (Linear)" in the clutch smoothing method. Clutch ON/OFF status Clutch smoothing status Speed before clutch processing Speed after clutch smoothing Clutch smoothing time constant Slippage method smoothing Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON, and with slippage at clutch OFF when the clutch turns OFF.
Page 120 ■Slippage method linear acceleration/deceleration smoothing Set "4: Slippage method (Linear)", or "5: Slippage method (Linear: Input value follow up)" in the clutch smoothing method. The difference between "4: Slippage method (Linear)" and "5: Slippage method (Linear: Input value follow up)" is shown below.
Page 121 • When "5: Slippage method (Linear: Input value follow up)" is set The clutch smoothing status ON section is fixed. Clutch ON/OFF status ON section is fixed Clutch smoothing status Input speed (Speed before clutch processing) Output speed (Speed after clutch processing) Slippage amount at clutch ON Slippage amount at clutch OFF •...
Page 122 ■Operation at input speed deceleration during slippage method smoothing When the speed before clutch processing decreases, the speed after clutch smoothing is controlled without exceeding the speed before clutch processing. If slippage amount remains when the speed before clutch processing becomes 0, the smoothing process will be continued. And when the speed before clutch processing gets faster than the speed after clutch smoothing, clutch smoothing takes place for the remainder slippage amount.
Page 123: Use Example Of Clutch
Use example of clutch The following machine shows an example using clutch control for a flying shear cutting system that synchronizes off a start signal from a sensor input. Sensor input (High speed input request signal) Main shaft gear Main shaft Main shaft main input axis clutch...
Page 124: Speed Change Gear Module
Speed Change Gear Module Overview of speed change gear module A speed change gear module is used to change the input speed from the main shaft/auxiliary shaft/composite auxiliary shaft gear during operation. When not using a speed change gear module, set "0: No speed change gear" in "[Pr.434] Speed change gear1 (R: D42686+160n/Q: D15046+150n)"...
Page 125: Speed Change Gear Parameters
Speed change gear parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Pr.434 Speed change Set the arrangement for the 0: No speed change gear At start of D42686+160n D15046+150n...
Page 126 [Pr.436] Speed change ratio 1: Numerator (R: D42688L+160n/Q: D15048L+150n) Set the numerator for the speed change ratio 1. Speed change ratio 1: Numerator can be changed during synchronous control. Input values for speed change are processed as follows. Speed change ratio: Numerator Input value after change = Input value before change ×...
Page 127: Output Axis Module
Output Axis Module Overview of output axis module For the output axis module, the cam axis current value per cycle is calculated based on the input value (the output value from a speed change gear), and is converted based on the cam data settings as output commands to the servo amplifier. Input value [Pr.438] Cam axis cycle unit setting (R: D42698+160n/Q: D15058+150n)
Page 128 Units for the output axis ■Output axis position units The position units for the output axis are shown below based on the setting "Unit setting" of fixed parameter. Setting value of Unit setting Output axis position unit Range 0: mm -214748364.8 to 214748364.7[μm] ×10 μm...
Page 129: Output Axis Parameters
Output axis parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Pr.438 Cam axis cycle • Set the units for the • Set in hexadecimal. At start of 0000H D42698+160n...
Page 130 [Pr.438] Cam axis cycle unit setting (R: D42698+160n/Q: D15058+150n) Set the command units for the cam axis input per cycle to be used for cam control. These units are used for setting the cam axis length per cycle and the cam axis current value per cycle. There is no influence on the control for the parameter for monitor display.
Page 131 [Pr.441] Cam stroke amount (R: D42704L+160n/Q: D15064L+150n) Set the cam stroke amount corresponding to a 100% stroke ratio in output axis position units for cam control using the stroke ratio data format. (Page 126 Output axis position units) The cam stroke amount can be changed during synchronous control. The value set in "[Pr.441] Cam stroke amount (R: D42704+160n, D42705+160n/Q: D15064+150n, D15065+150n)"...
Page 132 [Pr.445] Cam axis phase compensation time constant (R: D42708+160n/Q: D15068+150n) Set the time constant to affect the phase compensation amount for the first order delay. 63 [%] of the phase compensation amount is reflected in the time constant setting. [Pr.444] Cam axis phase compensation advance time (R: D42706+160n, D42707+160n/ Current value per cycle after phase compensation...
Page 133 [Pr.448] Synchronous control parameter block No. (R: D42709+160n/Q: D15069+150n) Set the parameter block number to be used by output axis of during synchronous control. Used item for the parameter block is shown below. : Valid, : Invalid Item Valid/invalid of setting Remarks value Interpolation control unit...
Page 134: Synchronous Control Change Function
Synchronous Control Change Function Overview of synchronous control change function This function can be used to change the cam reference position, the cam axis current value per cycle and the current value per cycle after the main/auxiliary shaft gear during the synchronous control. The following 5 methods exist for the synchronous control change function.
Page 135: Synchronous Control Change Control Data (Word Device)
Synchronous control change control data (Word device) Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Cd.407 Synchronous Set the synchronous control 0: Cam reference position D42770+160n D15130+150n control change...
Page 136 ■Cam reference position movement This command is executed to move the cam reference position through adding the setting travel value of "[Cd.408] Synchronous control change value (R: D42772+160n, D42773+160n/Q: D15132+150n, D15133+150n)". The travel value to be added is averaged in "[Cd.409] Synchronous control reflection time (R: D42771+160n/Q: D15131+150n)" for its output. Set a long reflection time when a large travel value is used since the cam axis current feed value moves with the travel value.
Page 137 ■Change current value per cycle after auxiliary shaft gear The current value per cycle after auxiliary shaft gear is changed to the value set in "[Cd.408] Synchronous control change value (R: D42772+160n, D42773+160n/Q: D15132+10n, D15133+150n)". This operation is completed within one operation cycle. Clutch control is not executed if the current value per cycle after the auxiliary shaft gear (the value before being changed and after being changed) has already passed through the ON/OFF address in address mode.
Page 138 [Cd.409] Synchronous control reflection time (R: D42771+160n/Q: D15131+150n) Set the reflection time for synchronous control change processing as follows. [Cd.407] Synchronous control change Setting details for "[Cd.409] Synchronous control reflection time (R: command (R: D42770+160n/Q: D15130+150n) D42771+160n/Q: D15131+150n)" 0: Cam reference position movement The time to reflect the travel value to the cam reference position.
Page 139: Synchronous Control Monitor Data
Synchronous Control Monitor Data Synchronous control monitor data is updated only during synchronous control. The monitor values ("[Md.400] Current value after composite main shaft gear (R: D39120+32n, D39121+32n/Q: D13600+30n, D13601+30n)", "[Md.401] Current value per cycle after main shaft gear (R: D39122+32n, D39123+32n/Q: D13602+30n, D13603+30n)", "[Md.402] Current value per cycle after auxiliary shaft gear (R: D39124+32n, D39125+32n/Q: D13604+30n, D13605+30n)", "[Md.407] Cam axis current value per cycle (R: D39132+32n, D39133+32n/Q: D13612+30n, D13613+30n)", "[Md.408] Cam reference position (R: D39134+32n, D39135+32n/Q: D13614+30n, D13615+30n)", and "[Md.409] Cam axis...
Page 140: Synchronous Control Monitor Data (Word Device)
Synchronous Control Monitor Data (Word device) Symbol Monitor item Storage details Monitor value Refresh Device No. cycle MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Md.400 Current value • The current value after combining -2147483648 to 2147483647 Operation D39120+32n D13600+30n...
Page 141 [Md.400] Current value after composite main shaft gear (R: D39120L+32n/Q: D13600L+30n) The current value after combining the main input and the sub input values going into the composite main shaft gear is stored as an accumulative value. Units are in position units of the main input axis. The unit is pulse if the main input axis is invalid. (Page 31 Servo input axis position units, Page 39 Command generation axis position units, Page 55 Synchronous encoder axis position units) The current value after composite main shaft gear will be changed when the following operations are executed in the main...
Page 142 [Md.402] Current value per cycle after auxiliary shaft gear (R: D39124L+32n/Q: D13604L+30n) The input travel value after the auxiliary shaft gear is stored within the range from 0 to (Cam axis length per cycle - 1). The unit is in cam axis cycle units. (Page 126 Cam axis cycle units) The value is restored according to "[Pr.461] Setting method of current value per cycle after auxiliary shaft gear (R: D42741+160n/Q: D15101+150n)"...
Page 143 [Md.425] Auxiliary shaft clutch slippage (accumulative) (R: D39128L+32n/Q: D13608L+30n) The accumulative slippage amount with the slippage method is stored as a signed value. The absolute value of the accumulative slippage increases to reach the slippage at clutch ON during clutch ON. The absolute value of the accumulative slippage decreases to reach 0 during clutch OFF.
Page 144: Synchronous Control Monitor Data (Bit Device)
Synchronous Control Monitor Data (Bit device) Symbol Monitor item Storage details Monitor value Refresh Device No. cycle MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment St.420 Main shaft clutch The ON/OFF status of main shaft OFF: Clutch OFF status Operation M38960+16n M10560+10n...
Page 145: Chapter 7 Synchronous Control Initial Position
SYNCHRONOUS CONTROL INITIAL POSITION Synchronous Control Initial Position The following synchronous control monitor data can be aligned to a set position when starting synchronous control, as the initial position for synchronous control. The alignment to a synchronous control initial position is useful for restoring a system based on the last control status along with restarting synchronous control after cancelling midway.
Page 146 Current value after composite main shaft gear when starting synchronous control The current value after composite main shaft gear is restored as follows according to the main input axis operation executed before starting synchronous control. Operation of main Servo input axis Command Synchronous encoder axis input axis (Before...
Page 147 "The last synchronous control session" indicates status just before the last synchronous control session was stopped as follows. These are listed with the last synchronization status. • Just before "[Rq.380] Synchronous control start (R: M43440+n/Q: M12000+n)" turns from ON to OFF. •...
Page 148 ■Restoration method (1) The new value of the current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear is calculated based on the current value after composite main shaft gear/auxiliary shaft current value. • Main shaft Current value per cycle after main shaft gear=Main shaft gear ratio×Current value after composite main shaft gear •...
Page 149 : Required, : Required for initial setting value, : Not required [Pr.462]Cam axis [Pr.463]Setting [Pr.467]Cam [Pr.464]Setting [Pr.468]Cam axis Restoration position method of cam reference position method of cam axis current value per processing details restoration object reference position (Initial setting) current value per cycle (Initial (R: D42742+160n/...
Page 150: Synchronous Control Initial Position Parameters
Synchronous Control Initial Position Parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value MELSEC Q series iQ-R Motion Motion device compatible assignment device assignment Pr.460 Setting method Select the setting method for 0: Previous value At start of D42740+160n D15100+150n...
Page 151 [Pr.460] Setting method of current value per cycle after main shaft gear (R: D42740+160n/Q: D15100+150n) Select the setting method of "[Md.401] Current value per cycle after main shaft gear (R: D39122+32n, D39123+32n/Q: D13602+30n, D13603+30n)" when starting synchronous control. Setting value Description 0: Previous value The current value per cycle after main shaft gear from the last synchronous control session is stored.
Page 152 [Pr.464] Setting method of cam axis current value per cycle (R: D42744+160n/Q: D15104+150n) Select the method for the cam axis current value per cycle to be restored when "[Pr.462] Cam axis position restoration object (R: D42742+160n/Q: D15102+150n)" is set to "1: Cam reference position restoration" or "2: Cam axis current feed value restoration".
Page 153: Cam Axis Position Restoration Method
Cam Axis Position Restoration Method Cam axis current value per cycle restoration If "[Pr.462] Cam axis position restoration object (R: D42742+160n/Q: D15102+150n)" is set to "0: Cam axis current value per cycle restoration" when starting synchronous control, the cam axis current value per cycle is restored based on the cam reference position and the cam axis current feed value.
Page 154 Restrictions • With two-way cam pattern operation, if the corresponding cam axis current value per cycle is not found, minor error (error code: 1C28H) will occur and synchronous control will not be started. • When starting synchronous control, the current feed value may change slightly from its original position at starting synchronous control.
Page 155 Cam axis current value per cycle restoration operation ■With a two-way cam pattern operation • Search from "Cam axis current value per cycle = 0". (Cam data starting point = 0) Cam axis current value per cycle Search from "Cam axis current value per cycle=0".
Page 156 • The search fails. (1) When a matching current feed value is not found Cam axis current value per cycle Cam axis current feed value Restoration fails. No match is found (Current feed value) for the current feed value within1 cycle. Cam reference position (2) When the unit is "degree"...
Page 157 • Search from a value in the middle of the cam axis current value per cycle. (Cam data starting point = 0) [Pr.468] Cam axis current value per cycle (Initial setting) (R: D42752+160n, D42753+160n/Q: D15112+150n, D15113+150n) Cam axis current value per cycle Cam axis current feed value (Current feed value) New cam reference position...
Page 158 Example The following shows an example of restarting the cam (a cam similar to a cam with a linear feed where two identical positioning points do not exist on the cam) from the feed current value after a forced stop, when the forced stop has stopped operation.
Page 159: Cam Reference Position Restoration
• Cam operation Feed current value[pulse] 200(peak) Cam operation restarts from "Feed current value=123[pulse]" when the previous forced stop occurred. Time[ms] Cam axis current value per cycle[pulse] 1000 Time[ms] Cam reference position restoration If "[Pr.462] Cam axis position restoration object (R: D42742+160n/Q: D15102+150n)" is set to "1: cam reference position restoration"...
Page 160 Example The following shows an example of starting operation from a position of "cam axis current value per cycle=0" by restoring the cam reference position when starting from "feed current value=0[pulse]", in the cam when the cam data starting point is not 0. Setting item Setting value [Pr.439] Cam axis length per cycle...
Page 161: Cam Axis Current Feed Value Restoration
Cam axis current feed value restoration If "[Pr.462] Cam axis position restoration object (R: D42742+160n/Q: D15102+150n)" is set to "2: cam current feed value restoration" when starting synchronous control, the cam axis current feed value is restored based on the cam axis current value per cycle and the cam reference position.
Page 162 Example The following shows an example of starting a cam pattern from the zero point of the cam axis current value per cycle with the current feed current value position as the origin when returning to a specified point, or home position return is completed after a forced stop.
Page 163 • Cam operation Feed current value[pulse] With the "feed current value=150[pulse]" position as the start point, the cam operates for the amount of "reference point + cam stroke amount". Time[ms] Cam axis current The time when cam axis current value per cycle is "0[pulse]" value per cycle[pulse] 1000 Time[ms]...
Page 164: Synchronous Control Analysis Mode
Synchronous Control Analysis Mode With synchronous control analysis mode, parameters are only analyzed for synchronous control when there is a command to start synchronous control. This mode is used to confirm the synchronous positions of the output axes in order to align axes with position control before starting synchronous control.
Page 165 Example The following shows an example of aligning the synchronous position of an output axis that references the input axis. Set the following values in the synchronous control initial position parameters. Setting item Setting value [Pr.460] Setting method of current value per cycle after main shaft gear (R: D42740+160n/Q: D15100+150n) 2: Calculate from input axis [Pr.462] Cam axis position restoration object (R: D42742+160n/Q: D15102+150n) 2: Cam axis current feed value restoration...
Page 166: Cam Position Calculation Function
Cam Position Calculation Function The cam position is calculated by the CAMPSCL instruction (Cam position calculation) of Motion SFC program with this function. This function can be used to calculate the cam position for the synchronous control initial position before starting synchronous control.
Page 167: Method To Restart Synchronous Control
Method to Restart Synchronous Control The relationship of the synchronous position for synchronous control is always saved in the Motion CPU module. Synchronous control can be restarted without returning all axes to their starting points by restoring the synchronized relationship through the synchronous control initial position parameters. (Page 148 Synchronous Control Initial Position Parameters) The reference axis used to restart synchronous control is different for each system.
Page 168: Chapter 8 Auxiliary And Applied Functions
AUXILIARY AND APPLIED FUNCTIONS Phase Compensation Function In synchronous control, delays in progresses, etc. cause the phase to deviate at the output axis motor shaft end with respect to the input axis (servo input axis or synchronous encoder axis). The phase compensation function compensates in this case so that the phase does not deviate.
Page 169 Phase compensation of delay time of the output axis Set delay time equivalent to the position deviation on the servo amplifier in "[Pr.444] Cam axis phase compensation advance time (R: D42706+160n, D42707+160n/Q: D15066+150n, D15067+150n)" for the output axis. The delay time equivalent to position deviation of the servo amplifier is calculated using the following formula.
Page 170: Relationship Between The Output Axis And Each Function
Relationship between the Output Axis and Each Function The relationship between the output axis of synchronous control and each function is shown below. : Valid, : Invalid Function Output Details axis Fixed parameter Unit setting The same control as other methods. ...
Page 171: Speed-Torque Control
Speed-Torque Control Control mode can be switched for output axis during synchronous control. The control is performed with "speed-torque control data". Data that is needed to be set with speed-torque control during synchronous control is shown in the table below. Setting item Setting necessity During control other than...
Page 172 • Turn OFF to ON the control mode switching request device after setting the control mode (10: Speed control mode, 20: Torque control mode, 30: Continuous operation to torque control mode) in the control mode setting device to switch the control mode.
Page 173 • The command speed at speed control is the speed command to the output axis. The command speed at torque/continuous operation to torque control is the speed limit value. • Command torque at torque control and continuous operation to torque control are set in the "torque command device" of "speed-torque control data".
Page 174 Stop cause ■Stop cause during speed control mode The operation for stop cause during speed control mode is shown below. The synchronous control ends by the stop cause occurrence. Item Operation during speed control mode The "[Rq.380] Synchronous control start (R: M43440+n/ The motor decelerates to speed "0"...
Page 175 ■Stop cause during torque control mode The operation for stop cause during torque control mode is shown below. The synchronous control ends by the stop cause occurrence. Item Operation during torque control mode The "[Rq.380] Synchronous control start (R: M43440+n/ The mode is switched to position control mode when the speed limit command value is set to "0"...
Page 176: Multiple Cpu Advanced Synchronous Control
Multiple CPU Advanced Synchronous Control Multiple CPU advanced synchronous control overview By synchronizing with the input axis of the master CPU and executing synchronous control on the slave CPU, synchronous operation between Multiple CPUs can be executed. The settings of the master CPU and slave CPU are set with the Multiple CPU advanced synchronous control setting. Also, by setting the status device to be used in Multiple CPU advanced synchronous control, you can monitor the status of other CPUs that constitute the Multiple CPU advanced synchronous control.
Page 177 Setting example The following shows an example for synchronizing the output axis of the slave CPU (CPU No.3, CPU No.4) with the command generation axis (Axis 1) of the master CPU (CPU No.2). Setting item CPU No. CPU No.2 (Master CPU) CPU No.3 (Slave CPU) CPU No.4 (Slave CPU) Multiple CPU synchronous control CPU setting...
Page 178 • It takes two operation cycles until the slave CPU processes the command value sent from the master CPU. For this reason, the processing software in the Motion CPU, compensates for this by delaying the output axis of the master CPU side by two operation cycles. By doing this, the timing of commands to the output axes of the master CPU and slave CPU do not deviate largely.
Page 179: Setting For Multiple Cpu Advanced Synchronous Control
Setting for Multiple CPU advanced synchronous control The setting of the master CPU and slave CPU are necessary for Multiple CPU advanced synchronous control. Also, in order to monitor the information of other CPUs that constitute the Multiple CPU advanced synchronous control, setting of the status device of each CPU is executed.
Page 180 Status device setting Refer to the following for the setting range of usable word devices and bit devices.  MELSEC iQ-R Motion Controller Programming Manual (Common) The items stored in the devices are different in operating system software version "05" and operating system software version "07".
Page 181 *1 Operating system software version • Bit device setting Set a number in a unit of 32 points at the start of the device. The status of synchronous control is stored in the set devices as follows. Offset Item Device "07"...
Page 182 ■Master CPU input axis transfer information (10 words) Set the start number of the device to monitor the connection status for each input axis type of the master CPU. Only set this when set as "Slave CPU". This setting can be omitted. Master CPU input axis Description Servo input axis...
Page 183 Offset Item "07" or "05" or later earlier Command generation axis connecting information Details Command generation axis connecting information Axis 17 Command generation axis connecting information Axis 18 Command generation axis connecting information Axis 32 Command generation axis connecting information ...
Page 184 • Bit device setting Set a number in a unit of 32 points at the start of the device. The connection status for each input axis type is stored in the set devices as follows. Offset Item "07" or later "05"...
Page 185 ■Master CPU input axis error information (10 words) Set the start number of the device to monitor the error detection information of each input axis type of the master CPU. Only set this when set as "Slave CPU". This setting can be omitted. Master CPU input axis Description Servo input axis error detection...
Page 186 Offset Item "07" or "05" or later earlier Command generation axis error information Details Device MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment Command generation axis error M36567 M9807 detection Axis 1 Command generation axis error M36599 M9827 detection Axis 2 Command generation axis error...
Page 187 Offset Item "07" or "05" or later earlier Synchronous encoder axis error information Details Device MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment Synchronous encoder axis error M38644 M10444 detection Axis 1 Synchronous encoder axis error M38676 M10454 detection Axis 2 Synchronous encoder axis error...
Page 188 • Bit device setting Set a number in a unit of 32 points at the start of the device. The error detection information for each input axis type is stored in the set devices as follows. Offset Item Device "07" or later "05"...
Page 189 ■Status for each CPU (1 word) Set the start number of the device to monitor the information of the "PLC ready flag", "PCPU READY complete flag" and other devices in CPU No.2 to 4 below for each Motion CPU. This setting can be omitted. •...
Page 190 ■Error status for each CPU and axis (8 words) Set the start number of the device to monitor the error information of each axis in CPU No. 2 to 4 for each Motion CPU. This setting can be omitted. • Word device setting Set an even number at the start of the device.
Page 191 Offset Item "07" or "05" or later earlier Servo error information Details Device MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment [St.1068] Servo error detection Axis 17 M32920 M2728 [St.1068] Servo error detection Axis 18 M32952 M2748 [St.1068] Servo error detection Axis 32 M33400 M3028...
Page 192: Fixed Scan Communication Setting/Inter-Module Synchronization Setting
Fixed scan communication setting/inter-module synchronization setting For Motion CPUs that constitute Multiple CPU advanced synchronous control, fixed scan communication function, or inter- module synchronization function between CPUs must be enabled. If neither fixed scan communication function nor inter- module synchronization function are set, a moderate error (error code: 30F5H) occurs after the Multiple CPU system power supply is turned ON.
Page 193: Selection Of Slave Cpu Input Axis Type
Selection of slave CPU input axis type In the slave CPU side, by setting the input axis type of the master CPU from the input axis parameter "[Pr.320] Synchronous encoder axis type", the change amount from the master CPU becomes the input value, and is controlled as a synchronous encoder axis.
Page 194 • If "501: Master CPU synchronous encoder axis" in "[Pr.320] Synchronous encoder axis type" is selected. The change amount of the input pulse to the synchronous encoder on the master CPU is transmitted to the slave CPU. Also, control by a current value change by "[Rq.320] Synchronous encoder axis control request (R: M42241+8n/Q: D14823+20n)", counter enable, and counter disable, are not reflected in the change amount that is transmitted.
Page 195 Setting example The following shows an example for setting the input from axis 8 of the master CPU servo input axis to the synchronous encoder axis 2 of the slave CPU. ■Master CPU side Set the following in the Multiple CPU advanced synchronous control setting. Setting item Setting value Multiple CPU advanced synchronous control CPU setting...
Page 196: Multiple Cpu Advanced Synchronous Control Monitor Device
Set the following in synchronous encoder axis setting of synchronous encoder axis 2 on the synchronous encoder axis parameter screen. Item Setting value Type 301: Master CPU servo input axis Synchronous encoder No. (Pn) [Motion Control Parameter]  [Synchronous Control Parameter]  [Input Axis Parameter]  [Synchronous Encoder Axis Parameter] When confirming the status of other CPUs, in the status device setting, set the device for each item.
Page 197: Example Programs
Example programs In order to maintain synchronizing between master CPU and slave CPU, start synchronizing by the following procedure. This program example is explained in the "Q series Motion compatible device assignment" for operating system software version "07" or later. Match the relationship of the controlling position of the master CPU and slave CPU.
Page 198 ■Synchronous control start program <Master CPU> <Slave CPU> After completing alignment, confirm that the output axis of the slave CPU is in After completing alignment, connect the synchronous encoder and then after synchronous control and turn ON synchronous control start. executing a current value change, turn ON synchronous control start.
Page 199 ■Error detection program <Master CPU> <Slave CPU> If each error detection signal of the master CPU and slave CPU, or servo error If the input axis error information of the master CPU, error detection signals of detection signals turn ON, synchronous control start turns OFF. the slave CPU, or servo error detection signals turn ON, synchronous control start turns OFF.
Page 200: Appendices
APPENDICES Appendix 1 Sample Program of Synchronous Control The following shows a sample program of executing synchronous control on the axis 1 with the command generation axis 4 of R16MTCPU as an input axis. This program example is explained in the "Q series Motion compatible device assignment" device assignment method. Set MR-J4(W)-B on the axis 1 in the servo network setting.
Page 201 Create the cam data (cam No.1). Section No. Start angle [degree] End angle [degree] Stroke [%] Cam curve 0.00000 90.00000 100.0000000 Constant speed 90.00000 270.00000 -60.0000000 Constant speed 270.00000 0.00000 50.0000000 Constant speed Set the synchronous parameter of the axis 1. Item Setting value Synchronous control...
Page 202 Create the Motion SFC program to start synchronous control. (Executed after home position return completion) sync_ax1 [F0] SET M2042 //All axes servo ON [G0] M2415*!M2001 //Axis 1 servo ready ON, start accept flag OFF? [F1] SET M12000 //Axis 1 Synchronous control start [G1] M100*M10880 //M100 ON and axis 1 during synchronous control?
Page 203: Appendix 2 Advanced Synchronous Control Device List
Appendix 2 Advanced Synchronous Control Device List Synchronous control system control data Symbol Setting item Device No. Reference MELSEC iQ-R Q series Motion Motion device compatible device assignment assignment Rq.380 Synchronous control start M43440+n M12000+n Page 22 Synchronous control system control data Rq.381 Synchronous analysis request...
Page 204 Command generation axis parameters Symbol Setting item Device No. Reference MELSEC iQ-R Q series Motion Motion device compatible device assignment assignment Pr.340 Command generation axis valid setting Page 41 Command generation axis  parameters Pr.341 Command generation axis unit setting ...
Page 205 Command generation axis monitor data ■Word device Symbol Setting item Device No. Reference MELSEC iQ-R Q series Motion Motion device compatible device assignment assignment Md.340 Command generation axis feed current value D36480+32n D12600+20n Page 48 Command generation axis D36481+32n D12601+20n monitor data (Word device) Md.341 Command generation axis warning code...
Page 206 Synchronous encoder axis parameters Symbol Setting item Device No. Reference MELSEC iQ-R Q series Motion Motion device compatible device assignment assignment Pr.320 Synchronous encoder axis type Page 69 Synchronous encoder axis  parameters Pr.321 Synchronous encoder axis unit setting  Pr.322 Synchronous encoder axis unit conversion: ...
Page 207 Synchronous encoder axis monitor data ■Word device Symbol Setting item Device No. Reference MELSEC iQ-R Q series Motion Motion device compatible device assignment assignment Md.320 Synchronous encoder axis current value D38560+32n D13240+20n Page 79 Synchronous encoder axis D38561+32n D13241+20n monitor data (Word device) Md.321 Synchronous encoder axis current value per D38562+32n...
Page 208 Synchronous parameter Symbol Setting item Device No. Reference MELSEC iQ-R Q series Motion Motion device compatible device assignment assignment Pr.400 Main shaft Main input axis No. D42640+160n D15000+150n Page 93 Main shaft parameters Pr.401 Sub input axis No. D42641+160n D15001+150n Pr.402 Composite main shaft gear D42642+160n...
Page 209 Symbol Setting item Device No. Reference MELSEC iQ-R Q series Motion Motion device compatible device assignment assignment Pr.434 Speed Speed change gear 1 D42686+160n D15046+150n Page 123 Speed change gear change gear parameters Pr.435 Speed change gear 1 D42687+160n D15047+150n smoothing time constant Pr.436 Speed change ratio 1:...
Page 210 Control Data for Synchronous Control ■Bit device Symbol Setting item Device No. Reference MELSEC iQ-R Q series Motion Motion device compatible device assignment assignment Rq.400 Main shaft Main shaft clutch command M42400+16n M11680+10n Page 101 Main shaft clutch control data Rq.401 Main shaft clutch control invalid M42401+16n...
Page 211 Synchronous Control Monitor Data ■Word device Symbol Setting item Device No. Reference MELSEC iQ-R Q series Motion Motion device compatible device assignment assignment Md.400 Current value after composite main shaft gear D39120+32n D13600+30n Page 138 Synchronous Control D39121+32n D13601+30n Monitor Data (Word device) Md.401 Current value per cycle after main shaft gear D39122+32n...
Page 212: Revisions
Japanese manual number: IB-0300242-L 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 213: Warranty
WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
Page 214: Trademarks
TRADEMARKS Microsoft, Microsoft Access, Excel, SQL Server, Visual Basic, Visual C++, Visual Studio, Windows, Windows NT, Windows Server, Windows Vista, and Windows XP are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies.
Page 216 IB(NA)-0300243-L(2306)MEE MODEL: RMT-P-ADV-E MODEL CODE: 1XB010 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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Mitsubishi Electric MELSEC iQ-R Series Programming Manual

Chapter 1 Overview

Chapter 2 Starting up the System

Chapter 3 Synchronous Control Module

Chapter 4 Input Axis Module

Chapter 5 Cam Function

Chapter 6 Synchronous Control

Chapter 7 Synchronous Control Initial Position

Chapter 8 Auxiliary and Applied Functions

Appendix 1 Sample Program of Synchronous Control

Appendix 2 Advanced Synchronous Control Device List

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