Manual PLC 500ess
Manual PLC 500ess
Manual PLC 500ess
A1SD75P1-S3/P2-S3/P3-S3 A1SD75P1-S3/P2-S3/P3-S3
AD75P1-S3/P2-S3/P3-S3 Positioning Module AD75P1-S3/P2-S3/P3-S3 Positioning Module
, ,
User s Manual User s Manual
MODEL 13J871
CODE
IB(NA)-66716-F(0305)MEE
When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.
Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
The instructions given in this manual are concerned with this product. For the safety instructions of the
programmable logic controller system, please read the CPU module User's Manual.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
Note that the ! CAUTION level may lead to a serious consequence according to the circumstances.
Always follow the instructions of both levels because they are important to personal safety.
Please save this manual to make it accessible when required and always forward it to the end user.
[Design Instructions]
! DANGER
Provide a safety circuit outside the programmable logic controller so that the entire system will
operate safely even when an external power supply error or PLC fault occurs.
Failure to observe this could lead to accidents for incorrect outputs or malfunctioning.
(1) Configure an emergency stop circuit and interlock circuit such as a positioning upper
limit/lower limit to prevent mechanical damage outside the PLC.
(2) The machine zero point return operation is controlled by the zero point return direction and
zero point return speed data. Deceleration starts when the near-point dog turns ON. Thus,
if the zero point return direction is incorrectly set, deceleration will not start and the
machine will continue to travel. Configure an interlock circuit to prevent mechanical
damage outside the PLC.
(3) When the module detects an error, normally deceleration stop or sudden stop will take
place according to the parameter stop group settings. Set the parameters to the positioning
system specifications.
Make sure that the zero point return parameter and positioning data are within the
parameter setting values.
A-1
[Design Instructions]
! CAUTION
Do not bundle or adjacently lay the control wire or communication cable with the main circuit or
power wire.
Separate these by 100mm or more.
Failure to observe this could lead to malfunctioning caused by noise.
[Mounting Instructions]
! CAUTION
Use the PLC within the general specifications environment given in this manual.
Using the PLC outside the general specification range environment could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
Always securely insert the module latches at the bottom of the module into the fixing holes on
the base unit. (Always screw the AnS Series module onto the base unit with the specified
torque.)
Improper mounting of the module could lead to malfunctioning, faults or dropping.
Securely connect the external device connection connector and peripheral device connection
connector into the module connector until a click is heard.
Improper connection could lead to a connection fault, and to incorrect inputs and outputs.
When not connecting the drive unit, always install a cover on the connector section.
Failure to observe this could lead to malfunctioning.
[Wiring Instructions]
! DANGER
Always confirm the terminal layout before connecting the wires to the module.
Make sure that foreign matter such as cutting chips and wire scraps does not enter the module.
Failure to observe this could lead to fires, faults or malfunctioning.
[Startup/Maintenance Instructions]
! DANGER
Always turn all phases of the power supply OFF externally before cleaning or tightening the
screws.
Failure to turn all phases OFF could lead to electric shocks.
A-2
[Startup/Maintenance Instructions]
! CAUTION
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
Always turn all phases of the power supply OFF externally before installing or removing the
module.
Failure to turn all phases OFF could lead to module trouble or malfunctioning.
Before starting test operation, set the parameter speed limit value to the slowest value, and
make sure that operation can be stopped immediately if a hazardous state occurs.
Always make sure to touch the grounded metal to discharge the electricity charged in the body,
etc., before touching the module.
Failure to do so may cause a failure or malfunctions of the module.
[Disposal Instructions]
! CAUTION
When disposing of the product, handle it as industrial waste.
A-3
REVISIONS
* The manual number is given on the bottom left of the back cover.
Print Date * Manual Number Revision
Feb., 1997 IB (NA) 66716-A Initial print
July, 1997 IB (NA) 66716-B Complete review
Nov., 1997 IB (NA) 66716-C Additional functions
Section 4.2.7 (Initializing the parameters), Section 4.3.3 (5)
(Near pass mode for continuous path control in interpolation
control)
Partial revisions and additions
Section 3.2.2 (Table), Section 4.2.1 (2), Section 4.2.9, Fig.
4.10, Section 4.4.2, Section 4.7.2, Section 4.13, Chapter 5,
Section 5.2.2 (3), Table 6.1, Section 18.1, Section 18.2,
Appendix 5.4
Chapter addition
Chapter 1
Oct., 1999 IB (NA) 66716-D Complete review
Sep., 2002 IB (NA) 66716-E Complete review
May, 2003 IB (NA) 66716-F Complete review
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which
may occur as a result of using the contents noted in this manual.
1997 MITSUBISHI ELECTRIC CORPORATION
A-4
INTRODUCTION
Thank you for purchasing the Mitsubishi general-purpose programmable logic controller MELSEC-A Series.
Always read through this manual, and fully comprehend the functions and performance of the A Series PLC
before starting use to ensure correct usage of this product.
CONTENTS
SAFETY INSTRUCTIONS...............................................................................................................................A-1
REVISIONS ......................................................................................................................................................A-4
INTRODUCTION..............................................................................................................................................A-5
CONTENTS......................................................................................................................................................A-5
About Manuals ...............................................................................................................................................A-12
Conformation to the EMC Directive and Low Voltage Instruction ................................................................A-12
Using This Manual (1) ....................................................................................................................................A-13
Using This Manual (2) ....................................................................................................................................A-14
Using This Manual (3) ....................................................................................................................................A-15
Generic Terms and Abbreviations .................................................................................................................A-16
Enclosed Parts ...............................................................................................................................................A-17
A-5
3.3.3 AD75 auxiliary functions and common functions ............................................................................... 3-8
3.3.4 Combination of AD75 main functions and auxiliary functions ......................................................... 3-10
3.4 Specifications of input/output signals with PLC CPU ............................................................................ 3-12
3.4.1 List of input/output signals with PLC CPU........................................................................................ 3-12
3.4.2 Details of input signals (AD75 PLC CPU) ................................................................................... 3-13
3.4.3 Details of output signals (PLC CPU AD75) ................................................................................. 3-14
3.5 Specifications of input/output interfaces with external devices .............................................................. 3-15
3.5.1 Electrical specifications of input/output signals ................................................................................ 3-15
3.5.2 Signal layout for external device connection connector................................................................... 3-17
3.5.3 List of input/output signal details....................................................................................................... 3-18
3.5.4 Input/output interface internal circuit................................................................................................. 3-20
5. DATA USED FOR POSITIONING CONTROL (List of buffer memory addresses) 5-1 to 5-122
A-6
5.2.1 Basic parameters 1 ........................................................................................................................... 5-18
5.2.2 Basic parameters 2 ........................................................................................................................... 5-24
5.2.3 Detailed parameters 1....................................................................................................................... 5-28
5.2.4 Detailed parameters 2....................................................................................................................... 5-36
5.2.5 Zero point return basic parameters .................................................................................................. 5-45
5.2.6 Zero point return detailed parameters .............................................................................................. 5-52
5.3 List of positioning data ............................................................................................................................. 5-56
5.4 List of start block data .............................................................................................................................. 5-71
5.5 List of condition data ................................................................................................................................ 5-75
5.6 List of monitor data................................................................................................................................... 5-80
5.6.1 System monitor data ......................................................................................................................... 5-80
5.6.2 Axis monitor data............................................................................................................................... 5-90
5.7 List of control data.................................................................................................................................. 5-104
5.7.1 System control data ........................................................................................................................ 5-104
5.7.2 Axis control data.............................................................................................................................. 5-110
A-7
SECTION 2 CONTROL DETAILS AND SETTING
A-8
10.1.2 "Start block data" and "condition data" configuration..................................................................... 10-4
10.2 Advanced positioning control execution procedure ............................................................................. 10-6
10.3 Setting the start block data .................................................................................................................... 10-7
10.3.1 Relation between various controls and start block data ................................................................ 10-7
10.3.2 Block start (normal start) ................................................................................................................ 10-8
10.3.3 Condition start ............................................................................................................................... 10-10
10.3.4 Wait start........................................................................................................................................ 10-11
10.3.5 Simultaneous start ....................................................................................................................... 10-12
10.3.6 Stop................................................................................................................................................ 10-13
10.3.7 Repeated start (FOR loop) .......................................................................................................... 10-14
10.3.8 Repeated start (FOR condition) ................................................................................................... 10-15
10.3.9 Restrictions when using the NEXT start....................................................................................... 10-16
10.4 Setting the condition data .................................................................................................................... 10-17
10.4.1 Relation between various controls and the condition data .......................................................... 10-17
10.4.2 Condition data setting examples .................................................................................................. 10-19
10.5 Start program for advanced positioning control .................................................................................. 10-20
10.5.1 Starting advanced positioning control .......................................................................................... 10-20
10.5.2 Example of a start program for advanced positioning control ..................................................... 10-21
A-9
12.4 Functions to limit the control ................................................................................................................ 12-22
12.4.1 Speed limit function....................................................................................................................... 12-22
12.4.2 Torque limit function...................................................................................................................... 12-24
12.4.3 Software stroke limit function........................................................................................................ 12-27
12.4.4 Hardware stroke limit function ...................................................................................................... 12-33
12.5 Functions to change the control details............................................................................................... 12-35
12.5.1 Speed change function ................................................................................................................. 12-35
12.5.2 Override function ........................................................................................................................... 12-42
12.5.3 Acceleration/deceleration time change function .......................................................................... 12-45
12.5.4 Torque change function ................................................................................................................ 12-48
12.6 Other functions ..................................................................................................................................... 12-50
12.6.1 Step function.................................................................................................................................. 12-50
12.6.2 Skip function .................................................................................................................................. 12-55
12.6.3 M code output function.................................................................................................................. 12-58
12.6.4 Teaching function.......................................................................................................................... 12-62
12.6.5 Command in-position function ...................................................................................................... 12-72
12.6.6 Stepping motor mode function...................................................................................................... 12-75
12.6.7 Acceleration/deceleration processing function............................................................................. 12-78
12.6.8 Indirectly specification function ..................................................................................................... 12-82
A - 11
About Manuals
Related Manuals
Manual Number
Manual Name
(Model Code)
AD75P1-S3/P2-S3/P3-S3 Positioning Module User's Manual (Hardware)
IB-66733
The AD75P1-S3/P2-S3/P3-S3 positioning module performance specifications, input/output interface,
(13J883)
names of each part and startup procedures, etc., are explained. (Enclosed with module)
For details on making Mitsubishi PLC conform to the EMC directive and low voltage
instruction when installing it in your product, please refer to Chapter 3, “EMC Directive
and Low Voltage Instruction” of the using PLC CPU module User's Manual
(Hardware).
The CE logo is printed on the rating plate on the main body of the PLC that conforms
to the EMC directive and low voltage instruction.
To make this product conform to the EMC directive and low voltage instruction, please
refer to section 4.3.1 “Precautions for wiring”
A - 12
Using This Manual (1)
Pr.* ....... Symbol indicating positioning parameter and zero point return
parameter item.
Da.* ....... Symbol indicating positioning data, start block data and condition
data item.
Md.* ....... Symbol indicating monitor data item.
Cd.* ....... Symbol indicating control data item.
A - 13
Using This Manual (2)
A - 14
Using This Manual (3)
A - 15
Generic Terms and Abbreviations
Unless specially noted, the following generic terms and abbreviations are used in this
manual.
A - 16
Enclosed Parts
Quantity
Part name A1SD75P1-S3 A1SD75P2-S3 A1SD75P3-S3
AD75P1-S3 AD75P2-S3 AD75P3-S3
External device connection connector (10136-3000VE,
1 2 3
Sumitomo 3M)
Connector cover (10336-56 F0-008, Sumitomo 3M) 1 2 3
AD75 1
A1SD75P1-S3/P2-S3/P3-S3, AD75P1-S3/P2-S3/P3-S3
1
type Positioning Module User's Manual (Hardware)
A - 17
MEMO
A - 18
SECTION 1
SECTION 1
PRODUCT SPECIFICATIONS AND HANDLING
(1) To understand the outline of positioning control, and the AD75 specifications
and functions
(2) To carry out actual work such as installation and wiring
(3) To set parameters and data required for positioning control
(4) To create a sequence program required for positioning control
(5) To understand the memory configuration and data transmission process
PRODUCT OUTLINE
The purpose and outline of positioning control using AD75 are explained in this chapter.
By understanding "What can be done", and "Which procedures to use" beforehand, the
positioning system can be structured smoothly.
1-1
1 PRODUCT OUTLINE
MELSEC-A
(a) There are six types of positioning modules for 1-axis to 3-axis control.
Select according to the PLC CPU type and the required No. of control axes.
(b) There is one slot used to mount each AD75 onto the base unit. The number
of input/output points occupied by the PLC CPU is 32 points each.
There is no limit to the No. of mounted modules as long as the total is within
the PLC CPU No. of input/output points.
(a) Various functions required for the positioning system, such as positioning
control to random position, fixed-dimension feed control and uniform speed
control are provided.
(b) The control method designated with each positioning data includes position
control, speed control and speed/position changeover control.
(c) Continuous positioning with multiple positioning data items is possible with
the operation pattern set by the user using positioning data.
With the above multiple positioning data as one block, continuous
positioning of multiple blocks is possible.
1-2
1 PRODUCT OUTLINE
MELSEC-A
1) The near-point dog type (one type), stopper stop type (three types),
and count type (two types) zero point return methods have been
prepared as the "machine zero point return" zero point return method.
2) To realize zero point return control to the machine zero point from a
random position, the zero point return retry function has been prepared.
(The machine zero point is the position used as the start point for
control such as positioning control. The machine zero point is
established with the machine zero point return in item 1) above.)
(4) High-speed pulse output and long distance with drive unit
(a) The AD75 has a differential driver and open collector pulse output interface.
Connect to either according to the type of drive unit.
(b) When connected to the differential driver, the speed and distance have
been increased.
• When connected to differential driver : 400kpps, max. 10m,
• When connected to open collector : 200kpps, max. 2m
(a) The various data, such as the positioning data and parameters, are stored
on a flash ROM in the AD75.
This allows the data to be held without a battery.
(b) The error display, machine system input and zero point input state can be
confirmed with the 17-segment display.
(c) The primary diagnosis has been improved by detailing the error details.
(d) Up to 16 history items each for the error and warning information can be
held, so the details of the errors and warnings that have occurred can be
confirmed easily.
1-3
1 PRODUCT OUTLINE
MELSEC-A
Palletizer
Conveyor control • Using the servo for one axis, the palletizer is
Conveyor positioned at a high accuracy.
Servomotor • The amount to lower the palletizer according to
(with brakes)
the material thickness is saved.
Position detector
G
Reduction
Servo amplifier gears Palletizer
Ball screw Unloader control
(From AD75)
PLC
MELSEC-A
AD75
1-4
1 PRODUCT OUTLINE
MELSEC-A
Digital switch
Servo
amplifier
Index table
Detector
Worm gears Servomotor
1-5
1 PRODUCT OUTLINE
MELSEC-A
Positioning control using the AD75 is carried out with "pulse signals". (The AD75 is a
module that generates pulses). In the positioning system using the AD75, various
software and devices are used for the following roles. The AD75 realizes complicated
positioning control when it reads in various signals, parameters and data and is
controlled with the PLC CPU.
GPP function
software PLC CPU
package
Outputs signals such as the start
signal, stop signal, limit signal and
control changeover signal to the AD75.
Motor
Workpiece
1-6
1 PRODUCT OUTLINE
MELSEC-A
The principle of "position control" and "speed control" operation is shown below.
Position control
The total No. of pulses required to move the designated distance is obtained in the
following manner.
* The No. of pulses required for the motor to rotate once is the "encoder resolution"
described in the motor catalog specification list.
When this total No. of pulses is issued from the AD75 to the servo amplifier, control to
move the designated distance can be executed.
The machine side movement amount when one pulse is issued to the servo amplifier is
called the "movement amount per pulse". This value is the min. value for the workpiece
to move, and is also the electrical positioning precision.
Speed control
The above "total No. of pulses" is an element required for movement distance
control, but when carrying out positioning control or speed control, the speed must
also be controlled.
This "speed" is controlled by the "pulse frequency".
Movement amount t = 2
POINT
The AD75 controls the position with the "total No. of pulses", and the speed with
the "pulse frequency".
1-7
1 PRODUCT OUTLINE
MELSEC-A
The outline of the positioning system operation and design, using the AD75, is shown
below.
Positioning
PLC CPU module AD75 Drive unit Servomotor
Forward run
pulse train Speed
command
Devia- D/A Servo M
tion converter amplifier
Program Set data Reverse run counter
Write,
pulse train
read,
etc.
Interface
PLG
Feedback pulse
Write,
read, etc.
· SW1IVD-AD75P-E
· SW0D5C-AD75P-E
· AD75TU
2) Simultaneously with the start of motor rotation by the speed command from the
drive unit, feedback pulses proportional to the speed are generated by the pulse
encoder PLG, and the droop pulses in the deviation counter are subtracted.
The deviation counter maintains a set droop amount and the motor continues
rotating.
3) When the command pulse output from the AD75 is stopped, the droop pulses in
the deviation counter decreases, and the speed slows. When there are no more
droop pulses, the motor stops.
In other words, the motor rotation speed is proportional to the designated pulse
frequency, and the motor rotation angle is proportional to the No. of output
command pulses.
Thus, if the movement amount per pulse is specified, the motor can be fed to a
position proportional to the No. of pulses in the pulse train. The pulse frequency
will be the motor speed (feedrate).
4) As shown below, the pulse train is rough during motor acceleration, and is dense
at the full speed. During deceleration, the pulse train becomes rougher, and
finally the pulse reaches 0. The motor stops with a slight delay in respect to the
command pulse.
This time difference is required to ensure the stopping precision, and is called the
stop settling time.
1-8
1 PRODUCT OUTLINE
MELSEC-A
Servomotor
speed
Speed V Pulse droop
amount Pulse
distribution
Stop
settling time
The movement amount per pulse is indicated with (1), and the [No. of output pulses] ×
[movement amount per pulse] is the movement amount. The command pulse frequency is
calculated with (2) using the movable section speed and movement amount per pulse.
The relation of the command pulse frequency and deviation counter droop pulses is
shown in (3).
As the positioning command unit, (mm), (inch), (degree) or (pulse) can be selected
independently for the 1 to 3 axes of the AD75.
Thus, if the data such as the movement amount per pulse, acceleration/deceleration
time, positioning speed, and positioning address are set to match the positioning
command unit, the operation will be carried out within the AD75 for the target
positioning address. The pulse train will be output, and positioning will be executed.
1-9
1 PRODUCT OUTLINE
MELSEC-A
The outline of the signal communication between the AD75 and PLC CPU, peripheral
device and drive unit, etc., is shown below.
AD75
PLC CPU
PLC READY signal Drive unit READY signal
Y1D
AD75 READY signal Upper/lower limit signal
X0 External
Near-point dog signal
signal
Forward run JOG start signal Zero point signal
Y16, Y18, Y1A
Reverse run JOG start signal
Y17, Y19, Y1B Drive unit
Operation monitor
Data write/read
1 - 10
1 PRODUCT OUTLINE
MELSEC-A
1 - 11
1 PRODUCT OUTLINE
MELSEC-A
1)
Design Understand the functions and performance, and determine the positioning operation method
(system design)
2)
Installation, wiring, single module test
3) 4)
Setting of the:
· Parameters Creation of sequence
· Positioning data program for operation
· Start block data
· Condition data Refer to (Note)
Preparation
5) 6)
Writing of setting data Writing of program
7) 8)
Connection confirmation
Monitoring with Monitoring and
test operation, debugging of
and debugging operation
of setting data Test operation program
9)
Operation Monitor Actual operation Monitor
(Note)
When not using the
AD75 software
package, carry out
10) Maintenance setting, monitoring
and debugging of
Maintenance the data in 3) with
the GPP function
software package.
11) Disposal
1 - 12
1 PRODUCT OUTLINE
MELSEC-A
The following work is carried out with the processes shown on the left page.
Details Reference
• Chapter 1
Understand the product functions and usage methods, the configuration devices • Chapter 2
1)
and specifications required for positioning control, and design the system. • Chapter 3
• Chapter 8 to Chapter 13
Install the AD75 onto the base unit, wire the AD75 and external connection devices
2) (drive unit, etc.), and connect the AD75 and peripheral devices. Check that the • Chapter 4
AD75 operates correctly. (Single module test)
• Chapter 5
Using the AD75 software package, set the parameters, positioning data, start block • Chapter 8 to Chapter 13
3)
data and condition data required for the positioning control to be executed. • AD75 Software Package
Operating Manual
Using the GPP function software package, create the sequence program required • Chapter 6
4) for positioning operation. (When not using the AD75 software package, also create • GPP Function Software
the sequence program for setting data.) Package Operating Manual
• Chapter 7
Write the parameters and positioning data, etc., created with the AD75 software
5) • AD75 Software Package
package into the AD75.
Operating Manual
Using the GPP function software package, write the created sequence program into • Chapter 7
6) the PLC CPU. (When not using the AD75 software package, also write in the • GPP Function Software
sequence program for setting data.) Package Operating Manual
Carry out test operation and adjustments in the test mode to check the connection
with the AD75 and external connection device, and to confirm that the designated • AD75 Software Package
7)
positioning operation is executed correctly. (Debug the set "parameters" and Operating Manual
"positioning data", etc.)
Carry out test operation and adjustment to confirm that the designated positioning
• GPP Function Software
8) operation is executed correctly. (Debug the created sequence program. When not
Package Operating Manual
using the AD75 software package, also debug the set data.
• Chapter 5
• Chapter 14
Actually operate the positioning operation. At this time, monitor the operation state • AD75 Software Package
9)
as required. If an error or warning occurs, remedy. Operating Manual
• GPP Function Software
Package Operating Manual
10) Service the AD75 as required. • Chapter 4
11) Dispose of the AD75. • Chapter 4
1 - 13
1 PRODUCT OUTLINE
MELSEC-A
The outline for starting each control is shown with the following flowchart.
* It is assumed that each module is installed, and the required system configuration,
etc., has been prepared.
Flow of starting
Positioning
Set the positioning parameters. )
Pr.1 to Pr.44 )
parameters
Control start
Operation
Control end
Stop
1 - 14
1 PRODUCT OUTLINE
MELSEC-A
Setting method
Write
Operation sequence program PLC CPU
1 - 15
1 PRODUCT OUTLINE
MELSEC-A
The outline for the stopping process in these cases is shown below. (Excluding (1) for
normal stopping.)
Stop process
Zero point return
Axis Manual control
control
operation
Stop status after High- Main Advanced
Stop cause
axis stopping Machine speed positioning positioning
JOG
Manual
zero point zero control control pulse
( Md.35 ) return opera-
point generator
tion
control return operation
control
Drive unit
Each During Immediate
Forced stop READY signal Immediate stop
axis error stop
OFF
Hardware stroke
Fatal stop limit upper/lower Each During Deceleration stop/sudden stop Deceleration
(Stop group 1) limit error axis error (Select with Pr.38 ) stop
occurrence
Software stroke Each
limit signal ON axis
Emergency Deceleration stop/sudden stop
PLC READY During Deceleration
stop
signal OFF All error (Select with Pr.39 ) stop
(Stop group 2)
"Stop" input from axes
peripheral device
Axis error
detection (Error
Relatively safe other than stop
Each During
stop group 1 or 2) axis error
(Stop group 3)
Error in test
mode Deceleration stop/sudden stop Deceleration
"Stop signal" ON (Select with Pr.40 ) stop
from external When
Intentional stop source Each stopped
(Stop group 3) "Axis stop signal" axis (While
ON from PLC waiting)
CPU
1 - 16
1 PRODUCT OUTLINE
MELSEC-A
When a stop cause has occurred during operation with position control causing the
axis to stop, positioning to the end point of the positioning data can be restarted from
the stopped position by using the " Cd.13 Restart command".
Axis 1 Axis 1
Stop position due to stop cause Stop position due to stop cause
400 Designated end 400 Stop position
Start point point position Restart after restart
address
200 200
Operation
100 100 during restart
Axis 2 Axis 2
100 300 700 100 300 700
Reference
If the positioning start signal [Y10 to Y12]/external start signal is turned ON while
the " Md.35 Axis operation status" is waiting or stopped, positioning will be
restarted from the start of the positioning start data regardless of the absolute
method or incremental method.
(Same as normal positioning.)
Axis 1 Axis 1
Stop position due to stop cause
Stop position due to stop cause 500 Stop position
after start
400 Designated Positioning
Start point end point start
address position
200 200 Operation dur-
ing positioning
100 100 start
Axis 2 Axis 2
100 300 700 100 300 900
1 - 17
1 PRODUCT OUTLINE
MELSEC-A
MEMO
1 - 18
Chapter 2
2
SYSTEM CONFIGURATION
In this chapter, the general image of the system configuration of the positioning control
using AD75, the configuration devices, applicable CPU module and the precautions of
configuring the system are explained.
Prepare the required configuration devices to match the positioning control system.
2-1
2 SYSTEM CONFIGURATION
MELSEC-A
The general image of the system, including the AD75, PLC CPU and peripheral
devices is shown below.
(The Nos. in the illustration refer to the "No." in section "2.2 List of configuration
devices".
Positioning
module
1
1
CPU module* I/O module
5 Conversion cable
* Only when using
A1SD75P -S3
RS-422 cable
Extension
system
6 RS-232 cable
6
Converter *3
REMARK
*1 Refer to section "2.3 Applicable system" for the CPU modules that can be used.
*2 Refer to the CPU module user's manual for the base units that can be used.
*3 Refer to the AD75 Software Package Operating manual.
2-2
2 SYSTEM CONFIGURATION
MELSEC-A
Drive
unit Motor
Cable
9 10 Machine system input (switch)
· Near-point dog
· Limit switch
· External start signal
· Speed/position
changeover signal
· Stop signal
AD75TU
4
Peripheral
device AD75 software package
2
3
SW1IVD
Personal -AD75P
computer
SW0D5C
-AD75P
2-3
2 SYSTEM CONFIGURATION
MELSEC-A
The positioning system using the AD75 is configured of the following devices.
No. Part name Type Remarks
AD75P1-S3 75P -S3
AD75P2-S3
AD75P3-S3 No. of control axes
1 Positioning module
A1SD75P1-S3
A1SD75P2-S3 · AD ....... Building block type
· A1SD ... Compact building block type
A1SD75P3-S3
AD75 software SW1IVD-AD75P-E DOS/V personal computer software package
2
package SW0D5C-AD75P-E For details, refer to the GX Configurator-AP Operating Manual.
DOS/V personal (Prepared by user)
3 Personal computer
computer Refer to the AD75 Software Package Operating Manual for details.
Unit for setting, monitoring and testing the AD75 parameters and
4 Teaching unit AD75TU
positioning data.
A1SD75-C01H
5 Conversion cable Length 30cm Cable for connecting RS-422 cable and A1SD75P -S3.
A1SD75-C01HA
RS-232 cable for connecting AD75 with DOS/V personal computer, and
Connection cable
6 – RS-232/RS-422 converter. (Prepared by user)
(converter)
Refer to the AD75 Software Package Operating Manual for details.
7 Drive unit – (Prepared by user)
Manual pulse (Prepared by user)
8 –
generator Recommended: MR-HDP01 (Mitsubishi Electric)
AD75C20SH For MR-H
Connection cable Cable for connecting AD75 with drive unit, manual
9 AD75C20SJ2 For MR-J2/J2S-A
(dedicated) pulse generator or machine system input signal.
AD75C20SC For MR-C
Cable for connecting AD75 with drive unit, manual pulse generator or
Connection cable
10 – machine system input signal. (Prepared by user)
(prepared by user)
Refer to manual of connected device.
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2 SYSTEM CONFIGURATION
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The CPU module and remote I/O station applicable for the AD75 are shown below.
CPU module
AD75 For A1SD75P1-
1 For AD75P1-S3/AD75P2-S3/AD75P3-S3 S3/A1SD75P2-
PLC CPU * S3/A1SD75P3-S3
• A0J2CPU • A2UCPU (-S1) • A1SCPU
• A0J2HCPU • A3UCPU • A1SJCPU (-S3)
• A4UCPU • A2SCPU
• A1CPU • A2ASCPU (-S1)
• A2CPU (-S1) • A73CPU (-S3) *2 • A52GCPU
• A3CPU
• A81CPU • A1SHCPU
• A1NCPU • A52GCPU • A2SHCPU
• A2NCPU (-S1) • A1SJHCPU
ACPU • A3NCPU • A1SCPU • A2USHCPU-S1
• A1SJCPU-S3
• A3MCPU
• A3HCPU • A2SCPU
• A2ASCPU (-S1)
• A2ACPU (-S1)
• A3ACPU • A1SHCPU
• A2SHCPU
• A1SJHCPU
• A2USHCPU-S1
• Q2ACPU (-S1) • Q3ACPU • Q2ASCPU (-S1)
• Q2ASHCPU (-S1)
QnACPU • Q2ASCPU (-S1) • Q4ACPU
• Q2ASHCPU (-S1) • Q4ARCPU
Q02CPU-A
QCPU
– Q02HCPU-A
(A mode) Q06HCPU-A
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2 SYSTEM CONFIGURATION
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The following precautions apply when configuring the positioning system using the
AD75.
• Precautions for mounting base unit
• Precautions according to module version
• Precautions for using stepping motor
• Precautions for using 3-axis module
POINT
One slot is required for mounting the AD75 onto the base unit. The No. of
input/output points occupied in respect to the PLC CPU is 32 points. When
assigning the I/O with the parameters, set as "special 32 points".
There is no limit to the No. of mounted modules as long as the total is within the
PLC CPU's No. of input/output points.
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2 SYSTEM CONFIGURATION
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2 SYSTEM CONFIGURATION
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MEMO
2-8
Chapter 3
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3 SPECIFICATIONS AND FUNCTIONS
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*1 Indicates to which power distribution section, from the public power distribution network to the in-plant machine
device, the device is assumed to be connected to.
Category II applies to a device fed power from a fixed facility.
The withstand surge voltage level for a device with a rating up to 300V is 2500V.
*2 Exponential indicating the degree of conductive matter generated in the environment where device is used.
In the degree of contamination level 2, only non-conductive contaminants are generated. However, temporary
conductivity could occur due to rare condensation.
3
* Do not use or store the PLC in the environment where the pressure is higher than the atmospheric pressure at sea
level. Otherwise, malfunction may result. To use the PLC in high-pressure environment, contact your nearest
Mitsubishi representative.
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3 SPECIFICATIONS AND FUNCTIONS
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3 SPECIFICATIONS AND FUNCTIONS
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The AD75 has several functions. In this manual, the AD75 functions are categorized
and explained as follows.
Main functions
(1) Zero point return control
"Zero point return control" is a function that established the start point for
carrying out positioning control, and carries out positioning toward that start
point. This is used to return a workpiece, located at a position other than the
zero point when the power is turned ON or after positioning stop, to the zero
point. The "zero point return control" is preregistered in the AD75 as the
"Positioning start data No. 9001 (Machine zero point return)", and "Positioning
start data No. 9002 (High-speed zero point return). (Refer to "Chapter 8 ZERO
POINT RETURN CONTROL".)
(2) Main positioning control
This control is carried out using the "Positioning data" stored in the AD75.
Basic control, such as position control and speed control, is executed by
setting the required items in this "positioning data" and starting that positioning
data. An "operation pattern" can be set in this "positioning data", and with this
whether to carry out control with continuous positioning data (ex.: positioning
data No. 1, No. 2, No. 3, ...) can be set. (Refer to "Chapter 9 MAIN
POSITIONING CONTROL".)
(3) Advanced positioning control
This control executes the "positioning data" stored in the AD75 using the
"positioning start information". The following types of applied positioning
control can be carried out.
• Random blocks, handling several continuing positioning data items as
"blocks", can be executed in the designated order.
• "Condition judgment" can be added to position control and speed control.
• The positioning data having the same No. and set for multiple axes can be
started simultaneously. (Pulses are output simultaneously to multiple
servos.)
• The designated positioning data can be executed repeatedly, etc.,
(Refer to "Chapter 10 ADVANCED POSITIONING CONTROL".)
(4) Manual control
By inputting a signal into the AD75 from an external source, the AD75 will
output a random pulse train and carry out control. Use this manual control to
move the workpiece to a random position (JOG operation), and to finely adjust
the positioning (manual pulse generator operation), etc. (Refer to "Chapter 11
MANUAL CONTROL".)
Auxiliary functions
When executing the main functions, control compensation, limits and functions can
be added. (Refer to "Chapter 12 CONTROL AUXILIARY FUNCTIONS".)
Common functions
Common control using the AD75 for "parameter initialization" or "backup of
execution data" can be carried out. (Refer to "Chapter 13 COMMON
FUNCTIONS".)
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3 SPECIFICATIONS AND FUNCTIONS
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Common functions
Parameter initialization function Execution data backup function LED display function Clock data function
3-5
3 SPECIFICATIONS AND FUNCTIONS
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The outline of the main functions for positioning control with the AD75 are described
below. (Refer to "SECTION 2" for details on each function.)
Reference
Main functions Details
section
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3 SPECIFICATIONS AND FUNCTIONS
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Reference
Main functions Details
section
With one start, executes the positioning data in a random block
Block start (Normal start) 10.3.2
with the set order.
Carries out condition judgment set in the "condition data" for
the designated positioning data, and then executes the "start
block data".
Condition start 10.3.3
When the condition is established, the "start block data" is
executed. When not established, that "start block data" is
ignored, and the next point's "start block data" is executed.
Advanced positioning control
With the "main positioning control" ("advanced positioning control"), whether or not to
continuously execute the positioning data can be set with the "operation pattern".
Outlines of the "operation patterns" are given below.
Reference
Da.1 Operation pattern Details
section
When "independent positioning control" is set for the operation
Independent positioning control pattern of the started positioning data, only the designated
(positioning complete) positioning data will be executed, and then the positioning will
end.
When "continuous positioning control" is set for the operation
pattern of the started positioning data, after the designated
Continuous positioning control 9.1.2
positioning data is executed, the program will stop once, and
then the next following positioning data will be executed.
When "continuous path control" is set for the operation pattern
of the started positioning data, the designated positioning data
Continuous path control
will be executed, and then without decelerating, the next
following positioning data will be executed.
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3 SPECIFICATIONS AND FUNCTIONS
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Auxiliary functions
The functions that assist positioning control using the AD75 are described below.
(Refer to "SECTION 2" for details on each function.)
Reference
Auxiliary function Details
section
This function retries the machine zero point return with the
upper/lower limit switches during machine zero point return.
Zero point return retry
Functions This allows machine zero point return to be carried out even if 12.2.1
function
characteristic the axis is not returned to before the near-point dog with JOG
to machine operation, etc.
zero point After returning to the machine zero point, this function
return compensates the position by the designated distance from the
Zero point shift function 12.2.2
machine zero point position and sets that position as the zero
point address.
This function compensates the mechanical backlash.
Backlash compensation
Feed pulses equivalent to the set backlash amount are output 12.3.1
function
each time the movement direction changes.
By setting the movement amount per pulse, this function can
freely change the machine movement amount per commanded
Functions that
pulse.
compensate Electronic gear function 12.3.2
When the movement amount per pulse is set, a flexible
control
positioning system that matches the machine system can be
structured.
This function suppresses the machine vibration when the
Near pass mode function speed changes during continuous path control in the 12.3.3
interpolation control.
If the command speed exceeds " Pr.7 Speed limit value"
Speed limit function during control, this function limits the commanded speed to 12.4.1
within the " Pr.7 Speed limit value" setting range.
If the torque generated by the servomotor exceeds " Pr.18
1 Torque limit setting value" during control, this function limits the
Torque limit function * 12.4.2
Functions that generated torque to within the " Pr.18 Torque limit setting
limit control value" setting range.
If a command outside of the upper/lower limit stroke limit
Software stroke limit
setting range, set in the parameters, is issued, this function will 12.4.3
function
not execute positioning for that command.
Hardware stroke limit This function carries out deceleration stop with the limit switch
12.4.4
function connected to the AD75 external device connection connector.
This function changes the speed during positioning.
Set the new speed in the speed change buffer memory
Speed change function 12.5.1
( Cd.16 New speed value), and change the speed with the
Speed change request ( Cd.17 ).
Functions that This function changes the speed within a percentage of 1 to
change control Override function 300% during positioning. This is executed using " Cd.18 12.5.2
details Positioning operation speed override".
Acceleration/deceleration This function changes the acceleration/deceleration time during
12.5.3
time change function speed change.
Torque change function This function changes the "torque limit value" during control. 12.5.4
*1 To carry out "torque limit", the "D/A conversion module" and a "drive unit capable of the torque limit command with an
analog voltage" must be prepared.
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3 SPECIFICATIONS AND FUNCTIONS
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Reference
Auxiliary function Details
section
This function temporarily stops the operation to confirm the
positioning operation during debugging, etc.
Step function 12.6.1
The operation can be stopped at each "automatic deceleration"
or "positioning data".
This function stops (decelerates to a stop) the positioning being
Skip function executed when the skip signal is input, and carries out the next 12.6.2
positioning.
This function issues an auxiliary work (clamp or drill stop, tool
M code output function change, etc.) according to the code No. (0 to 32767) set for 12.6.3
each positioning data.
This function stores the address positioned with manual control
Teaching function into the positioning address having the designated positioning 12.6.4
Other functions data No. ( Cd.5 ).
At each automatic deceleration, this function calculates the
remaining distance for the AD75 to reach the positioning stop
Command in-position position, and when the value is less than the set value, sets the
12.6.5
function "command in-position flag".
When using another auxiliary work before ending the control,
use this function as a trigger for the auxiliary work.
Stepping motor mode
This function makes settings for using a stepping motor. 12.6.6
function
Acceleration/deceleration
This function adjusts the control acceleration/deceleration. 12.6.7
process function
Indirectly specification This function specifies indirectly and starts the positioning data
12.6.8
function No.
Common functions
The outline of the functions executed as necessary are described below.
(Refer to "SECTION 2" for details on each function.)
Reference
Common functions Details
section
This function returns the "setting data" stored in the AD75 flash
ROM to the default values.
Parameter initialization function The following two methods can be used. 13.2
1) Method using sequence program
2) Method using AD75 software package
This functions stores the "setting data", currently being
executed, into the flash ROM.
Execution data backup function 13.3
1) Method using sequence program
2) Method using AD75 software package
This function displays the AD75 operation state, signal state
and error details on the 17-segment LED on the front of the
LED display function main module. 13.4
The display details can be changed with the mode switch on
the front of the main module.
This function sets the PLC CPU clock data in the AD75. This
Clock data function 13.5
used for the various history data.
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3 SPECIFICATIONS AND FUNCTIONS
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With positioning control using the AD75, the main functions and auxiliary functions can
be combined and used as necessary. A list of the main function and auxiliary function
combinations is given below.
Functions characteristic
Auxiliary functions to machine zero point
return
2-axis linear
– –
interpolation control
1-axis fixed-dimension (Continuous path control
Position control feed control – –
cannot be set)
2-axis fixed-dimension
(Continuous path control
feed control – –
cannot be set)
(interpolation)
Main positioning 2-axis circular
control – –
interpolation control
(Only independent positioning
Speed control – –
control can be set)
(Continuous path control
Speed/position changeover control – –
cannot be set)
(Continuous path control
Current value change – –
cannot be set)
Other control
(Independent positioning
JUMP command – –
control cannot be set)
JOG operation – –
Manual control
Manual pulse generator operation – –
: Always combine, : Combination possible, : Combination limited, : Combination not possible, –: Setting invalid
1
* The operation pattern is one of the "positioning data" setting items.
*2 Disabled for a start of positioning start No. 9003.
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3 SPECIFICATIONS AND FUNCTIONS
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Functions that
Functions that limit Functions that change
compensate Other functions
control control details
control
Acceleration/decelera-
Indirectly specification
Stepping motor mode
Command in-position
Hardware stroke limit
Teaching function
Override function
Near pass mode
Step function
Skip function
function
function
function
function
function
function
function
– – – – – – – – – – – – – – – – – *2
– – – – – – – – – – – – – – – – –
REMARK
• The "common functions" are functions executed as necessary. (These are not combined
with the control.)
• "Advanced positioning control" is a control used in combination with the "main positioning
control". For combinations with the auxiliary functions, refer to the combinations of the "main
positioning control" and auxiliary functions.
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3 SPECIFICATIONS AND FUNCTIONS
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The AD75 uses 32 input points and 32 output points for exchanging data with the PLC
CPU.
The input/output signals for when the AD75 is mounted in slot No. 0 of the main base
unit are shown below.
Device X refers to the signals input from the AD75 to the PLC CPU, and device Y
refers to the signals output from the PLC CPU to the AD75.
Signal direction: AD75 PLC CPU Signal direction: PLC CPU AD75
Device No. Signal name Device No. Signal name
X0 AD75 READY Y0
X1 Axis 1
X2 Axis 2 Start complete
X3 Axis 3
X4 Axis 1
X5 Axis 2 BUSY
X6 Axis 3
X7 Axis 1
Use prohibited
X8 Axis 2 Positioning complete
X9 Axis 3
XA Axis 1
XB Axis 2 Error detection
XC Axis 3
XD Axis 1
XE Axis 2 M code ON
XF Axis 3 YF
X10 Y10 Axis 1
Y11 Axis 2 Positioning start
Y12 Axis 3
Y13 Axis 1
Axis stop
Y14 Axis 2
Y15 Use prohibited
Y16 Axis 1 Forward run JOG start
Y17 Axis 1 Reverse run JOG start
Use prohibited
Y18 Axis 2 Forward run JOG start
Y19 Axis 2 Reverse run JOG start
Y1A Axis 3 Forward run JOG start
Y1B Axis 3 Reverse run JOG start
Y1C Axis 3 Axis stop
Y1D PLC READY
Y1E
Use prohibited
X1F Y1F
Important
[Y15], [Y1E], [Y1F], [Y0 to YF] and [X10 to X1F] are used by the system, and cannot be used
by the user.
If used, the operation of the AD75 will not be guaranteed.
Note that when the AD75 is mounted on the remote I/O station, [YD] to [YF] can be turned
OFF in the user program.
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3 SPECIFICATIONS AND FUNCTIONS
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The ON/OFF timing and conditions, etc., of the input signals are shown below.
Device
Signal name Details
No.
X0 AD75 READY OFF : READY • When the PLC READY signal [Y1D] turns from OFF to ON, the parameter setting
complete range is checked, and if there is no error, this signal turns OFF.
ON : Not • When the PLC READY signal [Y1D] turns OFF, this signal turns ON.
ready/WDT
error • When a WDT error occurs, this signal turns ON.
• This is used for the interlock with the sequence program, etc.
ON
PLC READY signal
OFF
[Y1D]
AD75 READY complete ON
signal [X0] OFF
X1 Axis 1 Start OFF : Starting • When the positioning start signal turns ON, and the AD75 starts the positioning
X2 Axis 2 complete incomplete process, this signal turns ON.
X3 Axis 3 ON : Start (The start complete signal also turns ON during zero point return control.)
complete ON
Positioning start signal
OFF
[Y10]
Start complete signal ON
[X1] OFF
X4 Axis 1 BUSY OFF : Not BUSY • This signal turns ON at the start of positioning, zero point return or JOG, and turns
X5 Axis 2 ON : BUSY OFF after the " Da.8 Dwell time" has passed after positioning stop. (This signal
X6 Axis 3 remains ON during positioning.) This signal turns OFF when stopped with step
operation.
• During manual pulse generator operation, this signal turns ON while the " Cd.22
Manual pulse generator enable flag" is ON.
• This signal turns OFF at an error complete or stop.
X7 Axis 1 Positioning OFF : Positioning • This signal turns ON for the time set in " Pr.41 Positioning complete signal output
X8 Axis 2 complete incomplete time" from the time that each positioning data No. positioning control is completed.
X9 Axis 3 ON : Positioning (This does not turn ON when " Pr.41 Positioning complete signal output time" is 0.)
complete * • If positioning is started (including zero point return), JOG operation or manual pulse
generator operation start is executed while this signal is ON, the signal will turn OFF.
• This signal will not turn ON when speed control or positioning is canceled midway.
XA Axis 1 Error OFF : No error
• This signal turns ON when an error listed in section 14.1 occurs, and turns OFF
XB Axis 2 detection ON : Error
occurrence when the error is reset.
XC Axis 3
XD Axis 1 M code OFF : No M code • In the WITH mode, this signal turns ON when the positioning data is started, and in
XE Axis 2 ON setting the AFTER mode, this signal turns ON when the positioning data positioning is
XF Axis 3 ON : M code set completed.
• This signal turns OFF with the " Cd.14 M code OFF request".
• When there is no M code designated (when " Da.9 M code" is 0), this signal will
remain OFF.
• With using continuous path control for the positioning operation, the positioning will
continue even when this signal does not turn OFF. However, a warning will occur.
(Warning code: 503)
• When the PLC READY signal [Y1D] turns OFF, the M code ON signal will also turn
OFF.
• If operation is started while the M code is ON, an error will occur. (Error code: 536)
Important
* AD75 positioning complete refers to when the output of pulses from AD75 is completed.
Thus, even if the AD75 positioning complete signal turns ON, the system may continue to
operate.
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3 SPECIFICATIONS AND FUNCTIONS
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The ON/OFF timing and conditions, etc., of the output signals are shown below.
Device
Signal name Details
No.
Y10 Axis 1 Positioning OFF : No positioning • Zero point return or positioning operation is started.
Y11 Axis 2 start start request • The positioning start signal is valid at the rising edge, and carries
Y12 Axis 3 ON : Positioning start out starting.
requested • When the positioning start signal turns ON during BUSY, the
warning “start during operation” (warning code: 100) will occur.
Y13 Axis 1 Axis stop OFF : No axis stop • When the axis stop signal turns ON, the zero point return control,
Y14 Axis 2 request positioning control, JOG operation and manual pulse generator
Y1C Axis 3 ON : Axis stop operation will stop.
requested • By turning the axis stop signal ON during positioning operation,
the positioning operation will be "stopped".
• Whether to decelerate or suddenly stop for each stop group can
be selected with " Pr.38 Stop group 1 sudden stop selection" to
" Pr.40 Stop group 3 sudden stop selection".
• During interpolation control of the positioning operation, if the axis
stop signal for either axis turns ON, both axes will decelerate and
stop.
Y15 Use prohibited
Y16 Axis 1 Forward run OFF : JOG not started • When the JOG start signal is ON, JOG operation will be carried
Y17 Axis 1 JOG start ON : JOG started out at the " Cd.19 JOG speed". When the JOG start signal turns
Y18 Axis 2 Reverse run OFF, the system will decelerate and stop.
Y19 Axis 2 JOG start
Y1A Axis 3 Forward run
Y1B Axis 3 JOG start
Reverse run
JOG start
Forward run
JOG start
Reverse run
JOG start
Y1D PLC READY OFF : PLC READY (a) This signal notifies the AD75 that the PLC CPU is normal.
OFF • This is turned ON/OFF with the sequence program.
ON : PLC READY ON • The PLC READY signal is turned ON during positioning
control, zero point return control, JOG operation and manual
pulse generator operation, except for in the peripheral device
test mode.
(b) When data (parameters, etc) are changed, the PLC READY
signal will turn OFF depending on the item. (Refer to Chapter 7.)
(c) The following processes are carried out when the PLC READY
signal turns from OFF to ON.
• The parameter setting range is checked.
• The AD75 READY complete signal [X0] turns OFF.
(d) The following processes are carried out when the PLC READY
signal turns from ON to OFF.
In this case, the OFF time will be 100ms or more.
• The AD75 READY complete signal [X0] turns ON.
• The operating axis stops.
• The M code ON signal [XD to XF] for each axis turns OFF,
and "0" is stored in " Md.32 Valid M code".
(e) When parameters or positioning data (No.1 to 100) are written
from the peripheral device or PLC CPU to the flash ROM, the
PLC READY signal will turn OFF.
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3 SPECIFICATIONS AND FUNCTIONS
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Input specifications
Rated input Working ON OFF Input Response
Signal name
voltage/current voltage range voltage/current voltage/current resistance time
Drive unit READY
19.2 to 17.5VDC or more/ 7VDC or less/
(READY) 24VDC/5mA Approx. 4.7kΩ 4ms or less
26.4VDC 3.5mA or more 1.7mA or less
In-position signal
2.5VDC or more/ 0.5VDC or less/
5VDC/5mA 4.5 to 6.1VDC Approx. 0.5kΩ 0.8ms or less
2mA or more 0.5mA or less
10VDC or more/ 3VDC or less/
24VDC/7mA 12 to 26.4VDC Approx. 3.5kΩ 0.8ms or less
3mA or more 0.2mA or less
Zero point signal
(PG0)
3µs or less 3µs or less
1ms or more
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3 SPECIFICATIONS AND FUNCTIONS
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Output specifications
Max. load
Rated load Working load Max. voltage Leakage
Signal name current/rush Response time
voltage voltage range drop at ON current at OFF
current
• Differential driver/open collector equivalent to Am26LS31
• The CW/CCW type, PULSE/SIGN type and A phase/B phase type are selected with the AD75
and drive unit parameter ( Pr.5 Pulse output mode).
• The relation of the pulse output with the " Pr.5 Pulse output mode" and " Pr.24 Logic
selection for pulse output to drive unit " is as shown below.
Pr.5 Pr.24 Logic selection for pulse output to drive unit
Pulse output Positive logic Negative logic
mode Forward run Reverse run Forward run Reverse run
CW
CCW
Pulse output
PULSE
(CW/PULSE/A phase)
SIGN High Low Low High
Pulse sign
(CCW/SIGN/B phase) Aφ
Bφ
When using the open collector, the rising edge/falling edge time and duty ratio will be as shown
below. *
ON
OFF
tr tf
50mA/point/
5 to 24VDC 4.75 to 30VDC 200mA 10ms 0.5VDC (TYP) 0.1mA or less –
or less
0.1A/point/ 2ms or less
Deviation counter 1VDC (TYP)
5 to 24VDC 4.25 to 30VDC 0.4A 10ms or 0.1mA or less (resistance
clear (CLEAR) 2.5VDC (MAX)
less load)
* Pulse rising edge/falling edge time in AD75 (unit tr, tf: µs Duty: %) ... When ambient temperature is room temperature
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3 SPECIFICATIONS AND FUNCTIONS
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The specifications of the connector section, which is the input/output interface for the
AD75 and external device, are shown below.
The signal layout for the AD75 external device connection connector (for one axis) is
shown.
(The signal layout for the external device connection connector is the same for axis 1
to axis 3.)
Pin Signal direction Connection
Pin layout Signal name
No. AD75 – external destination
A1SD75P1-S3/A1SD75P2- 36 Common COM (External device)
S3/A1SD75P3-S3 35 Common COM (External device)
(Main body side) 34 Open
29 Open
36 18 28 Manual pulse generator PULSER B– Manual pulse
generator
27 Manual pulse generator PULSER A– Manual pulse
generator
26 Common COM Drive unit
25 Zero point signal common PG0 COM Drive unit
24 Zero point signal PG0 (5V) Drive unit
23 Deviation counter clear common CLEAR COM Drive unit
22 Pulse sign (differential driver –) PULSE R– Drive unit
21 Pulse output (differential driver –) PULSE F– Drive unit
19 1 20 Pulse sign common PULSE COM Drive unit
(Open collector)
19 Pulse output common PULSE COM Drive unit
(Open collector)
18 Open
AD75P1-S3/AD75P2- 17 Open
S3/AD75P3-S3 16 External start signal * STRT (External device)
(Main body side) 15 Speed/position changeover signal CHG (External device)
14 Stop signal STOP (External device)
13 Lower limit signal RLS Limit switch
1 19 12 Upper limit signal FLS Limit switch
11 Near-point dog signal DOG Near-point dog
10 Manual pulse generator PULSE B+ Manual pulse
generator
9 Manual pulse generator PULSE A+ Manual pulse
generator
8 In-position INPS Drive unit
7 Drive unit READY READY Drive unit
6 Zero point signal PG0 (24V) Drive unit
5 Deviation counter clear CLEAR Drive unit
18 36 4 Pulse sign (differential driver +) PULSE R+ Drive unit
3 Pulse output (differential driver +) PULSE F+ Drive unit
2 Pulse sign (Open collector) PULSE R Drive unit
1 Pulse output (Open collector) PULSE F Drive unit
* The signal application follows " Pr.43 External start function selection".
3 - 17
3 SPECIFICATIONS AND FUNCTIONS
MELSEC-A
The details of each AD75 external device connection connector (for 1 axis) signal are
shown below.
Signal name Pin No. Signal details
36 • Common for near-point dog signal, upper/lower limit, stop signal,
Common
35 speed/position changeover signal, and external start signal.
• Input the pulse signal from the manual pulse generator A phase and B
phase.
Manual pulse generator • If the A phase is advanced more than the B phase, the positioning
(B phase –) 28 address will increase at the rising edge and falling edge of each phase.
Manual pulse generator 27 • If the B phase is advanced more than the A phase, the positioning
(A phase –) address will decrease at the rising edge and falling edge of each phase.
A phase A phase
Manual pulse generator
(B phase +) 10
Manual pulse generator 9 B phase B phase
(A phase +)
Positioning Positioning
address +1+1+1+1+1+1+1+1 address -1 -1 -1 -1 -1 -1 -1 -1
3 - 18
3 SPECIFICATIONS AND FUNCTIONS
MELSEC-A
Time
Near-point dog
Deviation counter clear 5
Zero point signal
10ms
CLEAR
3 - 19
3 SPECIFICATIONS AND FUNCTIONS
MELSEC-A
The outline diagram of the internal circuit for the AD75 external device connection
interface is shown below.
Input/out- Pin Need for
External wiring Internal circuit Signal name
put class No. wiring *1
Speed/position
15 CHG
changeover signal
24VDC
35
Common COM
36
(+)
5V PULSER A+
9
Manual pulse generator
Input A A phase
(–)
5VDC PULSER A–
27
B
(+)
PULSER B+
0V 10 Manual pulse generator
Manual pulse
generator B phase
(MR-HDP01) (–)
PULSER B–
28
For MR-J2- A
RD 7 Drive unit READY READY
26 Common COM
COM
6
LZ
Zero point signal PG0
24
LZR
*1: The meaning of “O” and “∆” in the “need for wiring” column is as follows.
• : Wiring is necessary in positioning.
• : Perform wiring when necessary.
*2: The terminal connected to the common line may be either positive or negative.
3 - 20
3 SPECIFICATIONS AND FUNCTIONS
MELSEC-A
VDD
SG
23 Common CLEAR COM
1 CW PULSE F
Open collector
A phase
19 PULSE PULSE COM
2
*
Output 2 CCW PULSE R
B phase
20 SIGN PULSE COM
PP
3 (+) CW PULSE F+
Differential driver
A phase
PG 21 (–) PULSE PULSE F–
2
*
NP 4 (+) CCW PULSE R+
B phase
NG
22 (–) SIGN PULSE R–
*1: The meaning of “O” and “∆” in the “need for wiring” column is as follows.
• : Wiring is necessary in positioning.
• : Perform wiring when necessary.
*2: Select the open collector output or differential driver output according to the drive unit being used.
3 - 21
3 SPECIFICATIONS AND FUNCTIONS
MELSEC-A
MEMO
3 - 22
Chapter 4
The installation, wiring and maintenance of the AD75 are explained in this chapter.
4-1
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
The outline and procedures for AD75 installation, wiring and maintenance are shown
below.
STEP 2
Installing the Install the module (AD75) on the base unit.
Refer to
module section 4.2
STEP 3 * The cables used to connect the AD75 with the drive
Wire the external device connection unit, the AD75 with the machine system input (each
Refer to connector pins, and assemble the connector. input/output signal), and the AD75 with the manual
section 4.3 pulse generator are manufactured by soldering each
Wiring the signal wire onto the "external device connection
module connector" enclosed with the AD75.
STEP 4
Connect the cable to the module (AD75)
Refer to Wire and connect the manufactured cable to AD75
section 4.3 after reading the precautions for wiring.
4-2
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
A D75P3 - S3 A 1SD75P3-S3
AX1
AX2
1) 17-segment LED AX3
AX1
MODE
AX1
AX2 2) Axis display LED
AX3 RS-422
MODE
3) Mode switch
4) Module version label
RS-422
5) Peripheral device connection
connector
AX2 AX3
A1SD75P3-S3
4-3
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
3) Mode switch
Stepping motor mode Internal information 1
AX1 AX1
MODE MODE MODE
AX1
AX1 AX1
AX1
4-4
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
Handle the AD75 and cable while observing the following precautions.
! CAUTION
Use the PLC within the general specifications environment given in this manual.
Using the PLC outside the general specification range environment could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
Do not directly touch the conductive section and electronic parts of the module.
Failure to observe this could lead to module malfunctioning or trouble.
When not connecting a drive unit or peripheral device, always install a cover on the connector
section.
Failure to observe this could lead to malfunctioning.
Make sure that foreign matter, such as cutting chips or wire scraps, do not enter the module.
Failure to observe this could lead to fires, trouble or malfunctioning.
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
4-5
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
(b) Cable
• Do not press on the cable with a sharp object.
• Do not twist the cable with force.
• Do not forcibly pull on the cable.
• Do not step on the cable.
• Do not place objects on the cable.
• Do not damage the cable sheath.
4-6
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
4.2 Installation
The precautions for installing the AD75 are given below. Refer to this section as well
as section "4.1.3 Handling precautions" when carrying out the work.
! DANGER
Always turn all phases of the power supply OFF externally before cleaning or tightening the
screws.
Failure to turn all phases OFF could lead to electric shocks.
! CAUTION
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
Always turn all phases of the power supply OFF externally before installing or removing the
module.
Failure to turn all phases OFF could lead to module trouble or malfunctioning.
Use the PLC within the general specifications environment given in this manual.
Using the PLC outside the general specification range environment could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
Always securely insert the module latches at the bottom of the module into the fixing holes on
the base unit. (Always screw the AnS Series module onto the base unit with the specified
torque.) Improper mounting of the module could lead to malfunctioning, faults or dropping.
(a) Avoid mounting the AD75 onto an extension base unit (A5 B/A1S5 B) that
has no power supply module.
When mounting on this type of unit, take the power capacity and extension
cable voltage drop into consideration.
(b) If the temperature in the panel could exceed 55°C, consider forcibly
ventilating in the PLC panel.
4-7
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
4.3 Wiring
The wiring precautions for the AD75 are described below. Be careful to observe the
following items together with the “Handling precautions” described in section 4.1.3.
(1) Perform wiring of the AD75 correctly while checking the terminal arrangement.
(For the terminal arrangement of the external device connection connector, refer
to section 3.5.2 “Signal layout of external device connection connector.”)
(3) Be careful to avoid entry of chips, wiring dust and so on inside the AD75.
Otherwise fire, failure or malfunction may be caused.
(4) Be sure to install a cover for the external device connection connector if no
external device is connected. Otherwise malfunction may be caused.
(5) Connect the external device connection connector and peripheral device
connection connector with the connector of the AD75. Check that the connector
snaps. An improperly connected connector will cause poor continuity, possibly
causing erroneous inputs or outputs.
(6) Do not pull the cable when removing the cable from the AD75 or drive unit. Hold
and pull the connector connected to the AD75 or drive unit. If the cable
connected to the AD75 or drive unit is pulled, a malfunction may be caused. As
well, the AD75, drive unit or cable may be broken.
(7) Disconnect the external device connection connector when the system is
stopped.
If the external device connection connector is disconnected during operation of
the system, the system will be stopped.
(8) Do not tie the AD75 cable with the main circuit cable, power cable, or a load
cable for other than the programmable logic controller or do not route the AD75
cable near them. Separate these by 100 mm as a measure. Otherwise noise,
surge or induction may cause a malfunction.
(9) When routing the AD75 cable near a power cable at a distance smaller than 100
mm, use a shielded cable for a countermeasure against noise. Connect the
shielding wire of the shielded cable securely to the panel of the AD75.
4-8
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
4-9
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
(10) Route the cables connected to the AD75, in a duct, or fix them. If cables are not
routed in the duct or no fixing measures are taken to them, drifting or moving
cables, breakage of the AD75, drive unit or cable due to a carelessly pulled
cable, or malfunction caused by a poorly connected cable may be caused.
(11) To comply with EMC and low-voltage directives, use shielded cables and
AD75CK cable clamp (made by Mitsubishi Electric) to ground to the panel.
A1SD75
module
Cable clamp
Drive unit
A1SD75
Power supply
Ferrite core
module
Cable clamp
Drive unit
Required quantity
Cable length Product to be arranged
1 axis 2 axes 3 axes
Within 2m AD75CK 1 1 1
AD75CK 1 1 1
More than 2m to within 10m
ZCAT3035-1330 1 2 3
4 - 10
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
AD75
20 to 30cm
AD75CK
Shielded cable
Shielding wires
Grounding terminal
AD75CK can ground up to four shielded cables having about 7 mm or smaller outside
diameters. (For details, refer to AD75CK cable clamp operation manual <IB-68682>.)
4 - 11
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
Wiring duct
Relay Relay
Drive Drive
unit unit Relay
Control
panel
AD
PLC
75
Inverter
Changed
Wiring duct
Relay Relay
Relay
Control
panel
AD
PLC Short wiring with the AD75 and
75
drive unit placed in proximity,
Inverter and the connection cable and
other cables separated
Drive Drive (without passing through duct).
unit unit
4 - 12
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
The pins for the external device connection connector are wired in the following
manner.
..... Disassemble the connector section,
(1) Disassembling the connector section
and remove the connector.
(2) Connecting the connector and wire ..... Solder the wire onto the connector pin.
(3) Assembling the connector section ..... Assemble the connector section.
Connector
4 - 13
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
(a) Loosen the cable fixture screw B, pass the cable through, and
then tighten screw B.
(Screw B may be removed once, and then tightened after sandwiching the
cable.)
(Take care not to lose the screw and nut.)
Cable fixture
Connector
Solder
18
36
Wire
17
35
20
2
19
4 - 14
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
4 - 15
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
(a) Fit the soldered connector and cable fixture into the connector
cover.
* The cable fixture acts as a stopper to protect the signal wire connection
section when the cable is pulled on. If the cable is not sufficiently
tightened with the cable fixture, wind insulation tape around the cable so
that it can be sufficiently tightened and pressed down.
(b) Sandwich the parts with the connector cover, and tigthen
screw A.
4 - 16
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
The AD75 is connected to the drive unit or peripheral device with the connector. Use
the following procedure to connect.
(1) Connecting
(a) Confirm that all phases of the AD75 main unit's power are shut
off externally.
* If not shut off, shut off all phases of the power externally.
(b) Confirm the module connector connection state and connector
shape, and match the engagement orientation.
(c) Press the connector straight into the module until a "click" is
heard.
(2) Removing
(a) Confirm that all phases of the AD75 main unit's power are shut
off externally.
* If not shut off, shut off all phases of the power externally.
(b) Press in the latches on both sides of the connector, and pull
the connector straight off.
4 - 17
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
Check the (1) and (2) points when completed with the AD75 installation and wiring.
(1) Does the AD75 operate correctly? ... "Single module test"
With the "single module test", correct operation of the AD75 is confirmed by the
LED displays on the AD75. (Change the mode switch following the procedures
given in section "4.4.2 Single module test", and confirm the details displayed on
each mode LED.)
Check that there are no faults in the AD75 with the single module test.
With this "connection confirmation", "whether the direction that the AD75
recognizes as forward run matches the address increment direction in the actual
positioning work", and "whether the AD75 recognizes the external input/output
signals such as the near-point dog signal and stop signal" can be checked.
Important
If the AD75 is faulty, or when the required signals such as the near-point dog signal and stop signal are
not recognized, unexpected accidents such as "not decelerating at the near-point dog during machine
zero point return and colliding with the stopper", or "not being able to stop with the stop signal" may
occur.
The "single module test" and "connection confirmation" must be carried out not only when structuring
the positioning system, but also when the system has been changed with module replacement or
rewiring, etc.
4 - 18
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
Whether the AD75 is operating correctly is confirmed with the LED displays on the
AD75 main body.
The "single module test" methods are described below.
The "single module test" can be carried out when there is no sequence program stored
in the PLC CPU, when there is no data stored in the AD75, and when the AD75 is
running.
Carry this test out after connecting the AD75, drive unit, motor and external devices.
The "mode switch", "17-segment LED" and "axis display LED" used in the explanation
refer to the AD75 switches and LEDs.
2) When the mode switch is pressed, the state will shift to the operation
monitor 2 described in (Step 3).
4 - 19
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
POINT
* When the PLC READY signal [Y1D] is ON, even if a parameter error occurs,
the error code will not appear on the 17-segment LED.
If the error code is not displayed on the 17-segment LED, check the error code
with the peripheral device or AD75 error code storage buffer memory. ( Md.33
Axis error No., Md.34 Axis warning No.)
2) When the mode switch is pressed, the state will shift to the internal
information 1 monitor state described in (Step 4).
4 - 20
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
Version
2) The axis display LED for each axis will turn OFF.
3) When the mode switch is pressed, the state will shift to the input/output
information n monitor state described in (Step 6).
3) When the mode switch is pressed, the state will shift to the stepping motor
mode monitor state described in (Step 7).
4 - 21
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
POINT
(1) The operation monitor described in this section is a function that allows the
AD75 state, control state of each axis and state of the input/output signals to be
confirmed. This monitor can be operated at any time.
(2) If the AD75 is not operating correctly, use the operation monitors as necessary.
(3) As another display on the above 17-segment LED, if a watch dog timer error
occurs in the AD75, "FALT" will appear.
If a watch dog timer error occurs in the AD75, the PLC CPU must be reset.
If the watch dog timer error still occurs in the AD75 even after resetting the PLC
CPU, the AD75 module must be replaced.
Contact your nearest dealer or sales office.
4 - 22
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
4.5 Maintenance
The precautions for servicing the AD75 are given below. Refer to this section as well
as section "4.1.3 Handling precautions" when carrying out the work.
! DANGER
Always turn all phases of the power supply OFF externally before cleaning or tightening the
screws.
Failure to turn all phases OFF could lead to electric shocks.
! CAUTION
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
Always turn all phases of the power supply OFF externally before installing or removing the
module.
Failure to turn all phases OFF could lead to module trouble or malfunctioning.
! CAUTION
When disposing of the product, handle it as industrial waste.
4 - 23
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
MELSEC-A
MEMO
4 - 24
Chapter 5
5-1
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
The parameters and data required to carry out control with the AD75 include the
"setting data", "monitor data" and "control data" shown below.
Setting data (Data set beforehand according to the machine and application, and stored in the flash ROM.)
Positioning
Parameters Basic parameters 1
parameters Set according to the machine and applicable
)
Pr.1 to Pr.58 )
Basic parameters 2 motor when system is started up.
Pr.1 to Pr.44 )
)
Note)
If the setting of the basic parameters 1 is incorrect, the rotation direction
may be reversed, or no operation may take place.
Detailed parameters 1
Set according to the system configuration when
Detailed parameters 2 the system is started up.
Note)
Detailed parameters 2 are data items for using the AD75 functions to the fullest.
Set as required.
Zero point
return Zero point return basic parameters
Set the values required for carrying
parameters
Zero point return detailed parameters out zero point return control.
Pr.45 to Pr.58 )
)
Positioning data Positioning data Set the data for "main positioning control".
Da.1 to Da.9 )
)
Positioning start Start block data Set the start block data for "advanced positioning control".
information
Da.10 to Da.13 )
)
Da.10 to Da.18 )
)
Condition data Set the condition data for "advanced positioning control".
Da.14 to Da.18 )
)
Memo data Set the condition judgment values for the condition
data used in "advanced positioning control".
5-2
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Monitor data (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.)
Md.1 to Md.56
System monitor data Monitors the AD75 specifications, such as the module name and OS type,
and the operation history.
Md.1 to Md.28 )
)
Axis monitor data Monitors the data related to the operating axis, such as the current position
and speed.
Md.29 to Md.56 )
)
◊ The data is monitored with the sequence program or peripheral device. In this chapter,
the method using the peripheral device will be explained.
Control data (Data for user to control positioning system.) Cd.1 to Cd.35
System control data Sets the clock data in the module, and reads/writes the "positioning data".
Cd.1 to Cd.10 )
)
Makes settings related to the operation, and controls the speed change during
Axis control data
operation, and stops/restarts the operation.
Cd.11 to Cd.35 )
)
◊ Control using the control data is carried out with the sequence program.
POINT
(1) The "setting data" is created for each axis.
(2) The "setting data" parameters have determined default values, and are set to
the default values before shipment from the factory. (Parameters related to
axes that are not used are left at the default value.)
(3) The "setting data" can be initialized with the AD75 software package or the
sequence program.
(4) It is recommended to set the "setting data" with the AD75 software package.
When executed with the sequence program, many sequence programs and
devices must be used. This will not only complicate the program, but will also
increase the scan time.
5-3
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
The setting items for the "positioning parameters" are shown below. The "positioning
parameters" are commonly set for each axis for all control using the AD75.
Refer to "SECTION 2" for details on each control, and section "5.2 List of parameters"
for details on each setting item.
Manual
Main positioning control
Control control
Position control Other control
2-axis fixed-dimension
interpolation control
1-axis linear control
changeover control
JUMP command
Speed/position
JOG operation
Speed control
2-axis circular
2-axis linear
feed control
feed control
operation
Positioning parameter
setting
Pr.17 Command in-position width – – – – – – 12.6.5*
Pr.18 Torque limit setting value – – 12.4.2*
Pr.19 M code ON signal output timing – – – – – 12.6.3*
Pr.20 Speed changeover mode – – – – – – –
Interpolation speed designation – – – – – – –
Pr.21 –
method
Current feed value during speed – – – – – – – –
Pr.22 –
control
Pr.23 Manual pulse generator selection – – – – – – – – – –
Logic selection for pulse output to
Pr.24 –
the drive unit
Size selection for – – –
Pr.25 –
acceleration/deceleration time
: Always set
: Set as required ("–" when not set)
: Setting not possible
: Setting limited
– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the
setting range, there is no problem.)
* : Section to be referred to
5-4
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Manual
Main positioning control
Control control
Position control Other control
2-axis fixed-dimension
interpolation control
1-axis linear control
changeover control
JUMP command
Speed/position
JOG operation
Speed control
2-axis circular
2-axis linear
feed control
feed control
operation
Positioning parameter
: Always set
: Set as required ("–" when not set)
– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the
setting range, there is no problem.)
* : Section to be referred to
REMARK
• "Advanced positioning control" is carried out in combination with the "main
positioning control".
Refer to the "main positioning control" parameter settings for details on the
parameters required for "advanced positioning control".
5-5
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
When carrying out "zero point return control", the "zero point return parameters" must
be set. The setting items for the "zero point return parameters" are shown below.
The "zero point return parameters" are set commonly for each axis.
Refer to "Chapter 8 ZERO POINT RETURN CONTROL" for details on the "zero point
return control", and to section "5.2 List of parameters" for details on each setting item.
Zero point return control High-speed zero
Machine zero point return control
Zero point return parameters point return control
Stopper stop
Stopper stop
Stopper stop
dog method
Near-point
method 1)
method 2)
method 3)
method 1)
method 2)
Zero point return basic
Count
Count
parameters
: Always set
– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or
within the setting range, there is no problem.)
R : Set when using the section "12.2.1 Zero point return retry function". ("–" when not set.)
S : Set when using the section "12.2.2 Zero point shift function". ("–" when not set.)
5-6
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
The "positioning data" must be set when carrying out "main positioning control". The
setting items for the "positioning data" are shown below.
One to 600 "positioning data" items can be set for each axis.
Refer to "Chapter 9 MAIN POSITIONING CONTROL" for details on the "main
positioning control", and to section "5.3 List of positioning data" for details on each
setting item.
Main positioning control Position control Other control
1-axis fixed-dimension
2-axis fixed-dimension
changeover control
JUMP command
Speed/position
Speed control
2-axis circular
2-axis linear
feed control
feed control
: Always set
: Set as required ("–" when not set)
: Setting not possible
– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the
setting range, there is no problem.)
* : The "ABS (absolute) method" or "INC (incremental) method" can be used for the control method.
5-7
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
5-8
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
The "start block data" must be set when carrying out "advanced positioning control".
The setting items for the "start block data" are shown below.
Up to 50 points of "start block data" can be set for each axis.
Refer to "Chapter 10 ADVANCED POSITIONING CONTROL" for details on the
"advanced positioning control", and to section "5.4 List of start block data" for details on
each setting item.
Advanced positioning
Repeated
control Block start Repeated
Condition Simulta- start
(Normal Wait start Stop start
Start block data start neous start (FOR
start) (FOR loop)
setting items condition)
Da.10 Shape
Da.13 Parameter – –
5-9
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
When carrying out "advanced positioning control" or using the JUMP command in the
"main positioning control", the "condition data" must be set as required. The setting
items for the "condition data" are shown below.
Up to 10 "condition data" items can be set for each axis.
Refer to "Chapter 10 ADVANCED POSITIONING CONTROL" for details on the
"advanced positioning control", and to section "5.5 List of condition data" for details on
each setting item.
Control Main positioning
Advanced positioning control
control
Other Repeat-
Block Repeat-
than JUMP Simul- ed start
start Condition ed start
JUMP com- Wait start taneous Stop (FOR
(Normal start (FOR
com- mand start condi-
start ) loop)
Condition data mand tion)
Da.16 Address – – – – –
Da.17 Parameter 1 – – – –
Da.18 Parameter 2 – – – –
5 - 10
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Data that indicates the positioning system's operation state is stored in the buffer
memory's monitor data area.
When using the positioning system, this data must be monitored as necessary.
The data that can be monitored is shown below.
5 - 11
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
5 - 12
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
5 - 13
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Several controls are carried out as necessary when using the positioning system.
(When the power is turned ON, the default values of the data used for control are set.
However, these values can be set with the sequence program when necessary.)
The items that can be controlled are shown below.
5 - 14
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
[Reference]
The outline of reading and writing the positioning data is shown below.
Stored
Set the read origin positioning data No. in the OS Set the write designation positioning data No.
memory into buffer memory Cd.5 . in the OS memory into the buffer memory Cd.5 .
Set "1" in the buffer memory Cd.7 . Set which of the data stored in Cd.8 to write
(Request reading) into the buffer memory Cd.6 .
<Read completed>
<Write completed>
: User work
: AD75 state
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1 : 1-fold 1
Pr.4 10 : 10-fold 10
1 3 153 303
Unit magnification (Am) 100 : 100-fold 100
1000 : 1000-fold 1000
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* When carrying out positioning, an error (mechanical error) could occur between
the designated movement amount and actual movement amount. In that case,
the error can be compensated with the "movement amount per pulse". (Refer to
section "12.3.2 Electronic gear function".)
POINT
If the movement amount per pulse is less than 1, command frequency variations Pr.
will occur.
Smaller setting will increase variations and may cause machine vibration.
If the movement amount per pulse becomes less than 1, also use the electronic
gear function of the drive unit and make setting so that the movement amount per
pulse is 1 or greater.
*: Since the "resolution per servo motor revolution" of our servo amplifier MR-J2S exceeds
65535 pulses, make setting after referring to the Servo Amplifier Instruction Manual.
[Table 1]
Value set with peripheral device Value set with sequence program
Pr.1 setting value
(unit) (unit) *
0 : mm 0.1 to 6553.5 (µm) 1 to 65535 (× 10-1µm)
1 : inch 0.0001 to 0.65535 (inch) 1 to 65535 (× 10-5inch)
2 : degree 0.00001 to 0.65535 (degree) 1 to 65535 (× 10-5degree)
3 : pulse 1 to 65535 (pulse) 1 to 65535 (pulse)
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Pr.3 Movement amount per rotation (Al), Pr.4 Unit magnification (Am)
The amount how the workpiece moves with one motor rotation is determined by
the mechanical structure.
If the worm gear lead (mm/rev) is PB and the deceleration rate is 1/n, then
Movement amount per rotation (AL) = PB × 1/n
However, the maximum value that can be set for this "movement amount per
rotation (Al)" parameter is 6553.5µm (approx. 6.5mm). Set the "movement amount
per rotation (Al)" as shown below so that the "movement amount per rotation (AL)"
does not exceed this maximum value.
Movement amount per rotation (AL)
= PB × 1/n
= Movement amount per rotation (Al) × Unit magnification (Am)
Note) The unit magnification (Am) is a value of 1, 10, 100 or 1000. If the "PB ×
1/n" value exceeds 6553.5 µm, adjust with the unit magnification so that the
"movement amount per rotation (Al) " does not exceed 6553.5 µm.
Example 1)
When movement amount per rotation (AL) = PB × 1/n = 6000.0µm (= 6mm)
Movement amount per rotation (AL)
= Movement amount per rotation (Al) × Unit magnification (Am)
= 6000.0µm × 1
Example 2)
When movement amount per rotation (AL) = PB × 1/n = 60000.0µm (= 60mm)
Movement amount per rotation (AL)
= Movement amount per rotation (Al) × Unit magnification (Am)
= 6000.0µm × 10
= 600.0µm × 100
Workpiece
PLC Servo amplifier Servomotor
1 Reduction gears
n
Encoder PB
Pf
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IMPORTANT
The only valid of the " Pr.5 " Pulse output mode " is the value at the moment
when the PLC READY signal [Y1D] turns from OFF to ON for the first time after the
power is switched ON or the PLC CPU is reset. Once the PLC READY signal [Y1D]
has been turned ON, the value will not be reset even if another value is set to the
parameter and the PLC READY signal [Y1D] is turned from OFF to ON.
The pulse positive logic and negative logic is changed with " Pr.24 Logic
selection for pulse output to the drive unit ".
An example of the pulse output mode for positive logic is shown below.
PULSE
PULSE
SIGN SIGN
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PULSE F PULSE F
PULSE R PULSE R
A phase
(A∅)
B phase
(B∅)
When B phase is When B phase is When B phase is When B phase is
90° behind A phase 90° ahead of A phase 90° behind A phase 90° ahead of A phase
A phase
(A∅)
B phase
(B∅)
When B phase is When B phase is When B phase is When B phase is
90° behind A phase 90° ahead of A phase 90° behind A phase 90° ahead of A phase
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[Setting procedure]
1) Set "0" in Pr.6 , and carry out forward run JOG operation.
("0" is set as the default value for Pr.6 .)
2) When the workpiece "W" is moving toward the address increment direction, the current setting is O.K.
When the workpiece "W" is moving toward the address decrement direction, set "1" in Pr.6 .
3) Carry out forward run JOG operation again, and if "W" moves toward the increment direction, the
setting is complete.
Zero point
3)
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The setting value range differs according to the " Pr.25 8 158 308
Pr.8 Acceleration time 0 1000
Size selection for acceleration/deceleration time setting". 9 159 309
Here, the value within the [Table 2] range is set.
10 160 310
Pr.9 Deceleration time 0 [Table 2] on right page
1000
11 161 311
Positioning speed
Time
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1) If the positioning speed setting is slower than the parameter speed limit, the
actual acceleration/deceleration time will be relatively short. Thus, set the
maximum positioning speed value to be equal to the parameter speed limit
value or a close value under the speed limit value.
2) These settings are value for zero point return, positioning and JOG operation.
3) During interpolation positioning, the acceleration/deceleration item for the
reference axis is valid.
[Table 1]
Pr.11 Pr.1 Value set with peripheral device Value set with sequence program
setting value setting value (unit) (unit)
0 : mm 0.01 to 6000000.00 (mm/min) 1 to 600000000 (× 10-2mm/min)
1 : inch 0.001 to 600000.000 (inch/min) 1 to 600000000 (× 10-3inch/min)
0 : Standard mode
2 : degree 0.001 to 600000.000 (degree/min) 1 to 600000000 (× 10-3degree/min)
3 : pulse 1 to 1000000 (pulse/s) 1 to 1000000 (pulse/s)
0 : mm 0.01 to 375000.00 (mm/min) 1 to 37500000 (× 10-2mm/min))
[Table 2]
Pr.25 Value set with peripheral device Value set with sequence program
setting value (ms) (ms)
0 : 1-word type 1 to 65535 1 to 65535*
1 : 2-word type 1 to 8388608 1 to 8388608
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POINT
If any of " Pr.7 Speed limit value", " Pr.8 Acceleration time 0" and " Pr.9
Deceleration time 0" are changed during positioning control, it will be changed a
maximum of three data later with the exception of the "positioning data No." that is
being executed when a change is made.
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MEMO
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Pr.13 Software stroke The setting value range differs depending on the " Pr.11
16 166 316
limit upper limit Stepping motor mode selection" or " Pr.1 Unit setting". 2147483647
17 167 317
value Here, the value within the [Table 2] range is set.
Pr.14 Software stroke
18 168 318
limit lower limit [Table 2] on right page –2147483648
19 169 319
value
0 : Apply software stroke limit on
0
Pr.15 Software stroke current feed value
0 20 170 320
limit selection 1 : Apply software stroke limit on
1
machine feed value
0 : Software stroke limit invalid during
JOG operation and manual pulse 0
Pr.16 Software stroke generator operation
limit valid/invalid 0 21 171 321
setting 1 : Software stroke limit valid during
JOG operation and manual pulse 1
generator operation
Workpiece
(moving body)
Worm gear
Backlash
(compensation amount)
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1) The backlash compensation is valid after completed the machine zero point
return. Thus, if the backlash compensation amount is set or changed, always
carry out machine zero point return once.
2) The backlash compensation amount setting range is 0 to 65535, but it should
be set to 255 or less by using the following expression.
Backlash compensation amount
0≤ ≤ 255
Movement amount per pulse
[Table 1]
Pr.1 Value set with peripheral device Value set with sequence program
setting value (unit) (unit) *
0 : mm 0 to 6553.5 (µm) 0 to 65535 (× 10-1µm)
1 : inch 0 to 0.65535 (inch) 0 to 65535 (× 10-5inch)
2 : degree 0 to 0.65535 (degree) 0 to 65535 (× 10-5degree)
3 : pulse 0 to 65535 (pulse) 0 to 65535 (pulse)
[Table 2]
Pr.11 Pr.1 Value set with peripheral device Value set with sequence program
setting value setting value (unit) (unit)
0 : mm –214748364.8 to 214748364.7 (µm) –2147483648 to 2147483647 (× 10-1µm)
–2147483648 to 2147483647 (× 10- inch)
5
1 : inch –21474.83648 to 21474.83647(inch)
0 : Standard mode
2 : degree 0 to 359.99999 (degree) 0 to 35999999 (× 10-5degree)
3 : pulse –2147483648 to 2147483647(pulse) –2147483648 to 2147483647 (pulse)
0 : mm –13421772.8 to 13421772.7 (µm) –134217728 to 134217727 (× 10-1µm)
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1) Generally, the zero point is set at the lower limit or upper limit of the stroke
limit.
2) By setting the upper limit value or lower limit value of the software stroke limit,
overrun can be prevented in the software. However, an emergency stop limit
switch must be installed nearby outside the range.
3) To invalidate the software stroke limit, set the setting value to "upper limit
value = lower limit value". (The setting value can be anything.)
4) When the unit is "degree", the software stroke limit check is invalid during
speed control (including speed/position chageover control) or during manual
control.
Speed
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[Table 1]
Pr.11 Pr.1 Value set with peripheral device Value set with sequence program
setting value setting value (unit) (unit)
0 : mm 0.1 to 3276700.0 (µm) 1 to 32767000 (× 10-1µm)
1 : inch 0.00001 to 327.67000 (inch) 1 to 32767000 (× 10-5inch)
0 : Standard mode
2 : degree 0.00001 to 327.67000 (degree) 1 to 32767000 (× 10-5degree)
3 : pulse 1 to 32767 (pulse) 1 to 32767 (pulse)
0 : mm 0.1 to 204793.7 (µm) 1 to 2047937 (× 10-1µm)
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M code ON signal
M code ON signal
[X8D, X8E, X8F]
[X8D, X8E, X8F]
m1 m2
Md.32 Valid M code
Md.32 Valid M code m1 m2
* *
* *
Positioning
Positioning
Note) When using the AFTER mode with speed control, the M code will not be
output and the M code ON signal will not turn ON.
The M code is a No. between 0 and 32767 that can be set for each positioning
data ( Da.9 ).
When the M code ON signal [XD, XE, XF] turns ON, " Md.32 Valid M code" is read
from the buffer memory by the sequence program, and an auxiliary work (ex.,
clamping, drill rotation, tool change, etc.) matching the code No. can be issued.
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Speed Speed
Change the speed when The next positioning data starts
executing the next positioning data positioning at the designated speed
t t
n: Positioning
data No. n n+1 n n+1
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X axis X axis
Designate composite speed
Designate speed
for reference axis
Y axis Y axis
Calculated by AD75
Calculated by AD75
<When composite speed is designated> <When reference axis speed is designated>
Note) For a positioning operation that involves the circular interpolation, specify
the composite speed always.
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Note) The pulse input logic of the drive unit changes depending on the drive unit.
If not set correctly, the drive unit will not operate correctly. For the pulse
output logic of the AD75, refer to section "3.5 Specifications of input/output
interfaces with external devices".
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[Table 1]
Pr.25 Value set with peripheral device Value set with sequence program
setting value (ms) (ms)
0 : 1-word type 1 to 65535 1 to 65535*
1 : 2-word type 1 to 8388608 1 to 8388608
[Table 2]
Pr.11 Pr.1 Value set with peripheral device Value set with sequence program
setting value setting value (unit) (unit)
0 : mm 0.01 to 6000000.00 (mm/min) 1 to 600000000 (× 10-2mm/min)
1 : inch 0.001 to 600000.000 (inch/min) 1 to 600000000 (× 10-3inch/min)
0 : Standard mode
2 : degree 0.001 to 600000.000 (degree/min) 1 to 600000000 (× 10-3degree/min)
3 : pulse 1 to 1000000 (pulse/s) 1 to 1000000 (pulse/s)
0 : mm 0.01 to 375000.00 (mm/min) 1 to 37500000 (× 10-2mm/min)
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Distance Distance
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(Example)
V
A
Positioning
B speed
B/2 B/2
t
When S-pattern ratio is 100%
V
Positioning
speed
b b/a = 0.7
sin curve
a
t
S-pattern ratio = B/A × 100%
When S-pattern ratio is 70%
[Table 1]
Pr.25 Value set with peripheral device Value set with sequence program
setting value (ms) (ms)
0 : 1-word type 1 to 65535 1 to 65535*
1 : 2-word type 1 to 8388608 1 to 8388608
* 1 to 32767 : Set as a decimal
32768 to 65535 : Convert into hexadecimal and set
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Da.7
Command
speed
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Positioning
Positioning
complete signal
[X7, X8, X9]
Positioning
start signal
Start complete
signal
Positioning complete signal
(after dwell time has passed)
BUSY signal
Positioning
complete signal
Output time
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[Table 1]
Pr.11 Pr.1 Value set with peripheral device Value set with sequence program
setting value setting value (unit) (unit)
0 : mm 0 to 10000.0 (µm) 0 to 100000 (× 10-1µm)
1 : inch 0 to 1.00000 (inch) 0 to 100000 (× 10-5inch)
0 : Standard mode
2 : degree 0 to 1.00000 (degree) 0 to 100000 (× 10-5degree)
3 : pulse 0 to 100000 (pulse) 0 to 100000 (pulse)
* With circular interpolation control using the center point designation, the arc
path calculated with the start point address and center point address and the
end point address may deviate.
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POINT
" Cd.25 External start valid" flag must be set to validate the external start signal.
Note) Refer to section "12.3.3 Near pass mode function" for details on the near
pass mode.
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(1) Start machine zero point return. V Pr.48 Zero point return speed
(Start machine movement at the " Pr.48 Zero point return (2)
Pr.49
speed" in the " Pr.46 Zero point return direction".) Creep speed
(2) Detect the near-point dog ON, and start deceleration.
(3) Decelerate to " Pr.49 Creep speed", and move with the (3) (4)
(1) t
creep speed. ON
(4) At the first zero point signal (single-pulse output per motor Near-point dog OFF
revolution) after the near-point dog OFF, the pulse output
from the AD75 stops, and the machine zero point return is
completed. Zero point signal
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(4) The axis contacts against the stopper at the " Pr.49 Creep
Near-point dog OFF
speed", and then stops. Dwell time up
Dwell time counting
(5) When the near-point dog turns ON and the " Pr.51 Zero
point return dwell time" is passed, the pulse output from the
AD75 stops and the machine zero point return is completed.
(3) Decelerate to " Pr.49 Creep speed", and move with the Creep speed
Stop with stopper
creep speed.
(At this time, setting for the " Pr.56 Zero point return torque
limit value" is required. If the torque is not limited, the (3) (4)
t
servomotor could be damaged in step (4).) (1) (5)
(4) The axis contacts against the stopper at the " Pr.49 Creep Zero point signal
speed", and then stops. ON
(5) After stopping, the pulse output from the AD75 stops with Near-point dog OFF
the zero point signal (a signal issued from an external
device upon detection of contact with the stopper), and the
machine zero point return is completed.
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4 : Count method 1)
output per motor revolution), and the machine zero point First zero point after moving the
movement amount after near-
return is completed. Zero point signal point dog ON
5 : Count method 2)
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[Table 1]
Pr.11 Pr.1 Value set with peripheral device Value set with sequence program
setting value setting value (unit) (unit)
–214748364.8 to 214748364.7 (µm) –2147483648 to 2147483647 (× 10 µm)
-1
0 : mm
1 : inch –21474.83648 to 21474.83647 (inch) –2147483648 to 2147483647 (× 10-5inch)
0 : Standard mode
2 : degree 0 to 359.99999 (degree) 0 to 35999999 (× 10-5degree)
3 : pulse –2147483648 to 2147483647 (pulse) –2147483648 to 2147483647 (pulse)
0 : mm –13421772.8 to 13421772.7 (µm) –134217728 to 134217727 (× 10-1µm)
[Table 2]
Pr.11 Pr.1 Value set with peripheral device Value set with sequence program
setting value setting value (unit) (unit)
0 : mm 0.01 to 6000000.00 (mm/min) 1 to 600000000 (× 10-2mm/min)
1 : inch 0.001 to 600000.000 (inch/min) 1 to 600000000 (× 10-3inch/min)
0 : Standard mode
2 : degree 0.001 to 600000.000 (degree/min) 1 to 600000000 (× 10-3degree/min)
3 : pulse 1 to 1000000 (pulse/s) 1 to 1000000 (pulse/s)
0 : mm 0.01 to 375000.00 (mm/min) 1 to 37500000 (× 10-2mm/min)
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Machine zero
point return
start
Pr.49 Creep speed
ON
Near-point
dog signal OFF
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[Table 1]
Pr.11 Pr.1 Value set with peripheral device Value set with sequence program
setting value setting value (unit) (unit)
0 : mm 0.01 to 6000000.00 (mm/min) 1 to 600000000 (× 10-2mm/min)
1 : inch 0.001 to 600000.000 (inch/min) 1 to 600000000 (× 10-3inch/min)
0 : Standard mode
2 : degree 0.001 to 600000.000 (degree/min) 1 to 600000000 (× 10-3degree/min)
3 : pulse 1 to 1000000 (pulse/s) 1 to 1000000 (pulse/s)
0 : mm 0.01 to 375000.00 (mm/min) 1 to 37500000 (× 10-2mm/min)
5) 1) 2)
6)
Start position
4)
3)
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[Table 1]
Pr.11 Pr.1 Value set with peripheral device Value set with sequence program
setting value setting value (unit) (unit)
0 : mm 0 to 214748364.7 (µm) 0 to 2147483647 (× 10-1µm)
1 : inch 0 to 21474.83647 (inch) 0 to 2147483647 (× 10-5inch)
0 : Standard mode
2 : degree 0 to 21474.83647 (degree) 0 to 2147483647 (× 10-5degree)
3 : pulse 0 to 2147483647 (pulse) 0 to 2147483647 (pulse)
0 : mm 0 to 13421772.7 (µm) 0 to 134217727 (× 10-1µm)
Example for setting " Pr.52 Setting for the movement amount after near-point dog ON"
When " Pr.7 Speed limit value" is set to 200kpulse/s, " Pr.48 Zero point return speed" is set to 10kpulse/s, " Pr.49 Creep
speed" is set to 1kpulse/s and the deceleration time is set to 300ms, " Pr.52 Setting for the movement amount after near-point
dog ON" is calculated as shown below.
[Machine zero point return operation]
Pr.7 Speed limit value [Deceleration = 1 × Vz × t ×
+ 0.01 Vz
: Vp=200kpulse/s distance] 2 1000 Movement amount for 10ms
at zero point return speed
Vz × Tb × Vz 0.01 × Vz
Pr.48 Zero point return speed = +
: Vz=10kpulse/s
2000 Vp
10 × 103 300 × 10 × 10 3
= × + 0.01 × 10 × 10 3
2000 200 × 10 3
Pr.49 Creep speed = 75 + 100
: Vc=1kpulse/s
= 175
* Set 175 or more for " Pr.52 Setting for the movement
t amount after near-point dog ON"
Actual decel- Vz
eration time : t = Tb × Vp
Deceleration time
: Tb=300ms
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Shift point
Start point Shift point
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[Table 1]
Pr.11 Pr.1 Value set with peripheral device Value set with sequence program
setting value setting value (unit) (unit)
0 : mm –214748364.8 to 214748364.7 (µm) –2147483648 to 2147483647 (× 10-1µm)
1 : inch –21474.83648 to 21474.83647 (inch) –2147483648 to 2147483647 (× 10-5inch)
0 : Standard mode
2 : degree –21474.83648 to 21474.83647 (degree) –2147483648 to 2147483647 (× 10-5degree)
3 : pulse –2147483648 to 2147483647 (pulse) –2147483648 to 2147483647 (pulse)
0 : mm –13421772.8 to 13421772.7 (µm) –134217728 to 134217727 (× 10-1µm)
6)
Start position
4)
3)
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Before explaining the positioning data setting items Da.1 to Da.9 , the
configuration of the positioning data will be shown below.
The positioning data stored in the AD75 buffer memory has the following type of
configuration.
99 100 *
Up to 100 positioning data items can be set (stored) for each axis
2290 in the buffer memory address shown on the left.
3 2280
Positioning data No. 1 2 This data is controlled as positioning data No. 1 to 100 for each axis.
Da.8 2284
1302 2295
Dwell time 2285
Da.5
1306 1316 1326 2298
2288
Positioning address/ 1307 1317 1327 2299
2289
movement amount
Ê̂ u
’ Œ
ˆ ß
‚ 100 *
99
3280 3290
2 3
Positioning data No. 1
Da.8 3294
2312 2322 3284
Axis 2
2302 3295
Dwell time 3285 Da.2 Da.1
Control method Operation pattern
2304 2314 2324 3296 Da.3
Da.7 3286
2305 2315 2325 3297
Command speed 3287 Acceleration time No.
Da.4
Da.5 2326 3298
2306 2316 2327 3288 Deceleration time No.
Positioning address/ 2307 2317 3289 3299
movement amount
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100 *
99
4280 4290
2 3
Positioning data No. 1
Da.5
3306 3316 3326 4298
4288
Positioning address/ 3307 3317 3327 4299
4289
movement amount
Da.
The positioning data setting items ( Da.1 to Da.9 ) are explained in the following
section.
(The buffer memory addresses for the axis 1 to axis 3 "positioning data No. 1" are
shown.)
REMARK
*: Positioning data No. 101 to 600 cannot be set in the buffer memory.
The data set in positioning data No. 101 to 600 is directly set into the AD75 OS
memory from a peripheral device using the AD75 software package.
(To set without using a peripheral device, transmission must be carried out using
the block transmission memory.)
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Continuous positioning with one start signal .......... Continuous positioning control
Positioning
continued
Continuous path positioning with speed change ..... Continuous path control
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Stop position
(positioning start address)
Movement Movement
amount : 2000 amount : 2000
Stop position
(positioning start position)
Moves in Moves in
negative direction positive direction
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[Table 1]
When " Pr.1 Unit setting" is "mm"
Da.2 Value set with peripheral device Value set with sequence program *1
setting value (µm) (× 10-1µm)
INC Circular interpolation : 08H ◊ Set the movement amount ◊ Set the movement amount
INC Circular right : 0BH –214748364.8 to 214748364.7 –2147483648 to 2147483647
INC Circular left : 0CH * Circular interpolation control is not possible when using the stepping motor mode.
*1 Decimal points cannot be used in the sequence program, so input the setting value as an integer.
(The value will be converted into the specified value within the system.)
*2 Setting range for when " Pr.11 Stepping motor mode selection" is "standard mode".
*3 The values shown in parentheses are the setting range for when " Pr.11 Stepping motor mode selection" is
"stepping motor mode".
Speed
Speed Position
control control
Time
Speed/position changeover
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Da.2 Value set with peripheral device Value set with sequence program *1
setting value (degree) (× 10-5 degree)
INC Circular interpolation : 08H ◊ Set the movement amount ◊ Set the movement amount
INC Circular right : 0BH –2147483648 to 2147483647 –2147483648 to 2147483647
INC Circular left : 0CH * Circular interpolation control is not possible when using the stepping motor mode.
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Da.2 Value set with peripheral device Value set with sequence program *1
setting value (inch) (× 10-5 inch)
INC Circular interpolation : 08H ◊ Set the movement amount ◊ Set the movement amount
INC Circular right : 0BH –21474.83648 to 21474.83647 –2147483648 to 2147483647
INC Circular left : 0CH * Circular interpolation control is not possible when using the stepping motor mode.
*1 Decimal points cannot be used in the sequence program, so input the setting value as an integer.
(The value will be converted into the specified value within the system.)
*2 Setting range for when " Pr.11 Stepping motor mode selection" is "standard mode".
*3 The values shown in parentheses are the setting range for when " Pr.11 Stepping motor mode selection" is
"stepping motor mode".
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5 DATA USED FOR POSITIONING CONTROL
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Start point address (Address before starting positioning) Start point address (Address before starting positioning)
<(1) Circular interpolation with auxiliary <(2) Circular interpolation with center
point designation> point designation>
When not carrying out circular interpolation control, the value set in " Da.6 Arc
address" will be invalid.
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[Table 1]
When " Pr.1 Unit setting" is "mm"
Da.2 Value set with peripheral device Value set with sequence program *1
setting value (µm) (× 10-1µm)
ABS Circular interpolation : 07H ◊
Set the address ◊ Set the address
ABS Circular right : 09H
–214748364.8 to 214748364.7 *2 –2147483648 to 2147483647
ABS Circular left : 0AH
INC Circular interpolation : 08H
◊ Set the movement amount ◊ Set the movement amount
INC Circular right : 0BH
INC Circular left : 0CH –214748364.8 to 214748364.7 –2147483648 to 2147483647
*1 Decimal points cannot be used in the sequence program, so input the setting value as an integer.
(The value will be converted into the specified value within the system.)
2
* Setting range for when " Pr.11 Stepping motor mode selection" is "standard mode".
(Circular interpolation control cannot be carried out when using the stepping motor.)
Da.2 Value set with peripheral device Value set with sequence program *1
setting value (degree) (× 10-5 degree)
ABS Circular interpolation : 07H
ABS Circular right : 09H
ABS Circular left : 0AH
Circular interpolation control is not possible (If set, an error occurs.)
INC Circular interpolation : 08H
INC Circular right : 0BH
INC Circular left : 0CH
ABS Linear 1 : 01H
ABS Linear 2 : 04H
INC Linear 1 : 02H
INC Linear 2 : 05H
Fixed-dimension feed 1 : 03H
Fixed-dimension feed 2 : 06H
(Setting not required) (Setting not required)
Forward run Speed limited : 0DH
Reverse run Speed limited : 0EH
Forward run speed/position : 0FH
Reverse run speed/position : 10H
JUMP command : 20H
Current value change : 11H
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5 DATA USED FOR POSITIONING CONTROL
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*1 Decimal points cannot be used in the sequence program, so input the setting value as an integer.
(The value will be converted into the specified value within the system.)
2
* Setting range for when " Pr.11 Stepping motor mode selection" is "standard mode".
(Circular interpolation control cannot be carried out when using the stepping motor.)
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Da.2 Value set with peripheral device Value set with sequence program *1
setting value (inch) (× 10-5 inch)
ABS Circular interpolation : 07H ◊
Set the address ◊ Set the address
ABS Circular right : 09H
–21474.83648 to 21474.83647 *2 –2147483648 to 2147483647
ABS Circular left : 0AH
INC Circular interpolation : 08H
◊ Set the movement amount ◊ Set the movement amount
INC Circular right : 0BH
–21474.83648 to 21474.83647 –2147483648 to 2147483647
INC Circular left : 0CH
ABS Linear 1 : 01H
ABS Linear 2 : 04H
INC Linear 1 : 02H
INC Linear 2 : 05H
Fixed-dimension feed 1 : 03H
Fixed-dimension feed 2 : 06H
(Setting not required) (Setting not required)
Forward run Speed limited : 0DH
Reverse run Speed limited : 0EH
Forward run speed/position : 0FH
Reverse run speed/position : 10H
JUMP command : 20H
Current value range : 11H
*1 Decimal points cannot be used in the sequence program, so input the setting value as an integer.
(The value will be converted into the specified value within the system.)
*2 Setting range for when " Pr.11 Stepping motor mode selection" is "standard mode".
(Circular interpolation control cannot be carried out when using the stepping motor.)
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Da.8 The setting value range differs according to the " Da.2
Dwell time
Dwell time/ Control method".
JUMP Here, the value within the [Table 2] range is set. 0 1302 2302 3302
destination JUMP
positioning data destination [Table 2] on right page
No positioning
data No.
The setting value range differs according to the " Da.2
M code Control method".
Da.9
Here, the value within the [Table 3] range is set. 0 1301 2301 3301
M code/
condition data
Condition [Table 3] on right page
data
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[Table 1]
Pr.11 Pr.1 Value set with sequence program
Value set with peripheral device (unit)
setting value setting value (unit)
0 : mm 0.01 to 6000000.00 (mm/min) 1 to 600000000 (× 10-2mm/min)
1 : inch 0.001 to 600000.000 (inch/min) 1 to 600000000 (× 10-3inch/min)
0 : Standard mode
2 : degree 0.001 to 600000.000 (degree/min) 1 to 600000000 (× 10-3degree/min)
3 : pulse 1 to 1000000 (pulse/s) 1 to 1000000 (pulse/s)
0 : mm 0.01 to 375000.00 (mm/min) 1 to 37500000 (× 10-2mm/min)
[Table 2]
Da.2 Value set with peripheral Value set with sequence
Setting item
setting value device program
JUMP command : 20H Positioning data No. 1 to 600 1 to 600
Other than JUMP command : 01H to 11H Dwell time 0 to 65535 (ms) 0 to 65535 (ms)
[Table 3]
Da.2 Value set with peripheral Value set with sequence
Setting item
setting value device program
JUMP command : 20H Condition data 0 to 10 0 to 10
Other than JUMP command : 01H to 11H M code 0 to 32767 0 to 32767
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V
1) When " Da.1 Operation pattern" in "00: Positioning complete Positioning control
· Set the time from when the positioning ends to when the
"positioning complete signal" turns ON as the "dwell time".
t
ON
Positioning complete signal OFF
Da.8
Dwell time
V
2) When " Da.1 Operation pattern" is "01: Continuous positioning control" Positioning control
Next positioning
· Set the time from when positioning control ends to when control
the next positioning control starts as the "dwell time".
t
Da.8
Dwell time
V
3) When " Da.1 Operation pattern" is "11: Continuous path control" Positioning control
t
No dwell time (0ms)
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Before explaining the start block data setting items Da.1 to Da.13 , the configuration
of the start block data will be shown below.
The start block data stored in the AD75 buffer memory has the following type of
configuration.
50th point
Buffer memory
Setting item
address
Up to 50 start block data points can be set
2nd point (stored) for each axis in the buffer memory
1st point Buffer memory address shown on the left.
Setting item
ddress 4349
Buffer memory One start block data item is configured of
Setting item address
the items shown in the bold box.
b15 b8 b7 b0 4301
4300
Da.11
Axis 1
Da.10 4399
Start data No.
Shape
b15 b8 b7 b0 4351
4350
Da.12 Da.13
Special start Parameter
command
50th point
Buffer memory
Setting item address
2nd point
1st point Setting item Buffer memory
ddress 4599
Buffer memory
Setting item address
b15 b8 b7 b0 4551
4550
Da.11
Axis 2
Da.10 4649
Start data No.
Shape
b15 b8 b7 b0 4601
4600
Da.12 Da.13
Special start Parameter
command
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50th point
Buffer memory
Setting item address
2nd point
1st point Setting item Buffer memory
ddress 4849
Buffer memory
Setting item address
b15 b8 b7 b0 4801
4800
Da.11
Axis 3
Da.10 4899
Start data No.
Shape
b15 b8 b7 b0 4851
4850
Da.12 Da.13
Special start Parameter
command
The start block data setting items ( Da.10 to Da.13 ) are explained in the following
section.
(The buffer memory addresses for the axis 1 to axis 3 "1st point start block data (block
No. 7000)" are shown.)
REMARK
When carrying out advanced positioning control using the "positioning start
information", set a number between "7000 and 7010" in " Cd.11 Positioning start
No.", and set the "start block data" for the nth point block between "1 and 50" in the
" Cd.31 Positioning starting point No.".
This number between "7000 and 7010" is called the "block No.".
With the AD75, the "start block data (50 points)" and "condition data (10 items)" can
be set for each "block No.".
* Data corresponding to block No. 7001 to 7010 cannot be set in the buffer
memory. The data corresponding to block No. 7001 to 7010 is directly set into the
AD75 OS memory from a peripheral device using the AD75 software package.
Block Buffer AD75 software
Axis Start block data Condition
No. memory package
Axis 1 Start block data (1 to 50) Condition data (1 to 10)
7000 Axis 2 Start block data (1 to 50) Condition data (1 to 10)
Axis 3 Start block data (1 to 50) Condition data (1 to 10)
Axis 1 Start block data (1 to 50) Condition data (1 to 10)
7001 to
Axis 2 Start block data (1 to 50) Condition data (1 to 10)
7010
Axis 3 Start block data (1 to 50) Condition data (1 to 10)
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0 : End 0
Da.10
Shape
b15 b11 b7 b3 b0
0 0 0
1 : Continue 1 0000H 4300 4550 4800
Shape
Da.11 01H
Positioning data No.: 1 to 600
to
Start data No. (01H to 258H) 258H
Start data No.
Special start
6 : FOR condition 06H command
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Da.10 Shape
Set whether to carry out only the local "start block data" and then end control, or to
execute the "start block data" set in the next point.
Setting value Setting details
0 : End Execute the designated point's "start block data", and then complete the control.
Execute the designated point's "start block data", and after completing control, execute the next
1 : Continue
point's "start block data".
Da.13 Parameter
Set the value as required for " Da.12 Special start command".
Da.12 Special start command Setting value Setting details
Block start (Normal start) – Not used. (There is no need to set.)
Condition start
Wait start 1 to 10 Set the condition data No.
Simultaneous start
Stop – Not used. (There is no need to set.)
Repeated start (FOR loop) 0 to 255 Set the No. of repetitions.
Repeated start (FOR condition) 1 to 10 Set the condition data No.
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Before explaining the condition data setting items Da.14 to Da.18 , the configuration
of the condition data will be shown below.
The condition data stored in the AD75 buffer memory has the following type of
configuration.
10th item
Buffer memory
Setting item address Up to 10 condition data items can be set (stored)
2nd item for each axis in the buffer memory address shown
1st item Buffer memory on the left.
Setting item ddress 4490
Buffer memory One condition data item is configured of the items
Setting item address shown in the bold box.
b15 b12 b11 b8 b7 b0
4410 4491
4400 4492
4493
Da.15 Da.14
Axis 1
4411 4494
Condition operator Condition target 4495
Open 4401 4412 4496
4413 4497
Da.16 Address 4402
4403 4414 4498
4415 4499
Da.17 Parameter 1 4404
4405 4416
4417
Da.18 Parameter 2 4406
4407 4418
4419
4408
Open 4409
10th item
Buffer memory
Setting item address
2nd item
1st item Buffer memory
Setting item ddress 4740
Buffer memory
Setting item address
b15 b12 b11 b8 b7 b0
4660 4741
4650 4742
4743
Da.15 Da.14
Axis 2
4661 4744
Condition operator Condition target 4745
Open 4651 4662 4746
4663 4747
Da.16 Address 4652
4653 4664 4748
4665 4749
Da.17 Parameter 1 4654
4655 4666
4667
Da.18 Parameter 2 4656
4657 4668
4669
4658
Open 4659
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10th item
Buffer memory
Setting item address
2nd item
1st item Buffer memory
Setting item ddress 4990
Buffer memory
Setting item address
b15 b12 b11 b8 b7 b0
4910 4991
4900 4992
4993
Da.15 Da.14
Axis 3
4911 4994
Condition operator Condition target 4995
Open 4901 4912 4996
4913 4997
Da.16 Address 4902
4903 4914 4998
4915 4999
Da.17 Parameter 1 4904
4905 4916
4917
Da.18 Parameter 2 4906
4907 4918
4919
4908
Open 4909
The condition data setting items ( Da.14 to Da.18 ) are explained in the following
section.
(The buffer memory addresses for the axis 1 to axis 3 "condition data No. 1 (block No.
7000)" are shown.)
REMARK
When carrying out advanced positioning control using the "positioning start
information", set a number between "7000 and 7010" in " Cd.11 Positioning start
No.", and set the "start block data" for the nth point block between "1 and 50" in the
" Cd.31 Positioning starting point No.".
This number between "7000 and 7010" is called the "block No.".
With the AD75, the "start block data (50 points)" and "condition data (10 items)" can
be set for each "block No.".
* Data corresponding to block No. 7001 to 7010 cannot be set in the buffer
memory. The data corresponding to block No. 7001 to 7010 is directly set into the
AD75 OS memory from a peripheral device using the AD75 software package.
Block Buffer AD75 software
Axis Start block data Condition
No. memory package
Axis 1 Start block data (1 to 50) Condition data (1 to 10)
7000 Axis 2 Start block data (1 to 50) Condition data (1 to 10)
Axis 3 Start block data (1 to 50) Condition data (1 to 10)
Axis 1 Start block data (1 to 50) Condition data (1 to 10)
7001 to
Axis 2 Start block data (1 to 50) Condition data (1 to 10)
7010
Axis 3 Start block data (1 to 50) Condition data (1 to 10)
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04 : ∗∗≥P1 04H
05 : P1≤∗∗≤ P2 05H
06 : ∗∗≤P1, P2≤∗∗ 06H b15 b8 b7 b0 0000H 4490 4740 4990
07 : DEV=ON 07H
Da.15
08 : DEV=OFF 08H
Condition
operator 09 : Axis 1 designation 09H
0A : Axis 2 designation 0AH
0B : Axis 1 and axis 2
0BH
designation
0C : Axis 3 designation 0CH
0D: Axis 1 and axis 3
0DH
designation
0E : Axis 2 and axis 3
0EH
designation
Example)
4493 4492
b31 (High-order) b16 b15 (Low-order) b0 4492 4742 4992
Da.16 Address Buffer memory address 0000H
4493 4743 4993
Example)
4495 4494
Da.17 b31 (High-order) b16 b15 (Low-order) b0 4494 4744 4994
Value 0000H
Parameter 1 4495 4745 4995
Value
Example)
4497 4496
Da.18 b31 (High-order) b16 b15 (Low-order) b0 4496 4746 4996
Value 0000H
Parameter 2 4497 4747 4997
Value
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Da.16 Address
Set the address as required for the " Da.14 Condition target".
Da.14 Condition target Setting value Setting details
01H : Device X
– Not used. (There is no need to set.)
02H : Device Y
03H : Buffer memory (1-word) Set the target "buffer memory address".
Value
(For 2 word, set the low-order buffer memory
04H : Buffer memory (2-word) (Buffer memory address)
address.)
05H : Positioning data No. – Not used. (There is no need to set.)
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Da.17 Parameter 1
Set the parameters as required for the " Da.15 Condition operator".
Da.15 Condition operator Setting value Setting details
01H : ∗∗=P1
Value Set the "P1" value.
06H : ∗∗≤P1, P2≤∗∗
07H : DEV=ON Value Set the device's bit No.
08H : DEV=OFF (Bit No.) X : 0H to FH, Y : 10H to 1DH
09H : Axis 1 designation Set the positioning data No. for starting axis 1 and axis 2.
Low-order 16-bit:
Value
Axis 1 positioning data No. 1 to 600 (01H to 258H)
(Positioning data No.)
0EH : Axis 2 and axis 3 designation High-order 16-bit:
Axis 2 positioning data No. 1 to 600 (01H to 258H)
Da.18 Parameter 2
Set the parameters as required for the " Da.15 Condition operator".
Da.15 Condition operator Setting value Setting details
01H : ∗∗=P1
– Not used. (There is no need to set.)
04H : ∗∗≥P1
05H : P1≤∗∗≤ P2 Value Set the "P2" value.
06H : ∗∗≤P1, P2≤∗∗
07H : DEV=ON
08H : DEV=OFF
– Not used. (There is no need to set.)
09H : Axis 1 designation
0AH : Axis 2 designation
0BH : Axis 1 and axis 2 designation
0CH : Axis 3 designation Set the positioning data No. for starting axis 3.
0DH : Axis 1 and axis 3 designation Value Low-order 16-bit:
(Positioning data No.) Axis 3 positioning data No. 1 to 600 (01H to 258H)
0EH : Axis 2 and axis 3 designation High-order 16-bit: No setting
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Whether the mode is the test mode from the peripheral device or not is stored.
Md.1 In test mode flag • When not in test mode : OFF
• When in test mode : ON
The software clock data created by the system in the AD75 is stored.
• This is used to record the history occurrence time.
Md.5 Clock data (hour: minute) Note) To utilize the clock data, the correct time must be set from the PLC CPU
with Cd.1 to Cd.3 . If this setting is not made, the clock data will start
counting from "00 hours 00 minutes" when the AD75 power is turned ON.
The software clock data created by the system in the AD75 is stored.
• This is used to record the history occurrence time.
Md.6 Clock data (second: 100 ms) Note) To utilize the clock data, the correct time must be set from the PLC CPU
with Cd.1 to Cd.3 . If this setting is not made, the clock data will start
counting from "00 seconds 00 ms" when the AD75 power is turned ON.
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Storage buffer
memory address
Reading the monitor value Default value (common for axis 1 to
axis 3)
Monitoring is carried out with a decimal.
Monitor
Storage value 0 450
value
0: Not in test mode
1: In test mode
456 3 0 4 D –
456
OS version (Corresponding
0 M 457
V00M OS version)
457 5 6 3 0
V 0
(Converted with ASCII code)
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Restart flag
Block positioning operation ~
1 B 6 2 7010
Stored contents Storage value
JOG operation 1 F 7 C 8060
Restart flag OFF 0 Manual pulse generator operation 1 7 D 8061
F
Restart flag ON 1
Starting history (up to 16 items can be stored)
[Stored contents] The error judgment results when starting (shown below) are stored.
• BUSY start warning flag • Error flag • Error No.
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Default value Storage buffer memory address (common for axis 1 to axis 3)
Md.12
542
Starting history pointer
504 509
494 499
Md.9 479 484 489
474
Start time 464 469 530 535
540
0000 (Hour: minute) 515 520 525
505 510
495 500
Md.10 480 485 490
475
Start time 465 470 536 541
526 531
(Second: 100ms) 511 516 521
506
496 501
486 491
Md.11 476 481
466 471
Error judgment
0000H
0 542
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Restart flag
Block positioning operation ~
1 B 6 2 7010
Stored contents Storage value JOG operation 1 F 7 C 8060
Error at start history (up to 16 items can be stored)
[Stored contents] The error judgment results when starting (shown below) are stored.
• BUSY start warning flag • Error flag • Error No.
The pointer No. following the Monitoring is carried out with a decimal.
Md.18
pointer No. where the latest start Monitor Storage value (Pointer No.)
Starting history history during errors is stored is value 0 to 15
pointer at error indicated.
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Default value Storage buffer memory address (common for axis 1 to axis 3)
Md.18
Starting history pointer 623
at error
0000H
0 623
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Md.19 Monitor
The axis No. for which an value Storage value
Axis in which the error was detected is stored. 1: Axis 1
error occurred 2: Axis 2
3: Axis 3
Monitor
Md.20 value Error No.
The axis error No. is stored
Axis error No. Refer to section "14.2 List
of errors" for details on the
error Nos. (error codes).
Error history (up to 16 items can be stored)
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Default value Storage buffer memory address (common for axis 1 to axis 3)
0 Md.23
688
Error history pointer
Pointer No.
14 15
12 13
10 11
8 9
6 7 684
4 5 676 680
2 3 668 672
Pointer No. 0 1 664
0 656 660
648 652
Md.19 636 640 644
628 632 685
Axis in which the 624 677 681
665 669 673
error occurred 661
653 657
641 645 649
633 637
Error history
0 688
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Md.24
The axis No. for which a Monitor
Axis in which the warning was detected is value Storage value
warning 1: Axis 1
stored. 2: Axis 2
occurred
3: Axis 3
Monitor
Md.25 Warning No.
The axis warning No. is value
Refer to section
Axis warning No. stored. "14.3 List of warnings"
for details on the warning
Nos. (error codes).
Warning history (up to 16 items can be stored)
Md.26 The axis warning detection Buffer memory (stored with BCD code)
Axis warning time is stored. 1 5 3 0 Monitor value
occurrence time (Software clock data created b15 b12 b8 b4 b0
(Hour: minute) by system in AD75.) 0 0 0 1 0 1 0 1 0 0 1 1 0 0 0 0 1 5 3 0
0 to 2 0 to 3 0 to 5 0 to 9
00 to 23 00 to 59
(hour) (minute)
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Default value Storage buffer memory address (common for axis 1 to axis 3)
Md.28
0
Warning history 753
pointer
Pointer No.
14 15
12 13
10 11
8 9
6 7 749
5
3 4 741 745
1 2
729 733 737
0 Pointer No. 0 721 725
713 717
Md.24 701 705 709
697
Axis in which the 689 693 746 750
738 742
warning occurred 726 730 734
722
714 718
706 710
Warning history
0 753
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The currently commanded address is stored. (Different from the actual motor
position during operation)
The current position address is stored.
• Update timing : 56.8ms
Md.29 Current feed value
• The zero point address is stored when the machine zero point return is
completed.
• When the current value is changed with the current value charge function, the
changed value is stored.
The address of the current position obtained with the machine coordinates is
stored. (Different from the actual motor position during operation)
Md.30 Machine feed value
• Machine coordinates: Characteristic coordinates determined with machine
• Update timing: 56.8ms
The currently valid M code (set in the positioning data currently operating) is
Md.32 Valid M code stored.
• Update timing : When M code ON signal turns ON
When an axis error is detected, the error code corresponding to the error details is
stored.
• The latest error code is always stored.
Md.33 Axis error No.
(When a new axis error occurs, the error code is overwritten.)
• When "axis error reset" (axis control data) turns ON, the axis error No. is
cleared (set to 0).
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Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
◊ Sorting
A B C D E F G H 1002
802 902
Unit conversion table 0000H
803 903 1003
◊ Converted from Md.29 Md.30 )
)
hexadecimal to decimal
n Unit
Decimal integer -1 mm
value R -5 inch
-5 degree
0 pulse
◊ Unit conversion
R × 10 n Unit conversion table
Md.31 )
)
n Unit
804 904 1004
Actual value
Md.29 Current feed value
-2 mm/min 0000H
805 905 1005
-3 inch/min
Md.30 Machine feed value
-3 degree/min
Md.31 Feedrate 0 pulse/s
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When an axis warning is detected, the warning code corresponding to the details of
the warning is stored.
• The latest warning code is always stored. (When a new axis warning occurs,
Md.34 Axis warning No.
the warning code is overwritten.)
• When " Cd.12 Axis error reset" (axis control data) turns ON, the axis warning
No. is cleared (set to 0).
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Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
Monitor
Warning No.
value 0 808 908 1008
Refer to section "14.3 List of
warnings" for details on the
warning Nos. (error codes).
Monitor
value Axis operation state
-4 : Step error occurring
-3 : Step stopped
-2 : In step wait
-1 : Error occurring
0 : Waiting
1 : Stopped
2 : Interpolating
3 : In JOG operation 0 809 909 1009
4 : In manual pulse generator operation
5 : Analyzing
6 : Special start waiting
7 : In zero point return
8 : In position control
9 : In speed control
10 : In speed control for speed/position
control
11 : In position control for speed/position
control
Monitor
value R Decimal integer
value
Unit conversion table
Md.36 )
)
◊ Unit conversion
n Unit
0 810 910 1010
R × 10 n
-2 mm/min
-3 inch/min
-3 degree/min
Actual
Md.36 Current speed 0 pulse/s
value
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Md.38 Speed/position changeover • The value set as the movement amount for the position control to end after
control positioning amount changing to position control with the speed/position changeover control is stored.
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5 DATA USED FOR POSITIONING CONTROL
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Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
Monitoring is carried out with a hexadecimal.
Low-order buffer memory Example) 812
Monitor b15 b12 b8 b4 b0
value E F G H
E F G H
◊ Sorting
A B C D E F G H
Unit conversion table
◊ Converted from Md.37 )
)
hexadecimal to decimal
n Unit
Decimal integer -2 mm/min
value R -3 inch/min
-3 degree/min
0 pulse/s
◊ Unit conversion 814 914 1014
Unit conversion table 0000H
R × 10 n 815 915 1015
Md.38 )
)
n Unit
Actual value -1 mm
Md.37 Axis feedrate
-5 inch
Md.38 Speed/position changeover -5 degree
control positioning amount
0 pulse
Monitor
0 value
Not used
D e fa u lt
Stored items Meaning
v a lu e 0000H 816 916 1016
b0 Drive unit READY signal 0
b1 Zero point signal 0
b2 In-position signal 0
b3 Near-point signal 0
b4 Stop signal 0 0: OFF
b5 Upper limit signal 0 1: ON
b6 Lower limit signal 0
b7 External start signal 0
b8 Speed/position changeover signal 0
b9 Deviation counter clear signal 0
5 - 95
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
5 - 96
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
Monitor
value
5 - 97
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
• During operation with positioning data : The actual target speed, considering
the override and speed limit value,
etc., is stored. "0" is stored when
positioning is completed.
• During interpolation : The composite speed or reference
axis speed is stored in the reference
Md.42 Target speed
axis address, and "0" is stored in the
interpolation axis address.
• During JOG operation : The actual target speed, considering
the JOG speed limit value for the
JOG speed, is stored.
• During manual pulse generator operation : "0" is stored.
The " Pr.18 Torque limit setting value" or " Cd.30 New torque value" is stored.
• During positioning start, JOG operation start, manual pulse generator operation
Md.45 Torque limit stored value ...The " Pr.18 Torque limit setting value" is stored.
• When value is changed to " Cd.30 New torque value" during operation
...The " Cd.30 New torque value" is stored.
5 - 98
5 DATA USED FOR POSITIONING CONTROL
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Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
◊ Sorting
A B C D E F G H
Unit conversion table
822 922 1022
0000H
823 923 1023
◊ Converted from Md.42 )
)
hexadecimal to decimal
n Unit
Decimal integer -2 mm/min
value R -3 inch/min
-3 degree/min
0 pulse/s
◊ Unit conversion
R × 10 n Unit conversion table
Md.43 Md.44 )
)
n Unit
Actual value -1 mm
Md.42 Target speed
-5 inch
Md.43 Zero point absolute position -5 degree 824 924 1024
0000H
Md.44 Movement amount after 0 pulse 825 925 1025
near-point dog ON
5 - 99
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Md.46 Special start data command • The "command code" used with special start and indicated by the start data
code setting value pointer currently being executed is stored.
The "command parameter" used with special start and indicated by the start data
Md.47 Special start data command
pointer currently being executed is stored.
parameter setting value
The stored value differs according to the value set for Md.46 .
Md.48 Start positioning data No. • The "positioning data No." indicated by the start data pointer currently being
setting value executed is stored.
• If the speed exceeds the " Pr.7 Speed limit value" due to a speed change or
override, the speed limit functions, and the in speed limit flag turns ON.
Md.49 In speed limit flag
• When the speed drops to less than " Pr.7 Speed limit value", or when the axis
stops, the in speed limit flag turns OFF.
• The speed change process flag turns ON when the speed is changed during
positioning control.
Md.50 In speed change processing
• After the speed change process is completed or when deceleration starts with
flag
the stop signal during the speed change process, the in speed change process
flag turns OFF.
5 - 100
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
00
04 None None 0 828 928 1028
07
01
02
Condition data 1 to 10
03
06
No. of
05 0 to 255
repetitions
5 - 101
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MELSEC-A
Md.51 Start data pointer being • The point No. (1 to 50) of the start data currently being executed is stored.
executed • "0" is stored when positioning is completed.
Md.52 Last executed positioning • The positioning data No. executed last is stored.
data No. • The value is held until the next positioning is executed.
• When controlling using the "start block data", the block No. "7000" to "7010"
Md.55 Block No. being executed currently being executed is stored.
• In all other cases, "0" is stored.
Md.56 Positioning data being • The details of the positioning data currently being executed (data of positioning
executed data No. stored in Md.54 ) are stored in the addresses shown on the right.
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5 DATA USED FOR POSITIONING CONTROL
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Storage buffer
Reading the monitor value Default value memory address
Axis 1 Axis 2 Axis 3
Storage address
Stored item Reference
Axis 1 Axis 2 Axis 3
1038
840 940 1040 Dwell time Da.8 838 to 938 to
0 to
847 947
841 941 1041 Not used 1047
842 942 1042
Command speed Da.7
843 943 1043
844 944 1044
Positioning address Da.5
845 945 1045
846 946 1046
Arc address Da.6
847 947 1047
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• The clock data (hour) from the PLC CPU is set after the AD75 power is turned
Cd.1 Clock data setting (hour)
ON.
Cd.2 Clock data setting (minute, • The clock data (minute, second) from the PLC CPU is set after the AD75 power
second) is turned ON.
• After setting the clock data in Cd.1 and Cd.2 , when setting the data in
Cd.3 Clock data writing Md.5 and Md.6 as the AD75 clock data, set "1".
• When the setting is completed, the OS sets "0".
Cd.4 Target axis* • Set the axis targeted for reading or writing.
* Cd.4 to Cd.8 are data used to transmit the positioning data between the OS memory and buffer memory.
(Refer to section "7.2 Data transmission process".)
5 - 104
5 DATA USED FOR POSITIONING CONTROL
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Storage buffer
memory address
Setting value Default value (common for axis 1 to
axis 3)
Setting value
0 0 1 0
0000 1100
b15 b12 b8 b4 b0
Buffer memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
No setting 0 to 2 0 to 3
b15 b12 b8 b4 b0
Buffer memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 to 5 0 to 9 0 to 5 0 to 9
0 0 0 1
Clock data wirte
1: Clock data 0000H 1102
b15 b12 b8 b4 b0
write request
Buffer memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
Not set
When the clock data is written,
"0" is stored from the OS.
0 0 0
Target axis
1: Axis 1
b15 b12 b8 b4 b0 2: Axis 2 0000H 1103
Buffer memory 0 0 0 0 0 0 0 0 0 0 0 0 3: Axis 3
4: Axis 1 and axis 2
Not set interpolation
5: Axis 2 and axis 3
interpolation
6: Axis 3 and axis 1
interpolation
5 - 105
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Cd.5 Positioning data No. • Set the positioning data No. targeted for reading or writing.
• When writing the positioning data stored in the Cd.8 data storage address into
the positioning data designated with Cd.5 , set the type of the data targeted for
writing.
* When reading, all data types are unconditionally read.
Address field
Cd.6 Write pattern
Set how to write data into the positioning address and arc address of the
positioning data.
Positioning data field
Set how to write the data other than the positioning address and arc address in
the positioning data.
• When reading the positioning data, set "1". When writing, set "2".
Cd.7 Read/write request • Reading and writing are also carried out simultaneously for the interpolation axis.
• Issue the write or read request when the PLC READY signal is OFF.
* Cd.4 to Cd.8 are data used to transmit the positioning data between the OS memory and buffer memory.
(Refer to section "7.2 Data transmission process".)
5 - 106
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage buffer
memory address
Setting value Default value (common for axis 1 to
axis 3)
Positioning data
1 to 600
Command speed
Address field
Stored item Setting value
Arc address 0: Write
Positioning address 1: Do not write
5 - 107
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Cd.9 Flash ROM write request • Write the OS memory contents into the flash ROM.
* Cd.4 to Cd.8 are data used to transmit the positioning data between the OS memory and buffer memory.
(Refer to section "7.2 Data transmission process".)
5 - 108
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage buffer
memory address
Setting value Default value (common for axis 1 to
axis 3)
Storage address
Stored item Reference
Axis 1 Axis 2 Axis 3
1108 1118 1128 Positioning identifier Da.1 to Da.4
1109 1119 1129 M code Da.9
1110 1120 1130 Dwell time Da.8
1111 1121 1131 Not used 0 1108 to 1137
1112 1122 1132
Command speed Da.7
1113 1123 1133
1114 1124 1134
Positioning address Da.5
1115 1125 1135
1116 1126 1136
Arc address Da.6
1117 1127 1137
5 - 109
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
• Clears the axis error detection, axis error No., axis warning detection and axis
warning No.
Cd.12 Axis error reset
• When the AD75 axis operation state is "in error occurrence", the error is cleared
and the AD75 is returned to the "waiting" state.
• When positioning is stopped for any reason (when axis operation state is
Cd.13 Restart command "stopped"), set "1" in Cd.13 . Positioning will be carried out again from the
stopped position to the end point of the stopped positioning data.
5 - 110
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage buffer
Setting value Default value memory address
Axis 1 Axis 2 Axis 3
Set with a decimal.
Setting value
K
Positioning data No. 0 1150 1200 1250
· 1 to 600 : Positioning data No.
· 7000 to 7010 : Block start designation
· 8001 to 8050 : Indirectly specification
· 9001 : Machine zero point return
· 9002 : High-speed zero point return
· 9003 : Current value change
K 1
Error reset request 0 1151 1201 1251
Axis 1: Axis error is reset.
(Set by sequence program)
After the axis error reset is completed, "0" is stored by the OS.
(Indicates that the axis error reset is completed.)
K 1
Restart command 0 1152 1202 1252
1: Restarts
(Set by sequence program)
After the M code ON signal turns OFF, "0" is stored by the OS.
(Indicates that the OFF request is completed.)
5 - 111
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
• When changing the current feed value using the start No. "9003", set the new
current feed value.
• The value is set within the following range.
inch degree
Pr.1 mm pulse
-2 (×10-3 (×10-3
Pr.11 (×10 mm/min) (pulse/s)
Cd.16 New speed value inch/min) degree/min)
Standard 0 to 0 to 0 to
0 to 1000000
mode 600000000 600000000 600000000
Stepping
0 to 37500000 0 to 37500000 0 to 37500000 0 to 62500
motor mode
To request the speed change process (to validate the Cd.16 value) after setting
Cd.17 Speed change request
the " Cd.16 New speed value", set "1".
• When applying an override on the speed during positioning operation, set the
Cd.18 Positioning operation speed
"override" value.
override
* Refer to section "12.5.2 Override function" for details on the "override".
5 - 112
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage buffer
Setting value Default value memory address
Axis 1 Axis 2 Axis 3
5 - 113
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
inch degree
Pr.1 mm pulse
-2 (×10-3 (×10-3
Pr.11 (×10 mm/min) (pulse/s)
Cd.19 JOG speed inch/min) degree/min)
Standard 0 to 0 to 0 to
0 to 1000000
mode 600000000 600000000 600000000
Stepping
0 to 37500000 0 to 37500000 0 to 37500000 0 to 62500
motor mode
Cd.20 Speed/position changeover • Set whether to validate the control signal (speed/position changeover signal)
enable flag from an external source.
• To change the movement amount for the position control during speed control of
speed/position changeover control, set the movement amount after changing to
position control.
• Make the setting during the speed control of speed/positioning changeover
control.
• The setting value is cleared to 0 at the next start.
• Set the value within the following range.
5 - 114
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage buffer
Setting value Default value memory address
Axis 1 Axis 2 Axis 3
Actual
value Cd.19 JOG speed
◊ Integer value
Unit conversion table
× 10 n
Cd.19 )
)
K
Cd.20 Speed/position changeover enable flag
0 1163 1213 1263
0: Even if the speed/position changeover signal
turns ON, the control does not change from
speed to position control.
1: When the speed/position changeover signal
turns ON, the control changes from speed
to position control.
Actual
value Cd.21 Speed/position changeover control
movement amount change register
5 - 115
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
• Set the magnification of the No. of pulses input from the manual pulse generator.
Cd.23 Manual pulse generator 1
• When setting value is 0 or less: Processed as "1"
pulse input magnification
• When setting value is 101 or more: Processed as "100"
Cd.24 Zero point return request flag • When the zero point return request flag is ON, set the request to turn this OFF
OFF request forcibly with the sequence program.
Cd.26 Step valid flag • Set whether to carry out step operation.
5 - 116
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage buffer
Setting value Default value memory address
Axis 1 Axis 2 Axis 3
K 1
Zero point return request flag OFF request 0 1170 1220 1270
1: Turn OFF the "zero point return request
flag" that is ON.
(Set by sequence program)
After the zero point return request turns OFF, "0" is stored by the OS.
(Indicates that the zero point return request flag OFF request is completed.)
5 - 117
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Cd.27 Step mode • When using step operation, set which unit to step with.
Cd.28 Step start information • When using step operation, set whether to continue or restart operation.
• To change the " Md.45 Torque limit stored value", set the new estimated torque
Cd.30 New torque value limit stored value.
• Set the value within the " Pr.18 Torque limit setting value" range.
Cd.31 Positioning starting point No. • Set the "start point No. (1 to 50)" for executing block start (positioning).
5 - 118
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage buffer
Setting value Default value memory address
Axis 1 Axis 2 Axis 3
K 1
0 1175 1225 1275
Skip command
1: Decelerate to a stop, and then carry
out the next positioning. (Skip request)
(Set by sequence program)
After the skip request is accepted, "0" is stored by the OS.
5 - 119
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
• When changing the acceleration time during speed change, set the new
acceleration time.
Pr.25 Cd.33
Cd.33 New acceleration time value setting setting range (unit)
1-word type 0 to 65535 (mm)
2-word type 0 to 8388608 (ms)
• When changing the deceleration time during speed change, set the new
deceleration time.
Pr.25 Cd.33
Cd.34 New deceleration time value setting setting range (unit)
1-word type 0 to 65535 (mm)
2-word type 0 to 8388608 (ms)
Cd.35 Acceleration/deceleration
time change during speed • Set whether to enable/disable the acceleration/deceleration time change during
change, enable/disable speed change.
selection
5 - 120
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
Storage buffer
Setting value Default value memory address
Axis 1 Axis 2 Axis 3
K 1
Continuous operation interrupt request 0 1181 1231 1281
1: Interrupt continuous control or continuous
path control. (Set by sequence program)
After the control interrupt request is accepted, "0" is stored by the OS.
(Indicates that the continuous operation interrupt request is completed.)
Example)
To set "60000ms" for the " Cd.33
New acceleration time value", set
"60000" in the buffer memory.
1186 1236 1286
0
1187 1237 1287
5 - 121
5 DATA USED FOR POSITIONING CONTROL
MELSEC-A
MEMO
5 - 122
Chapter 6
The programs required to carry out positioning control with the AD75 are explained
in this chapter. 6
The sequence program required for control is created allowing for the "start conditions",
"start time chart", "device settings" and general control configuration. (The parameters,
positioning data, start block data and condition data, etc., must be set in the AD75
according to the control to be executed, and program for setting the control data or a
program for starting the various control must be created.)
The first half of this chapter explains the program configuration of general control, and
the latter half explains the program details. Create the required program while referring
to the various control details explained in "SECTION 2", and to "Chapter 5 DATA USED
FOR POSITIONING CONTROL".
6-1
6 SEQUENCE PROGRAM USED FOR POSITIONINGCONTROL
MELSEC-A
The common precautions to be taken when writing data from the PLC CPU to the
AD75 buffer memory are described below.
[An,AnN,AnA,AnUCPU,A0J2HCPU] [A0J2]
X0 X0
TOP H0 K50 D1 K1 PLS M0
M0
TO H0 K50 D1 K1
X1 X1
SET M1 SET M1
M1 M1
FROMP H0 K50 D5 K1 PLS M2
M2
FROM H0 K50 D5 K1
X3 X3
TO H0 K50 K10 K1 MOV K10 D0
TO H0 K50 D0 K1
6-2
6 SEQUENCE PROGRAM USED FOR POSITIONINGCONTROL
MELSEC-A
(b) With the 3-axis module, the No. of FROM/TO command and DFRO/DTO
command executions differs according to the function to be executed.
• When carrying out circular interpolation control and S-pattern
acceleration/deceleration : 4 times/axis
• When CHG input is input simultaneously for two axes during
speed/position changeover control : 4 times/axis
• When not carrying out the above control : 10 times/axis
Circular S-pattern Speed/position changeover
Control other
interpolation acceleration/ control (CHG input
than that on left
control deceleration simultaneously for two axes)
A1SD75P1-S3
10 times/axis 10 times/axis 10 times/axis 10 times/axis
AD75P1-S3
A1SD75P2-S3
10 times/axis 10 times/axis 10 times/axis 10 times/axis
AD75P2-S3
A1SD75P3-S3
4 times/axis 4 times/axis 4 times/axis 10 times/axis
AD75P3-S3
P
L A
C
D
C
P 75
U
POINT
During the various processes of the special function module, the access from the
PLC CPU is processed as a priority. Thus, if the special function module's buffer
memory is frequently accessed from the PLC CPU, the PLC CPU scan time will
increase and a delay will occur in the special function module's processes.
Access the buffer memory from the PLC CPU with the FROM/TO command, etc.,
only when necessary.
6-3
6 SEQUENCE PROGRAM USED FOR POSITIONINGCONTROL
MELSEC-A
The application of the input/output Nos. [X] [Y], internal relays [M] and data registers
[D] used in this chapter are shown below.
Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3
X0 AD75 READY signal Preparation incomplete/WDT error
X1 X2 X3 Positioning start complete signal Start completed
X4 X5 X6 BUSY signal BUSY (operating)
Input
X7 X8 X9 Positioning complete signal Positioning completed
XA XB XC Error detection signal Error detected
AD75 XD XE XF M code ON signal Outputting M code
Y10 Y11 Y12 Positioning start signal Requesting start
Y13 Y14 Y1C Axis stop signal Requesting stop
Out-
Y16 Y18 Y1A Forward run JOG start signal Starting forward run JOG
put
Y17 Y19 Y1B Reverse run JOG start signal Starting reverse run JOG
Y1D PLC READY signal PLC CPU preparation completed
Commanding zero point return request
X20 Zero point return request OFF command
OFF
X21 External start valid setting command Commanding external start valid setting
Commanding external start invalid
X22 External start invalid command
command
X23 Machine zero point return command Commanding machine zero point return
X24 High-speed zero point return command Commanding high-speed zero point return
X25 Positioning start command Commanding positioning start
Speed/position changeover operation Commanding speed/position changeover
X26
command operation
Speed/position changeover enable Commanding speed/position changeover
X27
command enable
Speed/position changeover prohibit Commanding speed/position changeover
X28
command prohibit
X29 Movement amount change command Commanding movement amount change
Command — Advanced positioning control start Commanding advanced positioning
X2A
command control start
X2B Positioning start command Commanding positioning start
X2C M code OFF command Commanding M code OFF
Commanding JOG operation speed
X2D JOG operation speed setting command
setting
X2E Forward run JOG command Commanding forward run JOG operation
X2F Reverse run JOG command Commanding reverse run JOG
Manual pulse generator operation enable Commanding manual pulse generator
X30
command operation enable
Manual pulse generator operation disable Commanding manual pulse generator
X31
command operation disable
X32 Speed change command Commanding speed change
X33 Override command Commanding override
Acceleration/deceleration time change Commanding acceleration/deceleration
X34
command time change
6-4
6 SEQUENCE PROGRAM USED FOR POSITIONINGCONTROL
MELSEC-A
Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3
Acceleration/deceleration time change Commanding acceleration/deceleration
X35
disable command time change disable
X36 Torque change command Commanding torque change
X37 Step operation command Commanding step operation
X38 – Skip command Commanding skip
X39 Teaching command Commanding teaching
Command Commanding continuous operation
X3A Continuous operation interrupt command
interrupt
X3B Restart command Commanding restart
X3C Parameter initialization command Commanding parameter initialization
X3D Flash ROM write command Commanding flash ROM write
X3E Error reset command Commanding error reset
–
X3F Stop command Commanding stop
Commanding zero point return request
M0 Zero point return request OFF command
OFF
Zero point return request OFF command Zero point return request OFF
M1 –
pulse commanded
Zero point return request OFF command Zero point return request OFF command
M2
storage held
M3 Clock data write command pulse Clock data write commanded
M4 Clock data write command storage Clock data write command held
M5 High-speed zero point return command Requesting high-speed zero point return
High-speed zero point return command High-speed zero point return command
M6
storage held
M7 Positioning start command pulse Positioning start commanded
M8 Positioning start command storage Positioning start command held
M9 In JOG flag In JOG flag
Manual pulse generator operation enable Requesting manual pulse generator
M10
command operation enable
Internal M11 Manual pulse generator operating flag Manual pulse generator operating flag
relay Manual pulse generator operation disable Requesting manual pulse generator
M12
command operation disable
M13 Speed change command pulse Speed change commanded
M14 – Speed change command storage Speed change command held
M15 Override command Requesting override
Acceleration/deceleration time change Requesting acceleration/deceleration time
M16
command change
M17 Torque change command Requesting torque change
M18 Step operation command pulse Step operation commanded
M19 Skip operation command pulse Skip operation commanded
M20 Skip operation command storage Skip operation command held
M21 Teaching command pulse Teaching commanded
M22 Teaching command storage Teaching command held
M23 Continuous operation interrupt command Requesting continuous operation interrupt
M24 Restart command Requesting restart
M25 Restart command storage Restart command held
6-5
6 SEQUENCE PROGRAM USED FOR POSITIONINGCONTROL
MELSEC-A
Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3
M26 Parameter initialization command pulse Parameter initialization commanded
M27 Parameter initialization command storage Parameter initialization command held
M28 Flash ROM write command pulse Flash ROM write commanded
M29 Flash ROM write command storage Flash ROM write command held
M30 Error code read complete Error code read completed
Internal
M31 – Error reset Error reset completed
relay
M32 Stop command pulse Stop commanded
M9028 Clock data read command Requesting clock data read
M9036 Always ON contact Always ON contact
M9038 1 scan ON after RUN 1 scan turned ON after RUN
M9039 1 scan OFF after RUN 1 scan turned OFF after RUN
D0 Status information ( Md.40 Status)
D1 – Zero point return request flag ( Md.40 Status (bit3))
( Cd.24 Zero point return request flag
D2 Zero point return request OFF results
OFF request)
D3 Date/hour data
PLC CPU clock data
D4 Minute/second data
D5 Clock data write request ( Cd.3 Clock data writing)
D6 Clock data write results ( Cd.3 Clock data writing)
D7 Positioning data No. Positioning data No.
D8 Movement amount (low-order 16 bits) ( Cd.21 Speed/position changeover
control movement amount
D9 Movement amount (high-order 16 bits) change register)
D10 JOG operation speed (low-order 16 bits)
( Cd.19 JOG speed)
D11 JOG operation speed (high-order 16 bits)
Manual pulse generator 1 pulse input
D12
magnification (low-order) ( Cd.23 Manual pulse generator 1
Manual pulse generator 1 pulse input pulse input magnification)
D13
magnification (high-order)
D14 Speed change value (low-order 16 bits)
Data ( Cd.16 New speed value)
D15 Speed change value (high-order 16 bits)
register
D16 Speed change request ( Cd.17 Speed change request)
–
D17 Speed change result ( Cd.17 Speed change request)
( Cd.18 Positioning operation speed
D18 Override value
override)
Acceleration time setting (low-order 16
D19
bits)
( Cd.33 New acceleration time value)
Acceleration time setting (high-order 16
D20
bits)
Deceleration time setting (low-order 16
D21
bits)
( Cd.34 New deceleration time value)
Deceleration time setting (high-order 16
D22
bits)
D23 Torque limit value ( Md.45 Torque Limit stored value)
D24 Step valid flag ( Cd.26 Step valid flag)
D25 Step mode ( Cd.27 Step mode)
D26 Skip operation results ( Cd.29 Skip command)
D27 Target axis ( Cd.4 Target axis)
D28 Positioning data No. ( Cd.5 Positioning data No.)
D29 Write pattern ( Cd.6 Write pattern)
6-6
6 SEQUENCE PROGRAM USED FOR POSITIONINGCONTROL
MELSEC-A
Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3
D30 Read/write request ( Cd.7 Read/write request)
D31 Teaching results ( Cd.7 Read/write request)
D32 Axis state ( Md.35 Axis operation status)
D33 Restart request ( Cd.13 Restart command)
D34 Parameter initialization results ( Cd.10 Parameter initialization request)
D35 Flash ROM write results ( Cd.9 Flash ROM write request)
D36 Error code ( Md.33 Axis error No.)
D40 Positioning identifier ( Da.1 to Da.4 )
For teaching
D41 M code ( Da.9 M code)
D42 Dwell time ( Da.8 Dwell time)
D43 Blank Blank
D44 Speed command (low-order 16 bits)
( Da.7 Command speed)
D45 Speed command (high-order 16 bits)
D50 Unit setting ( Pr.1 Unit setting)
D51 No. of pulses per rotation ( Pr.2 No. of pulses per rotation)
D52 Movement amount per rotation ( Pr.3 Movement amount per rotation)
D53 Unit magnification ( Pr.4 Unit magnification )
D54 Pulse output mode ( Pr.5 Pulse output mode)
D55 Rotation direction setting ( Pr.6 Rotation direction setting)
( Da.1 Operation pattern)
( Da.2 Control method)
Data D56 Positioning identifier
register ( Da.3 Acceleration time No.)
( Da.4 Deceleration time No.)
Positioning data No.1
6-7
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
The "positioning control operation program" actually used is explained in this chapter.
The functions and programs explained in "SECTION 2" are assembled into the
"positioning control operation program" explained here. (To monitor the control, add
the required monitor program that matches the system. Refer to section "5.6 List of
monitor data" for details on the monitor items.)
Start program
Completion of program
creation
6-8
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
The various programs that configure the "positioning control operation program" are
shown below. When creating the program, refer to the explanation of each program
and section "6.4 Positioning program examples", and create an operation program that
matches the positioning system. (Numbers are assigned to the following programs.
Configuring the program in the order of these numbers is recommended.)
No.1
Parameter setting program
Set using the AD75
software package
* When not carrying out "zero point return
control", the zero point return parameters
do not need to be set.
No.2
Positioning data setting program
No.3
Positioning start information
setting program
Initialization program
No.4
Zero point return request OFF program Refer to section 6.5.1
Carried out
No.5
External start function valid
setting program Refer to 6.5.1
Set
Clock data is ...
No.6
Clock data setting program Refer to section 13.5
Not set
No.7
PLC READY signal [Y1D] ON program * Required
6-9
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
Start program
No.9
Positioning start signal input program Refer to section 6.5.3
No.10
Program to reset the start
Reset program
signal and turn the M code
ON signal OFF
No.11
JOG operation program Refer to section 11.2.4
No.12
Manual pulse generator Refer to section 11.3.4
operation program
6 - 10
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
Auxiliary program
No.14
Override program Refer to section 12.5.2
No.16
Torque change program Refer to section 12.5.4
No.17
Step operation program Refer to section 12.6.1
No.18
Skip program Refer to section 12.6.2
No.19
Teaching program Refer to section 12.6.4
No.20
Continuous operation interrupt program Refer to section 6.5.4
No.21
Restart program Refer to section 6.5.5
No.22
Parameter initialization program Refer to section 13.2
No.23
Flash ROM write program Refer to section 13.3
Stop program
* Program used to stop control
No.25
Stop program Refer to section 6.5.6
6 - 11
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
*
* No.1 Parameter setting program
* (For basic parameter 1 axis 1)
*
<Setting of unit setting (0:mm)>
6 - 12
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
*
No.3 Positionig start information setting program
* Start block data of block No.7000 (axis 1)
* For setting of points 1 to 5
* (Conditions)
Shapes: Continued at points 1 to 4, ended at point 5
* Special start command : Normal start at all of points 1 to 5
* <Positioning data are already preset>
*
[Setting of shape and start data No.]
*
*
<Setting of continue and start data No. 1>
*
* No.4 Zero point return request OFF program
*
<Zero point return request OFF command pulse>
6 - 13
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
*
* No.5 External start function valid setting program
*
*
* No.6 Clock data setting program
*
*
* (2) High-speed zero point return
*
<AD75 status information read>
6 - 14
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
*
* (3) Positioning with positioning data No.1 (Control other than speed/position changeover control)
*
<Positioning data No.1 setting>
*
* (4) Positioning with positioning data No.1 (Speed/position changeover control)
*
<Positioning data No.1 setting>
*
* (5) Advanced positioning control
*
<Block positioning (7000) write>
*
* (6) High-speed zero point return command and high-speed zero point return command storage OFF
* (Not required when high-speed zero point return is not used)
*
* No.9 Positioning start signal input program
* (When high-speed zero point return is not made, contacts of M5 and M6 are not needed.)
* (When M code is not used, contact of X0D is not needed.)
*
* (When JOG operation is not performed, contact of M9 is not needed.)
* (When manual pulse generator operation is not performed, contact of M11 is not needed.)
*
<Positioning start command pulse>
6 - 15
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
*
* No.10 Reset program
*
<Positioning start signal OFF>
*
* No.11 JOG operation program
*
<JOG operation speed setting>
*
* No.12 Manual pulse generator operation program
*
<Manual pulse generator operation command pulse>
6 - 16
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
*
* No.13 Speed change program
*
<Speed change command pulse>
*
* No.14 Override program
*
<Override command pulse>
*
* No.15 Acceleration / deceleration time change program
*
<Acceleration / deceleration time
change program command pulse>
<Setting of acceleration time to 2000ms>
*
* No.16 Torque change program
*
6 - 17
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
*
* No.17 Step operation program
*
<Step operation command pulse>
*
* No.18 Skip program
*
<Skip operation command pulse>
*
* No.19 Teaching program
*
*
* Positioning to the target position with manual operation
* Store the data other than the positioning data interface
* address in D40 to D45
*
*
<Axis 1 setting>
6 - 18
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
*
* No.20 Continuous operation interrupt program
*
<Continuous operation interrupt command pulse>
*
* No.21 Restart program
*
<Restart command pulse>
*
* No.22 Parameter initialization program
*
<Parameter initialization command pulse>
*
* No.23 Flash ROM write program
*
<Flash ROM write command pulse>
6 - 19
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
*
* No.24 Error reset program
*
<Error code read>
*
* No.25 Stop program
*
<Stop command pulse>
<Stop execution>
6 - 20
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
ON
Fig. 6.1 Time chart for zero point return OFF request
* Refer to section "5.7 List of control data" for details on the setting details.
6 - 21
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
This program sets which control, out of "zero point control", "main positioning control"
or "advanced positioning control" to execute. For "advanced positioning control", "high-
speed zero point return" and "speed/position changeover control", add the respectively
required sequence program.
(Refer to "Chapter 10" for details on starting the "advanced positioning control.)
(1) Set the "positioning start No." corresponding to the control to be started in
" Cd.11 Positioning start No.".
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
1 to 600 : Positioning data No.
9001 : Machine zero point return
9002 : High-speed zero point return
Positioning start
Cd.11 9003 : Current value change 1150 1200 1250
No.
7000 to 7010 : Block No.
(For "advanced positioning
control")
* Refer to section "5.7 List of control data" for details on the setting details.
(2) For "advanced positioning control", set the "positioning start point No." of the
block to be started in " Cd.31 Positioning start point No.".
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Positioning start
Cd.31 1 to 50 : Point No. of start block data 1178 1228 1278
point No.
* Refer to section "5.7 List of control data" for details on the setting details.
(3) For "high-speed zero point return", confirm that the "zero point absolute
position overflow flag/underflow flag" is OFF.
(4) Set the following control data for "speed/position changeover control".
(Set " Cd.21 Speed/position changeover control movement amount change
register" as required.)
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Speed/position
When "1" is set, the speed/position changeover
Cd.20 changeover 1 1163 1213 1263
signal will be validated.
enable flag
Speed/position
changeover Set the new value when the position control's
1164 1214 1264
Cd.21 control movement movement amount is to be changed during
1165 1215 1265
amount change speed control.
register
* Refer to section "5.7 List of control data" for details on the setting details.
6 - 22
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
3)
Control with
positioning data
1) No. 1
1
1150
PLC CPU
2)
ON
* When starting positioning with the scan
Input/output signal after the completion of positioning,
insert X1 as an interlock so that
positioning is started after Y10 is turned
Y10 OFF and X1 is turned OFF.
1) Set the "positioning start No." in " Cd.11 Positioning start No." according to the control to
be started.
(In the above example, set positioning data No. "1".)
2) Input the positioning start signal [Y10, Y11, Y12] or the external start signal.
3) The positioning data No. "1" will start.
Starting conditions
When starting, the following conditions must be satisfied. The program must be
configured by adding the required conditions into the sequence program so that
the operation does not start until the conditions are satisfied.
Device
Signal name Signal state
Axis 1 Axis 2 Axis 3
PLC READY signal ON PLC CPU preparation completed Y1D
AD75 READY signal OFF AD75 preparation completed X0
Axis stop signal OFF Axis stop signal is OFF Y13 Y14 Y1C
Interface Positioning start Positioning start complete signal
signal OFF X1 X2 X3
complete signal is OFF
BUSY signal OFF BUSY signal is OFF X4 X5 X6
Error detection signal OFF There is no error XA XB XC
M code ON signal OFF M code ON signal is OFF XD XE XF
Drive unit READY signal ON Drive unit preparation completed –
External Stop signal OFF Stop signal is OFF –
signal Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –
6 - 23
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
V
Dwell time
Positioning
t
ON
Positioning start signal OFF
[Y10,Y11,Y12]
ON
Start complete signal OFF
[X1,X2,X3]
ON
BUSY signal
[X4,X5,X6] OFF
ON
Positioning complete
OFF
signal [X7,X8,X9]
6 - 24
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
Near-point dog
ON
Zero point return request flag OFF
[ Md.40 Status:b3]
ON
Zero point return complete flag OFF
[ Md.40 Status:b4]
Fig. 6.4 Time chart for starting "machine zero point return"
6 - 25
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
ON
Fig. 6.5 Time chart for starting "high-speed zero point return"
6 - 26
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
Operation pattern
V Dwell time
Positioning data No. 1(11)
2(00)
Cd. 20 Speed/position 1 0
changeover enable flag
6 - 27
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
t2
Output pulse to external source
(PULSE)
Positioning operation
Fig. 6.8 Machine zero point return operation timing and process time
6 - 28
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
Positioning
start signal [Y10,Y11,Y12]
t4
Output pulse to external source
(PULSE)
Positioning operation
t5
Positioning complete signal *
[X7,X8,X9]
t6
M code ON signal
(AFTER mode) [XD,XE,XF]
t2
• When the positioning start signal turns ON, if all signals marked with an
asterisk (*) are already ON, the signals marked with an asterisk (*) will turn
OFF when the positioning start signal turns ON.
6 - 29
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
Restrictions
When starting by inputting the external start signal, the start complete signal [X1,
X2, X3] will not turn ON.
* Refer to Chapter "5 DATA USED FOR POSITIONING CONTROL" for details on the setting details.
1 0
Cd. 25 External start valid
Fig. 6.10 Time chart for starting with external start signal
6 - 30
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
During positioning control, the control can be interrupted during continuous positioning
control and continuous path control (continuous operation interrupt function). When
"continuous operation interruption" is execution, the control will stop when the
operation of the positioning data being executed ends. To execute continuous
operation interruption, set "1: Continuous operation interrupt request" for " Cd.32
Interrupt request during continuous operation.
Start
t
Positioning data No. 10 Positioning data No. 11 Positioning data No. 12
(2) Restrictions
(1) When the "continuous operation interrupt request" is executed, the positioning
will end.
Thus, after stopping, the operation cannot be "restarted".
When " Cd.13 Restart command" is issued, a warning "Restart not possible"
(warning code:104) will occur.
(2) Even if the stop command is turned ON after executing the "continuous
operation interrupt request", the "continuous operation interrupt request"
cannot be canceled.
Thus, if "restart" is executed after stopping by turning the stop command ON,
the operation will stop when the positioning data No. where "continuous
operation interrupt request" was executed is completed.
Axis 1
Continuous operation
interrupt request
Axis 2
Positioning with positioning data No. 10
6 - 31
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
Start
t
Positioninig data No. 10 Positioning data No. 11 Positioning data No. 12
6 - 32
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
When a stop factor occurs during position control and the operation stops, the
positioning can be restarted from the stopped position to the position control end point
by using the "restart command" ( Cd.13 Restart command).
("Restarting" is not possible when "continuous operation is interrupted.")
(2) Restrictions
(1) Restarting can be executed only when the " Md.35 Axis operation status" is
"stopped".
If the axis operation is not "stopped", restarting is not possible.
(2) Do not execute restart while the stop command is ON.
If restart is executed while stopped, an error "Stop signal ON at start" (error
code:106) will occur, and the " Md.35 Axis operation status" will change to
"error occurring".
Thus, even if the error is reset, the operation cannot be restarted.
(3) Restarting can be executed even while the positioning start signal is ON.
However, make sure that the positioning start signal does not change from
OFF to ON while stopped.
If the positioning start signal changes from OFF to ON, positioning will start
from the positioning data No. of designated point's positioning data No. set in
" Cd.11 Positioning start No.".
(4) If positioning is ended with the continuous operation interrupt request, the
operation cannot be restarted.
If restart is requested, a warning "Restart not possible" (warning code:104) will
occur.
(5) When stopped with interpolation operation, write "1: restarts" into " Cd.13
Restart command" for the reference axis, and then restart.
(6) If the " Md.35 Axis operation status" is not "stopped" when restarting, a
multiple start warning will occur, and the process at that time will be continued.
REMARK
Restarting after stopping is possible even for the following control.
• Incremental type position control • Continuous positioning control
• Continuous path control • Block start
6 - 33
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
* Refer to section "5.7 List of control data" for details on the setting details.
6 - 34
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
V Dwell time
6 - 35
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
The axis stop signal [Y13, Y14, Y1C] or a stop signal from an external source is used
to stop the control. Create a program to turn the axis stop signal [Y13, Y14, Y1C] ON
as the stop program.
The process for stopping control is explained below.
Each control is stopped in the following cases.
(a) When each control is completed normally.
(b) When the drive unit READY signal is turned OFF.
(c) When the PLC READY signal is turned OFF (When "parameter error' or "watch
dog timer error" occurs in PLC CPU.)
(d) When an error occurs.
(e) When control is intentionally stopped (Stop signal from PLC CPU turned ON, stop
from peripheral device, etc.)
The stop process for the above cases is shown below. (Excluding (a) when the
operation stops normally.)
Fatal stop Hardware stroke Each During Deceleration stop/sudden stop Deceleration
(Stop group 1) limit signal ON axis error (Select with Pr.38 ) stop
Software stroke
limit upper/lower Each
limit error axis
Emergency occurrence During Deceleration stop/sudden stop Deceleration
stop
Sequence READY error (Select with Pr.39 ) stop
(Stop group 2)
signal OFF All
"Stop" input from axes
external device
Axis error
Relatively safe detection (Error
other than stop Each During
stop
axis error
(Stop group 3) group 1 or 2)
Error in test mode
Deceleration stop/sudden stop Deceleration
"Stop signal" ON stop
from external (Select with Pr.40 )
When
Intentional stop source Each stopped
(Stop group 3) "Axis stop signal" axis (While
ON from PLC waiting)
CPU
6 - 36
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
REMARK
*1 "Deceleration stop" and "sudden stop" are selected with the details parameter
"stop group 1 to 3 sudden stop selection". (The default setting is "deceleration
stop".)
6 - 37
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-A
(1) During deceleration (including automatic deceleration), the operation will stop
at that deceleration speed even if the decelerations to command turns ON or a
deceleration stop cause occurs.
(2) If the stop signal designated for sudden stop turns ON or a stop cause occurs
during deceleration, the sudden stop process will start from that point.
However, if the sudden stop deceleration time is longer than the deceleration
time, the deceleration stop process will be continued even if a sudden stop
cause occurs during the deceleration stop process.
Example
The process when a sudden stop cause occurs during deceleration stop is shown below.
Sudden Sudden
stop cause stop cause
Stop Stop
Sudden stop deceleration process Deceleration stop process continues Process for sudden stop
6 - 38
Chapter 7
The AD75 memory configuration and data transmission are explained in this chapter.
7-1
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
Backup
Memory
Parameter area
(No.101 to 600)
area (No.7000)
(No.1 to 100)
Area that can be directly accessed Not
• Buffer memory with sequence program from PLC – – pos-
CPU. sible
Not
• OS memory Area used by system. – – – – pos-
sible
: Setting and storage area provided, Not possible: Data is lost when power is turned OFF
– : Setting and storage area not provided, Possible: Data is held even when power is turned OFF
7-2
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
Details of areas
• Parameter area
Area where parameters, such as positioning parameters and zero point return
parameters, required for positioning control are set and stored.
(Set the items indicated with Pr.1 to Pr.58 for each axis.)
* When using a peripheral device, the "positioning data No. 101 to 600" is set
with the same method as "positioning data No. 1 to 100".
7-3
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
Buffer memory
Flash ROM OS memory
Parameter area
AD75
7-4
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
Indirectly specification
4500 to 4549 4750 to 4799 5000 to 5049
data area
PLC CPU memo area PLC CPU memo area 5050 to 5099 Possible
* Use of address Nos. skipped above is prohibited. If used, the system may not operate correctly.
(For details of the buffer memory address, refer to Appendix 12.)
7-5
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
The data is transmitted between the AD75 memories with steps (1) to (10) shown
below.
• The data transmission patterns numbered (1) to (10) on the right page correspond
to the numbers (1) to (10) on the left page.
PLC CPU
AD75
Buffer memory Parameter area (a)
Pr.1 to Pr.6
Parameter area (a)
Pr.10 to Pr.25
Parameter area (b) Pr.45 to Pr.58
(3) TO command
Flash ROM ROM OS memory
Peripheral device
7-6
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
(2) Transmitting data when PLC READY signal [Y1D] changes from
OFF to ON ( )
When the PLC READY signal [Y1D] changes from OFF to ON, the data stored in
the buffer memory's "parameter area (a) *1" is transmitted to the OS memory.
*1 Parameter area (a) ....... Parameters transmitted to OS memory when PLC
READY signal [Y1D] changes from OFF to ON
( Pr.1 to Pr.6 , Pr.10 to Pr.25 , Pr.45 to
Pr.58 )
POINT
The setting values of the parameters that correspond to parameter area (b) are
valid when written into the buffer memory with the TO command. However, the
setting values of the parameters that correspond to parameter area (a) are not
validated until the PLC READY signal [Y1D] changes from OFF to ON.
7-7
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
PLC CPU
AD75
Buffer memory Parameter area (a)
Pr.1 to Pr.6
Parameter area (a) Pr.10 to Pr.25
Parameter area (b) Pr.45 to Pr.58
Positioning data area (6) Block transmission request Positioning data area
(No.1 to100) (No.1 to100)
Positioning start information Positioning start information
area (No.7000) area (No.7000)
Peripheral device
7-8
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
POINT
The following two types of parameters are stored in the buffer memory.
• Parameters transmitted to the OS memory when the PLC READY signal [Y1D]
changes from OFF to ON
• Parameters transmitted simultaneously to the OS memory when written into the
buffer memory with the TO command
With type 1) of the flash ROM write, the "parameters and data set in the buffer
memory" (including parameters not transmitted to the OS memory) are written into
the flash ROM.
IMPORTANT
Do not turn the power OFF or reset the PLC CPU while writing to the flash ROM. If
the power is turned OFF or the PLC CPU is reset to forcibly end the process, the
data backed up in the flash ROM will be lost.
7-9
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
PLC CPU
AD75
Buffer memory Parameter area (a)
Pr.1 to Pr.6
Parameter area (a) Pr.10 to Pr.25
Parameter area (b) Pr.45 to Pr.58
Positioning data area Parameter area (b)
(No.1 to 100) Pr.7 to Pr.9
Positioning start information area Pr.26 to Pr.44
(No.7000)
Monitor data area
Control data area
Peripheral device
7 - 10
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
At this time, when [Flash ROM Write] is set with the peripheral device, the
transmission processes indicated with the following are carried out.
• (7) Flash ROM write 1
• (7) Flash ROM write 2
7 - 11
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
The data transmission is carried out as shown in the previous pages, but the main
method of using this data process is shown below.
Complete
• • • User work
• • • AD75 state
7 - 12
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
Write positioning data into buffer Write required positioning data into buffer memory's block
memory using TO command transmission area [5110 to 6109] using TO command.
Set the data following the [Transmission process (3)] [Transmission process (6)]
peripheral device menu
Write following items into buffer memory's block
*
transmission area [5100 to 5103] using TO command:
* Axis that sets positioning data
* Head No. of positioning data to be set
* Size of positioning data to be set
(Up to 100 items can be set at once)
* Setting of write/read
[Transmission process (6)]
Write the data set with the peripheral The positioning data set in the block transmission
device into the OS memory area [5110 to 6109] is written into the OS memory.
Complete
• • • User work
• • • AD75 state
7 - 13
7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-A
(Example) When setting the positioning data No. 101 to 300 of axis 1 to the OS
memory
(The number of data that can be set for block transmission at one time is up to 100
pieces.)
Start
6092 6102
Da.9 5111 5121 5131
M code 6093 6103
Set as follows. 5122 5132
Da.8 Dwell time 5112 6104
[Read/write request: Write request] 6094
6105
5113 5123 5133 6095
Not used
Set "2" to the buffer
memory address 5103. Da.7 5114 5124 5134 6096 6106
5115 5125 5135 6097 6107
Command speed
End
7 - 14
SECTION 2
The required settings in each control include parameter setting, positioning data setting,
control data setting by a sequence program, etc.
Carry out these settings while referring to "Chapter 5 DATA USED FOR POSITIONING
CONTROL".
Also refer to "Chapter 6 SEQUENCE PROGRAM USED IN POSITIONING CONTROL"
when creating the sequence programs required in each control, and consider the entire
control programconfiguration when creating each program.
The details and usage of "zero point return control" are explained in this chapter.
Zero point return control includes "machine zero point returns" that establish a machine
zero point without using address data, and "high-speed zero point returns" that store
the coordinates established by the machine zero point return, and carry out positioning
to that position.
Zero point returns carried out by sequence programs from the PLC CPU are explained
in this chapter.
Refer to the AD75 software package operating manual for details on zero point returns
using the AD75 software package.
8-1
8 ZERO POINT RETURN CONTROL
MELSEC-A
In "zero point return control" a position is established as the starting point (or "zero
point") when carrying out positioning control, and positioning is carried out toward that
starting point.
It is used to return a machine system at any position other than the zero point to the
zero point, such as when the power is turned ON, when the AD75 issues a "zero point
return request"*, after a positioning stop, etc.
In the AD75, the two types of controls shown below are defined as "zero point return
control", following the flow of the zero point return work.
These two types of zero point return control can be executed by setting the "zero point
return parameters", setting "Positioning start No. 9001" and "Positioning start No.
9002" prepared beforehand in the AD75 to " Cd.11 Positioning start No.", and turning
ON the positioning start signal.
* The "machine zero point return" in (1) above must always be carried out before
executing the "high-speed zero point return" in (2).
REMARK
Zero point return request *
The "zero point return request flag" ( Md.40 Status signal: b3) must be turned ON
in the AD75, and a machine point return must be executed in the following cases.
• When the power is turned ON
• At the ON OFF of the drive unit READY signal ( Md.39 External input/output
signal: b0).
• At the OFF ON of the PLC READY signal [Y1D]
The address information stored in the AD75 cannot be guaranteed while the "zero
point return request flag" is ON.
The "zero point return request flag" turns OFF and the "zero point return complete
flag" ( Md.40 Status signal: b4) turns ON if the machine zero point return is
executed and is completed normally.
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8 ZERO POINT RETURN CONTROL
MELSEC-A
[Remarks]
The following two auxiliary functions are only related to machine zero point
returns.
Machine zero point High-speed zero
Auxiliary function name Reference
return point return
Zero point return retry function Section 12.2.1
Zero point shift function Section 12.2.2
: Combination possible, : Restricted, : Combination not possible
8-3
8 ZERO POINT RETURN CONTROL
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Important
Use the zero point return retry function when the zero point position is not always in
the same direction from the workpiece operation area (when the zero point is not
set near the upper or lower limit of the machine).
* The machine zero point return may not complete unless the zero point return retry
function is used.
* The " Pr.47 Zero point address" is a fixed value set by the user, but the
" Md.43 Zero point absolute position" is constantly changed by the AD75 to
indicate the "zero point", even if there is a change in the address information.
M
Zero point
Machine zero point return
Near-point dog
8-4
8 ZERO POINT RETURN CONTROL
MELSEC-A
REMARK
Creep speed
The stopping accuracy is poor when the machine suddenly stops from high
speeds. To improve the machine's stopping accuracy, its must change over to a
low speed before stopping. This speed is set in the " Pr.49 Creep speed".
8-5
8 ZERO POINT RETURN CONTROL
MELSEC-A
The following shows an operation outline of the "near-point dog method" zero point
return method.
Operation chart
The machine zero point return is started.
(The machine begins the acceleration designated in " Pr.53 Zero point return acceleration time selection", in the
1)
direction designated in " Pr.46 Zero point return direction". It then moves at the " Pr.48 Zero point return speed" when
the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
3) The machine decelerates to the " Pr.49 Creep speed", and subsequently moves at that speed.
After the near-point dog turns OFF, the pulse output from the AD75 will stop at the first zero point signal, outputting a
4)
"deviation counter clear signal" to the drive unit.
After a "deviation counter clear signal" is output to the drive unit, the zero point return complete flag ( Md.40 Status: b4)
5)
turns from OFF to ON and the zero point return request flag ( Md.40 Status: b3) turns from ON to OFF.
1) 2) 3) 4) 5) t
ON
Md.29 Current feed value Inconsistent Value the machine moved is stored Zero point address
8-6
8 ZERO POINT RETURN CONTROL
MELSEC-A
Restrictions
A pulse generator with a zero point signal is required.
When using a pulse generator without a zero point signal, generate a zero point
signal using an external signal.
8-7
8 ZERO POINT RETURN CONTROL
MELSEC-A
The following shows an operation outline of the "stopper stop method 1)" zero point
return method.
Operation chart
The machine zero point return is started.
1) (The machine begins the acceleration designated in " Pr.53 Zero point return acceleration time selection", in the direction designated in
" Pr.46 Zero point return direction". It then moves at the " Pr.48 Zero point return speed" when the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
The machine decelerates to the " Pr.49 Creep speed", and subsequently moves at that speed.
3)
(Torque limiting is required at this time. If the torque is not limited, the servomotor may fail in step 4).)
4) The machine presses against the stopper at the creep speed and stops.
5) The pulse output from the AD75 will stop when the " Pr.51 Zero point return dwell time" has elapsed after the near-point dog turns ON,
outputting the "deviation counter clear output" to the drive unit.
After a "deviation counter clear output" is output to the drive unit, the zero point return complete flag ( Md.40 Status: b4) turns from OFF
6)
to ON, and the zero point return request flag ( Md.40 Status: b3) turns from ON to OFF.
V
Pr. 48 Zero point return speed
Stopper
t
1) 2) 3) 4) 5) 6)
Range in which the servomotor rotation
is forcibly stopped by the stopper
Torque limit
ON
Near-point dog OFF
Time out of dwell time
Dwell time measurement
ON
8-8
8 ZERO POINT RETURN CONTROL
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Restrictions
(1) Always limit the servomotor torque after the " Pr.49 Creep speed" is reached.
If the torque is not limited, the servomotor may fail when the machine presses
against the stopper. (Refer to section "12.4.2 Torque limit function".)
(2) The zero point return retry function cannot be used with the “stopper stop
method 1).”
V
Pr. 48 Zero point return speed
Stopper
t
" Pr. 51 Zero point return
dwell time" setting
ON
Machine zero point return start OFF
(Positioning start signal)
ON
Zero point return request flag OFF
[ Md.40 Status : b3]
Md.29 Current feed value Inconsistent Value the machine moved is stored Address at stop
Md.30 Machine feed value
Fig. 8.4 Operation when the dwell time elapses during deceleration from the zero point return
speed
8-9
8 ZERO POINT RETURN CONTROL
MELSEC-A
(3) If the " Pr.51 Zero point return dwell time" elapses before the stop at the
stopper, the workpiece will stop at that position, and that position will be
regarded as the zero point.
At this time, an error will not occur.
Stopper
Torque limit
ON
Near-point dog OFF
Time out of dwell time
Dwell time measurement
ON
Machine zero point return start OFF
(Positioning start signal)
ON
Zero point return request flag OFF
[ Md.40 Status : b3]
ON
Zero point return complete flag OFF
[ Md.40 Status : b4]
Fig. 8.5 Operation when the dwell time elapses before the stop at the stopper
(4) Machine zero point returns started while the near-point dog is ON will start at
the " Pr.49 Creep speed".
(5) If the restart command is turned ON after machine zero point return is stopped
upon a stop signal, an error “zero point return restart not possible” (error code:
209) occurs.
8 - 10
8 ZERO POINT RETURN CONTROL
MELSEC-A
The following shows an operation outline of the "stopper stop method 2)" zero point
return method.
Operation chart
The machine zero point return is started.
1) (The machine begins the acceleration designated in " Pr.53 Zero point return acceleration time selection", in the direction designated in
" Pr.46 Zero point return direction". It then moves at the " Pr.48 Zero point return speed" when the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
The machine decelerates to the " Pr.49 Creep speed", and subsequently moves at that speed.
3)
(Torque limiting is required at this time. If the torque is not limited, the servomotor may fail in step 4).)
4) The machine presses against the stopper at the creep speed and stops.
The pulse output from the AD75 will stop at the zero point signal after the machine stops, outputting the "deviation counter clear output"
5)
to the drive unit.
After a "deviation counter clear output" is output to the drive unit, the zero point return complete flag ( Md.40 Status: b4) turns from OFF
6)
to ON, and the zero point return request flag ( Md.40 Status: b3) turns from ON to OFF.
Stops at stopper
1) 2) 3) 4) 5) 6) t
Torque limit
ON
Near-point dog OFF
ON
Machine zero point return start OFF
(Positioning start signal)
ON
Zero point return request flag OFF
[ Md.40 Status : b3]
ON
Zero point return complete flag OFF
[ Md.40 Status : b4]
8 - 11
8 ZERO POINT RETURN CONTROL
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Restrictions
(1) Always limit the servomotor torque after the " Pr.49 Creep speed" is reached.
If the torque is not limited, the servomotor may fail when the machine presses
against the stopper. (Refer to section "12.4.2 Torque limit function".)
(2) A pulse generator with zero point signal is required. When the pulse generator
is not provided with a zero point signal, create a zero point signal with an
external signal.
(3) In the "stopper method 2)", the zero point return retry function is unusable.
V
Pr. 48 Zero point return speed
Stopper
ON
Near-point dog OFF
ON
Machine zero point return start OFF
(Positioning start signal)
ON
Fig. 8.7 Operation when a zero point signal is input before the creep speed is reached
8 - 12
8 ZERO POINT RETURN CONTROL
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(3) If the zero point signal is input before the workpiece stops at the stopper, the
workpiece will stop at that position, and that position will be regarded as the
zero point.
At this time, an error will not occur.
Stopper
Torque limit
ON
Near-point dog OFF
ON
Fig. 8.8 Operation when the zero point signal is input before the stop at the stopper
(4) Machine zero point returns started while the near-point dog is ON will start at
the " Pr.49 Creep speed".
(5) If the restart command is turned ON after machine zero point return is stopped
upon a stop signal, an error “zero point return restart not possible” (error code:
209) occurs.
8 - 13
8 ZERO POINT RETURN CONTROL
MELSEC-A
The following shows an operation outline of the "stopper stop method 3)" zero point
return method.
The "stopper stop type 3)" method is effective when a near-point dog has not been
installed. (Note that the operation is carried out from the start at the " Pr.49 Creep
speed", so it will take some time until the machine zero point return completion.)
Operation chart
The machine zero point return is started.
(The machine moves at the " Pr.49 Creep speed", in the direction designated in " Pr.46 Zero point return direction".
1)
Torque limiting is required at this time. If the torque is not limited, the servomotor may fail when the machine presses
against the stopper in step 2.)
2) The machine presses against the stopper at the " Pr.49 Creep speed" and stops.
The pulse output from the AD75 will stop at the zero point signal after the machine stops, outputting the "deviation
3)
counter clear output" to the drive unit.
After a "deviation counter clear output" is output to the drive unit, the zero point return complete flag ( Md.40 Status:
4)
b4) turns from OFF to ON, and the zero point return request flag ( Md.40 Status: b3) turns from ON to OFF.
V
Pr. 49 Creep speed
Stops at stopper
Torque limit
ON
Machine zero point return start OFF
(Positioning start signal)
ON
8 - 14
8 ZERO POINT RETURN CONTROL
MELSEC-A
Restrictions
(1) Always limit the servomotor torque after the " Pr.49 Creep speed" is reached.
If the torque is not limited, the servomotor may fail when the machine presses
against the stopper. (Refer to section "12.4.2 Torque limit function".)
(2) The zero point retry function cannot be used in "stopper stop method 3)".
Stopper
ON
Fig. 8.10 When the zero point signal is input before the stop at the stopper
(2) If the restart command is turned ON after machine zero point return is stopped
upon a stop signal, an error “zero point return restart not possible” (error code:
209) occurs.
8 - 15
8 ZERO POINT RETURN CONTROL
MELSEC-A
The following shows an operation outline of the "count method 1)" zero point return
method.
Operation chart
The machine zero point return is started.
(The machine begins the acceleration designated in " Pr.53 Zero point return acceleration time selection", in the
1)
direction designated in " Pr.46 Zero point return direction". It then moves at the " Pr.48 Zero point return speed" when
the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
3) The machine decelerates to the " Pr.49 Creep speed", and subsequently moves at that speed.
On detection of the first zero point signal after the axis has traveled the movement amount set in the " Pr.52 Setting for
4) the movement amount after near-point dog ON" after the near-point dog ON, the pulse output from the AD75 stops and
the "deviation counter clear output" is output to the drive unit.
After a "deviation counter clear output" is output to the drive unit, the zero point return complete flag ( Md.40 Status: b4)
5)
turns from OFF to ON, and the zero point return request flag ( Md.40 Status: b3) turns from ON to OFF.
8 - 16
8 ZERO POINT RETURN CONTROL
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Restrictions
A pulse generator with a zero point signal is required.
When using a pulse generator without a zero point signal, generate a zero point
signal using an external signal.
(1) If “ Pr.52 Setting for the movement amount after near-point dog ON” is
smaller than the deceleration distance traveled from “ Pr.48 Zero point return
speed” to “ Pr.49 Creep speed,” an error “count method movement amount
fault” (error code: 206) occurs to cause a failure to start.
Deceleration and stop occur if the speed is changed in the middle to cause an
error to be developed.
(2) The following shows the operation when a machine zero point return is started
while the near-point dog is ON.
Pr.52 Setting for the movement [Operation when a machine zero point return
amount after near-point dog ON
is started at the near-point dog ON position]
4)
1) 5)
1) A machine zero point return is started.
2) The machine moves at the zero point return
speed in the opposite direction of the
designated zero point return direction.
3) Deceleration processing is carried out by
" Pr.40 Stop group 3 sudden stop selection"
3) when the near-point dog OFF is detected.
2)
4) After the machine stops, a machine zero
point return is carried out in the designated
zero point return direction.
ON
Near-point dog OFF 5) The machine zero point return is completed
after the deviation counter clear output is
provided on detection of the first zero point
signal after the travel of the movement
Zero point signal amount set to " Pr.52 Setting for the
movement amount after near-point dog ON"
on detection of the near-point dog signal ON.
Fig. 8.12 Count type 1) machine zero point return on the near-point dog ON position
(3) If the restart request is turned ON after zero point return is stopped upon a
stop signal, an error “zero point return restart not possible” (error code: 209)
occurs.
REMARK
• With the “count method 1)” machine zero point return, return to the machine
zero point can be made at the near-point dog ON.
• With the “count method 1)” machine zero point return, continuous start can be
made after return to the machine zero point is completed.
8 - 17
8 ZERO POINT RETURN CONTROL
MELSEC-A
The following shows an operation outline of the "method 2)" zero point return method.
The "count method 2)" method is effective when a "zero point signal" cannot be
received. (Note that compared to the "count type 1)" method, using this method will
result in more deviation in the stop position during machine zero point returns.)
Operation chart
The machine zero point return is started.
(The machine begins the acceleration designated in " Pr.53 Zero point return acceleration time
1)
selection", in the direction designated in " Pr.46 Zero point return direction". It then moves at the " Pr.48
Zero point return speed" when the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
3) The machine decelerates to the " Pr.49 Creep speed", and subsequently moves at that speed.
The pulse output from the AD75 will stop and the machine zero point return will be completed when the
4) machine moves the movement amount set in " Pr.52 Setting for the movement amount after near-point
dog ON " from the near-point dog ON position.
t
1) 2) 3) 4)
Md.44 Movement amount after near-point dog ON *1
8 - 18
8 ZERO POINT RETURN CONTROL
MELSEC-A
Restrictions
When this method is used, a deviation will occur in the stop position (zero point)
compared to other zero point return methods because an error of about 1 ms
occurs in taking in the near-point dog ON.
(1) If “ Pr.52 Setting for the movement amount after near-point dog ON” is
smaller than the deceleration distance traveled from “ Pr.48 Zero point return
speed” to “ Pr.49 Creep speed,” an error “count method movement amount
fault” (error code: 206) occurs to cause a failure to start.
Deceleration and stop occur if the speed is changed in the middle to cause an
error to be developed.
(2) The following shows the operation when a machine zero point return is started
while the near-point dog is ON.
Fig. 8.14 Count method 2) machine zero point return on the near-point dog ON position
(3) If the restart command is turned ON after machine zero point return is stopped
upon a stop signal, an error “zero point return restart not possible” (error code:
209) occurs.
8 - 19
8 ZERO POINT RETURN CONTROL
MELSEC-A
* The " Pr.47 Zero point address" is a fixed value set by the user, but the
" Md.43 Zero point absolute position" is constantly changed by the AD75 to
indicate the "zero point", even if there is a change in the address information.
M
Zero point
Positioning to the zero
8 - 20
8 ZERO POINT RETURN CONTROL
MELSEC-A
t1
Positioning operation
Fig. 8.16 Operation timing and processing time of high-speed zero point returns
Operating restrictions
When the zero point return complete flag ( Md.40 Status: b3) is ON, executing a
high-speed zero point return start will result in an error "zero point return request
ON" (error code: 207)".
8 - 21
8 ZERO POINT RETURN CONTROL
MELSEC-A
Restrictions
The "zero point absolute position overflow/underflow flags" ( Md.40 Status:
b11/b12) must be turned OFF.
Designate the value set in " Pr.8 Acceleration time 0" as the
Da.3 Acceleration time No. 0
acceleration time at start.
Designate the value set in " Pr.9 Deceleration time 0" as the
Da.4 Deceleration time No. 0
deceleration time at deceleration.
Positioning address/ Set " Md.43 Zero point absolute position" in the positioning address.
Da.5
movement amount (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.6 Arc address – Setting not required. (Setting value will be ignored.)
Da.7 Command speed 20.00mm/min Set the speed when moving to the positioning address.
Set the time from the positioning stop (pulse output stop) to the output
Da.8 Dwell time 500ms
of the positioning complete signal.
Set when carrying out other auxiliary operation commands in
Da.9 M code 0
combination with the No. 1 positioning data
* Refer to section "5.3 List of positioning data" for information on the setting details.
8 - 22
8 ZERO POINT RETURN CONTROL
MELSEC-A
ON
Positioning start signal [Y10] OFF
ON
PLC READY signal [Y1D] OFF
ON
AD75 READY signal [X0] OFF
ON
Start complete signal [X1] OFF
ON
BUSY signal [X4] OFF
Fig. 8.17 Start time chart for positioning to the zero point
8 - 23
8 ZERO POINT RETURN CONTROL
MELSEC-A
8 - 24
8 ZERO POINT RETURN CONTROL
MELSEC-A
Example
*
* Reception program for high-speed machine zero point return commands
*
8 - 25
8 ZERO POINT RETURN CONTROL
MELSEC-A
MEMO
8 - 26
Chapter 9
The details and usage of the main positioning controls (control functions using the
"positioning data") are explained in this chapter.
The main positioning controls include such controls as "positioning control" in which
positioning is carried out to a designated position using the address information,
"speed control" in which a rotating object is controlled at a constant speed, and
"speed/position changeover control" in which the operation is shifted from "speed control"
to "position control".
9-1
9 MAIN POSITIONING CONTROL
MELSEC-A
"Main positioning controls" are carried out using the "positioning data" stored in the
AD75.
The basic controls such as position control and speed control are executed by setting
the required items in this "positioning data", and then starting that positioning data.
The control method for the "main positioning controls" is set in setting item " Da.2
Control method" of the positioning data.
Control defined as a "main positioning control" carries out the following types of control
according to the " Da.2 Control method" setting.
9-2
9 MAIN POSITIONING CONTROL
MELSEC-A
The following table shows an outline of the "positioning data" configuration and setting
details required to carry out the "main positioning controls".
Setting item Setting details
Set the method by which the continuous positioning data (Ex: positioning data No. 1,
Da.1 Operation pattern
No. 2, No. 3) will be controlled. (Refer to section 9.1.2.)
Da.2 Control method Set the control method defined as a "main positioning control". (Refer to section 9.1.)
Select and set the acceleration time at control start. (Select one of the four values set in
Da.3 Acceleration time No.
Pr.8 , Pr.26 , Pr.27 , and Pr.28 for the acceleration time.)
Positioning data No. 1
Select and set the deceleration time at control stop. (Select one of the four values set in
Da.4 Deceleration time No.
Pr.9 , Pr.29 , Pr.30 , and Pr.31 for the deceleration time.)
Positioning address/
Da.5 Set the target value during position control. (Refer to section 9.1.3.)
movement amount
Da.6 Arc address Set the auxiliary point or center point address during circular interpolation control.
Da.7 Command speed Set the speed during the control execution.
Set the time the machine waits from the completion of the executed positioning control
Da.8 Dwell time and the stopping of the workpiece until the judgment of the AD75 positioning
completion.
Set this item when carrying out auxiliary work (clamp and drill stops, tool replacement,
Da.9 M code
etc.) corresponding to the code No. related to the positioning data execution.
* The settings and setting requirement for the setting details of Da.1 to Da.9 differ according to the
" Da.2 Control method". (Refer to section "9.2 Setting the positioning data".)
REMARK
• Up to 600 positioning data items (positioning data No.1 to 600) can be set per axis.
9-3
9 MAIN POSITIONING CONTROL
MELSEC-A
The following shows examples of operation patterns when "1-axis linear control (ABS
linear 1)" is set in positioning data No. 1 to No. 6 of axis 1. Details of each operation
pattern are shown on the following pages.
< Operation example when "1-axis linear positioning" is set in the positioning data of axis 1 >
(Setting details)
No.1 Start
Positioning data No.1 Positioning to address [A] at command speed [a] Operation pattern = 11: Continuous path control
No.2 Positioning to address [B] at command speed [b] Operation pattern = 11: Continuous path control
No.3 Positioning to address [C] at command speed [a] Operation pattern = 01: Continuous positioning control
No.4 Positioning to address [D] at command speed [b] Operation pattern = 01: Continuous positioning control
11 01 00
a The machine stops, and
then continues the next
positioning operation.
Speed is changed Positioning is terminated
without stopping
Time
(One motor is driven, and positioning is carried out to an addresses designated in one direction.)
9-4
9 MAIN POSITIONING CONTROL
MELSEC-A
Dwell time
Time
ON
Positioning start signal [Y10, Y11, Y12] OFF
ON
Start complete signal [X1, X2, X3] OFF
ON
BUSY signal [X4, X5, X6] OFF
ON
Positioning complete signal [X7, X8, X9] OFF
9-5
9 MAIN POSITIONING CONTROL
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(a) The machine always automatically decelerates each time the positioning is
completed. Acceleration is then carried out after the AD75 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.
(b) In operation by continuous positioning control (operation pattern "01"), the
next positioning No. is automatically executed. Always set operation pattern
"00" in the last positioning data to terminate the positioning.
If the operation pattern is set to positioning continue ("01" or "11"), the
operation will continue until operation pattern "00" is found.
The operation may be carried out until the max. data item No. 600 if
operation pattern "00" cannot be found because it was not set in the last
positioning data.
Dwell
time
Positioning continue (01)
Positioning continue (01)
Time
ON
Positioning start signal [Y10, Y11, Y12] OFF
ON
Start complete signal [X1, X2, X3] OFF
ON
BUSY signal [X4, X5, X6] OFF
ON
Positioning complete signal [X7, X8, X9] OFF
9-6
9 MAIN POSITIONING CONTROL
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Time
ON
Positioning start signal [Y10, Y11, Y12] OFF
ON
OFF
Start complete signal [X1, X2, X3]
ON
BUSY signal [X4, X5, X6] OFF
ON
Positioning complete signal [X7, X8, X9] OFF
Fig. 9.3 Operation during continuous path control (Standard speed changeover mode)
POINT
Speed fluctuation can be eliminated by setting the mode to the near pass mode.
(Refer to section "12.3.3 Near pass mode function".)
9-7
9 MAIN POSITIONING CONTROL
MELSEC-A
Speed becomes 0
POINT
(1) Only the movement direction of the reference axis is checked during interpolation operations
Thus, automatic deceleration is not carried out if the movement direction does not change in the reference axis.
Because of this, the interpolation axis may suddenly reverse direction.
To avoid this sudden direction reversal in the interpolation axis, set the pass point to continuous positioning control
"01" instead of setting it to continuous positioning control "11".
[Positioning by interpolation] [Reference axis operation] [Interpolation axis operation]
V V
Reference axis t
Positioning data No.1 • • • Continuous path control Positioning data Positioning data Positioning data Positioning data
No.1 No.2 No.1 No.2
(2) Automatic deceleration will not be carried out either the positioning data No. currently being executed or the next
positioning data No. uses circular interpolation control as a control method.
9-8
9 MAIN POSITIONING CONTROL
MELSEC-A
POINT
(3) When the interpolation axis reveres direction suddenly, the command pulses from AD75 are output as shown in the
figure below.
t1
t2
The t1 and t2 are calculated using the following expressions, where a command frequency is f (pps).
t1 = 1/2 f (s) t2 = 1/f (s)
A time of t1 must be maintained by the drive unit for a specified period T (s).
(T depends on the drive unit specifications.)
If t1 cannot be maintained for T or longer, lower the " Da.7 Command speed" of the positioning data.
(4) In the continuous path control positioning data, assure a movement distance so that the execution time with that
data is 100 ms or longer, or lower the command speed.
9-9
9 MAIN POSITIONING CONTROL
MELSEC-A
Speed P1 P2 P3 P4 P5
3000
2000
1000
POINT
(1) Speed fluctuation can be eliminated by setting the mode to the near pass mode. (Refer to section
"12.3.3 Near pass mode function".)
(2) The AD75 holds the command speed set with the positioning data as the " Da.7 Command speed",
and the latest value of the speed set with the speed change request as the " Md.36 Current speed". It
controls the operation at the " Md.36 current speed" when "-1" is set in the command speed.
(Depending on the relation between the movement amount and the changed speed, the feedrate may
not reach the new speed value, but even then the current speed will be updated.)
(3) When the address for speed change is identified beforehand, generate and execute the positioning
data for speed change by the continuous path control to carry out the speed change without requesting
the speed change with a sequence program.
9 - 10
9 MAIN POSITIONING CONTROL
MELSEC-A
Speed
V changeover Dwell time Dwell time
Positioning t
ON
Positioning start signal [Y10, Y11, Y12] OFF
ON
Start complete signal [X1, X2, X3] OFF
ON
BUSY signal [X4, X5, X6] OFF
ON
Positioning complete signal [X7, X8, X9] OFF
9 - 11
9 MAIN POSITIONING CONTROL
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[When the speed cannot change over in P2] [When the movement amount is small during
When the relation of the speeds is P1 = automatic deceleration]
P4, P2 = P3, P1 < P2. The movement amount required to carry out the
automatic deceleration cannot be secured, so the
machine immediately stops in a speed ≠ 0 status.
P1 P2 P3 P4
Positioning address.
V
Dwell time Dwell time
Positioning t
ON
Positioning start signal [Y10, Y11, Y12] OFF
ON
Start complete signal [X1, X2, X3] OFF
ON
BUSY signal [X4, X5, X6] OFF
ON
Positioning complete signal [X7, X8, X9] OFF
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[When the speed cannot change over to the [When the movement amount is small during
P2 speed in P1] automatic deceleration]
When the relation of the speeds is P1 = The movement amount required to carry out the
P4, P2 = P3, P1 < P2. automatic deceleration cannot be secured, so the
machine immediately stops in a speed ≠ 0 status.
P1 P2 P3 P4
Positioning address
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The following shows the two methods for commanding the position in control using
positioning data.
Absolute system
Positioning is carried out to a designated position (absolute address) having the
zero point as a reference. This address is regarded as the positioning address.
(The start point can be anywhere.)
Increment system
The position where the machine is currently stopped is regarded as the start point,
and positioning is carried out for a designated movement amount in a designated
movement direction.
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The "current feed value" and "machine feed value" are used in monitoring the
current value display, etc.
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Restrictions
(1) A 56.8ms error will occur in the current value update timing when the stored
"current feed value" and "machine feed value" are used in the control.
(2) The "current feed value" and "machine feed value" may differ from the values
set in " Da.5 Positioning address/movement amount" of the positioning data
if the movement amount per pulse is not set to "1".
Example
*
* Program in which the axis 1 current feed value is read to D104 and D105
*
* <Read current feed value to D104 and D105>.
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When the control unit is set to "degree", the following items differ from when other
control units are set.
359.99999° 359.99999°
0° 0° 0°
(2) Positioning control method when the control unit is set to "degree"
Example
1) Positioning is carried out in a clockwise direction when the current value is moved from 315° to 45°.
2) Positioning is carried out in a counterclockwise direction when the current value is moved from 45° to 315°.
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Example
When the current value is moved from 0° to 315°, positioning is carried out in the clockwise direction
if the software stroke limit lower limit value is 0° and the upper limit value is 345°.
345.00000° 0°
315.00000°
POINT
Positioning addresses are within a range of 0° to 359.99999°.
Use the increment system to carry out positioning of one rotation or more.
POINT
Positioning of 360° or more can be carried out with the increment system.
At this time, set as shown below to invalidate the software stroke limit.
[Software stroke limit upper limit value = Software stroke limit lower limit value]
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*: In case of a 2-axis module, the reference axis is axis 1 and the interpolation axis is axis 2.
Da.6 Arc address (Only during circular interpolation, (Only during circular interpolation,
right arc, and left arc) right arc, and left arc)
Da.7 Command speed –
Da.8 Dwell time –
Da.9 M code –
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POINT
The speed limit does not function for the speed calculated by the AD75 during
interpolation control. Because of this, observe the following precautions when
setting the speed.
• When the "composite speed" is set, set a value so the speed for each axis does
not exceed the " Pr.7 Speed limit value".
• When the "reference axis speed" is set, set so the major axis side becomes the
reference axis. If the minor axis side is set as the reference axis, the major axis
side speed may exceed the " Pr.7 Speed limit value".
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The setting requirements and details for the setting items of the positioning data to be
set differ according to the " Da.2 Control method".
The following table shows the positioning data setting items corresponding to the
different types of control. Details and settings for the operation of each control are
shown in section 9.2.2 and subsequent sections.
(In this section, it is assumed that the positioning data setting is carried out using the
AD75 software package.)
Main positioning control Position control Other control
1-axis fixed-dimension
2-axis fixed-dimension
interpolation control
1-axis linear control
changeover control
JUMP command
Speed/position
Speed control
2-axis circular
2-axis linear
feed control
feed control
Independent
positioning control
Operation Continuous positioning
Da.1
pattern control
Continuous path
control
Forward
Fixed-
run Forward run
dimension Circular
Speed speed/posi-
Linear 1 feed1 interpolation Current
limited tion JUMP
Da.2 Control method Linear 2 Fixed- Circular right value
Reverse Reverse run command
* dimension Circular left change
run speed/posi-
feed 2 *
Speed tion
*
limited
Da.3 Acceleration time No. – –
Da.4 Deceleration time No. – –
Change
Positioning address/movement
Da.5 – – destination –
amount
address
Da.6 Arc address – – – – – –
Da.7 Command speed – –
JUMP
destination
Da.8 Dwell time –
positioning
data No.
Da.9 M code –
: Always set : Set as required ("–" when not set) : Setting not possible : Setting limited
– : Setting not required (Setting value is invalid. Use the initial values or setting values within a range where no error occurs.)
* : The "ABS (absolute) method" or "INC (incremental) method" can be used for the control method.
REMARK
• It is recommended that the "positioning data" be set whenever possible with the AD75 software package.
Execution by sequence program uses many sequence programs and devices. The execution becomes
complicated, and the scan times will increase.
• A "Block transmission" is required when setting No. 101 and subsequent positioning data using a
sequence program.
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In "1-axis linear control" (" Da.2 Control method" = ABS linear 1, INC linear 1), one
motor is used to carry out position control in a set axis direction.
Operation chart
In absolute system 1-axis linear control, addresses established by a machine zero
point return are used. Positioning is carried out from the current stop position (start
point address) to the address (end point address) set in " Da.5 Positioning
address/movement amount".
Example
When the start point address (current stop position) is 1000, and the end point address (positioning address) is 8000,
positioning is carried out in the positive direction for a movement amount of 7000 (8000-1000)
0 1000 8000
Acceleration time Designate the value set in " Pr.26 Acceleration time 1" as the
Da.3 1
No. acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as the
Da.4 0
No. deceleration time at deceleration.
Positioning address/ Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit
Da.5
movement amount 8 0 0 0 . 0 µm
setting".)
Da.6 Arc address – Setting not required (setting value will be ignored).
Da.7 Command speed 6000.00mm/min Set the speed during movement to the positioning address.
Set the time the machine dwells after the positioning stop (pulse output
Da.8 Dwell time 500ms
stop) to the output of the positioning complete signal.
Set this when other auxiliary operation commands are issued in
Da.9 M code 10
combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
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Operation chart
In increment system 1-axis linear control, addresses established by a machine
zero point return are used. 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.5 Positioning address/movement amount". The movement direction is
determined by the sign of the movement amount.
Example
When the start point address is 5000, and the movement amount is -7000, positioning is carried out to
the -2000 position.
Acceleration time Designate the value set in " Pr.26 Acceleration time 1" as the
Da.3 1
No. acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as the
Da.4 0
No. deceleration time at deceleration.
Positioning address/ Set the movement amount. (Assuming "mm" is set in " Pr.1 Unit
Da.5 – 7 0 0 0 . 0 µm
movement amount setting".)
Da.6 Arc address – Setting not required (setting value will be ignored).
Da.7 Command speed 6000.00mm/min Set the speed during movement.
Set the time the machine dwells after the positioning stop (pulse output
Da.8 Dwell time 500ms
stop) to the output of the positioning complete signal.
Set this when other auxiliary operation commands are issued in
Da.9 M code 10
combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
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In "2-axis linear interpolation control" (" Da.2 Control method" = ABS linear 2, INC
linear 2), two motors are used to carry out position control in a linear path while
carrying out interpolation for the axis directions set in each axis.
(Refer to section "9.1.6 Interpolation control" for details on interpolation control.)
Operation chart
In absolute system 2-axis linear control, addresses established by a machine zero
point return on a 2-axis coordinate plane are used. Linear interpolation positioning
is carried out from the current stop position (start point address) to the address
(end point address) set in " Da.5 Positioning address/movement amount".
Y axis movement
amount Movement by linear interpolation of the X axis and Y axis
Y1
Reverse direction
Example
When the start point address (current stop position) is (1000, 4000) and the end point address
(positioning address) is (10000, 1000), positioning is carried out as follows.
Axis 2
Axis 1
0 5000 10000
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Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning control.
• When the movement amount for each axis exceeds "1073741824 (=230)"
An error "outside linear movement amount range" (error code: 504) will occur at
the positioning start.
(The maximum movement amount that can be set in " Da.5 Positioning
30
address/movement amount" is "1073741824 (=2 )"
Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Positioning address/ Set the end point address. (Assuming "mm" is set in
Da.5 10000.0 µm 1000.0 µm " Pr.1 Unit setting".)
movement amount
Da.6 Arc address – – Setting not required (setting value will be ignored).
6000.00
Da.7 Command speed – Set the speed during movement to the end point address.
mm/min
Set the time the machine dwells after the positioning stop
Da.8 Dwell time 500ms – (pulse output stop) to the output of the positioning complete
signal.
Set this when other auxiliary operation commands are
Da.9 M code 10 –
issued in combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
POINT
The speed limit does not function for the speed calculated by the AD75 during
interpolation control. Because of this, observe the following precautions when
setting the speed.
• When the "composite speed" is set, set a value so the speed for each axis does
not exceed the " Pr.7 Speed limit value".
• When the "reference axis speed" is set, set so the major axis side becomes the
reference axis. If the minor axis side is set as the reference axis, the major axis
side speed may exceed the " Pr.7 Speed limit value".
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Operation chart
In increment system 2-axis linear interpolation control, addresses established by a
machine zero point return on a 2-axis coordinate plane are used. Linear
interpolation 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.5
Positioning address/movement amount". The movement direction is determined
by the sign of the movement amount.
Y axis movement
amount Movement by linear interpolation
positioning of the X axis and Y axis
Y1
X axis movement
amount
Reverse direction
Example
When the axis 1 movement amount is 9000 and the axis 2 movement amount is -3000, positioning is
carried out as follows.
Axis 2
Start point address
4000 (current stop position)
Axis 1
0 5000 10000
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Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning
operation.
• When the movement amount for each axis exceeds "1073741824 (=230)"
An error "outside linear movement amount range" (error code: 504) will occur at
the positioning start.
(The maximum movement amount that can be set in " Da.5 Positioning
30
address/movement amount" is "1073741824 (=2 )"
Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Positioning address/ Set the movement amount. (Assuming "mm" is set in
Da.5 9000.0 µm -3000.0 µm
movement amount " Pr.1 Unit setting".)
Da.6 Arc address – – Setting not required (setting value will be ignored).
6000.00
Da.7 Command speed – Set the speed during movement.
mm/min
Set the time the machine dwells after the positioning stop
Da.8 Dwell time 500ms – (pulse output stop) to the output of the positioning complete
signal.
Set this when other auxiliary operation commands are
Da.9 M code 10 –
issued in combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
POINT
The speed limit does not function for the speed calculated by the AD75 during
interpolation control. Because of this, observe the following precautions when
setting the speed.
• When the "composite speed" is set, set a value so the speed for each axis does
not exceed the " Pr.7 Speed limit value".
• When the "reference axis speed" is set, set so the major axis side becomes the
reference axis. If the minor axis side is set as the reference axis, the major axis
side speed may exceed the " Pr.7 Speed limit value".
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Operation chart
In 1-axis fixed-dimension feed control, the address ( Md.29 Current feed 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.5
Positioning address/movement amount".
The movement direction is determined by the movement amount sign.
Stop position
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Restrictions
(1) An error "Continuous path control not possible" (error code: 516) will occur and
the operation cannot start if "continuous path control" is set in " Da.1
Operation pattern". ("Continuous path control" cannot be set in fixed-
dimension feed control.)
30
(2) If the movement amount for each axis exceeds "1073741824 (=2 )", an error
"outside linear movement amount range" (error code: 504) will occur at the
positioning start, and a start will not be possible. (The maximum movement
amount that can be set in " Da.5 Positioning address/movement amount" is
30
"1073741824 (=2 .)".
(3) "Fixed-dimension feed" cannot be set in " Da.2 Control method" in the
positioning data when "continuous path control" has been set in " Da.1
Operation pattern" of the immediately prior positioning data. (For example, if
the operation pattern of positioning data No. 1 is "continuous path control",
fixed-dimension feed control cannot be set in positioning data No. 2.) An error
"Continuous path control not possible" (error code: 516) will occur and the
machine will carry out a deceleration stop if this type of setting is carried out.
Acceleration time Designate the value set in " Pr.26 Acceleration time 1" as the
Da.3 1
No. acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as the
Da.4 0
No. deceleration time at deceleration.
Positioning address/ Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit
Da.5 8 0 0 0 0 . 0 µm
movement amount setting".)
Da.6 Arc address – Setting not required (setting value will be ignored).
Da.7 Command speed 6000.00mm/min Set the speed during movement to the positioning address.
Set the time the machine dwells after the positioning stop (pulse output
Da.8 Dwell time 500ms
stop) to the output of the positioning complete signal.
Set this when other auxiliary operation commands are issued in
Da.9 M code 10
combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
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Operation chart
In increment system 2-axis fixed-dimension feed control, the addresses ( Md.29
Current feed value) of the current stop position (start addresses) of both axes are
set to "0". Linear interpolation positioning is then carried out from that position to a
position at the end of the movement amount set in " Da.5 Positioning
address/movement amount". The movement direction is determined by the sign of
the movement amount.
Y axis
(0,0)
Designated movement
(0,0)
amount
(0,0)
X axis
Designated movement
amount
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Restrictions
(1) An error "Continuous path control not possible" (error code: 516) will occur and
the operation cannot start if "continuous path control" is set in " Da.1
Operation pattern". ("Continuous path control" cannot be set in fixed-
dimension feed control.)
30
(2) If the movement amount for each axis exceeds "1073741824 (=2 )", an error
"outside linear movement amount range" (error code: 504) will occur at the
positioning start, and a start will not be possible. (The maximum movement
amount that can be set in " Da.5 Positioning address/movement amount" is
30
"1073741824 (=2 .)".
(3) "Fixed-dimension feed" cannot be set in " Da.2 Control method" in the
positioning data when "continuous path control" has been set in " Da.1
Operation pattern" of the immediately prior positioning data. (For example, if
the operation pattern of positioning data No. 1 is "continuous path control",
fixed-dimension feed control cannot be set in positioning data No. 2.) An error
"Continuous path control not possible" (error code: 516) will occur and the
machine will carry out a deceleration stop if this type of setting is carried out.
Positioning data setting example
The following table shows setting examples when "2-axis fixed-dimension feed
control (fixed-dimension feed 2)" is set in positioning data No. 1 of axis 1. (The
required values are also set in positioning data No. 1 of axis 2.)
Axis Axis 1 Axis 2
(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
Fixed-
Da.2 Control method dimension – Set 2-axis fixed-dimension feed control.
feed 2
Axis 1 Positioning data No. 1
Acceleration time Designate the value set in " Pr.26 Acceleration time 1" as
Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Positioning address/ 80000.0 60000.0 Set the positioning address. (Assuming "mm" is set in
Da.5
movement amount µm µm " Pr.1 Unit setting".)
Da.6 Arc address – – Setting not required (setting value will be ignored).
Set the speed during movement. (Designate the composite
6000.00
Da.7 Command speed – speed of reference axis speed in " Pr.21 Interpolation
mm/min
speed designation method".)
Set the time the machine dwells after the positioning stop
Da.8 Dwell time 500ms – (pulse output stop) to the output of the positioning complete
signal.
Set this when other auxiliary operation commands are
Da.9 M code 10 –
issued in combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
POINT
The speed limit does not function for the speed calculated by the AD75 during interpolation control.
Because of this, observe the following precautions when setting the speed.
• When the "composite speed" is set, set a value so the speed for each axis does not exceed the
" Pr.7 Speed limit value".
• When the "reference axis speed" is set, set so the major axis side becomes the reference axis. If
the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.7
Speed limit value".
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In "2-axis circular interpolation control" (" Da.2 Control method" = ABS circular
interpolation, INC circular interpolation), two motors are used to carry out position
control in an arc path passing through designated auxiliary points, while carrying out
interpolation for the axis directions set in each axis.
(Refer to section "9.1.6 Interpolation control" for details on interpolation control.)
Operation chart
In the absolute system, 2-axis circular interpolation control with auxiliary point
designation, addresses established by a machine zero point return on a 2-axis
coordinate plane are used. Positioning is carried out from the current stop position
(start point address) to the address (end point address) set in " Da.5 Positioning
address/movement amount", in an arc path that passes through the auxiliary point
address set in " Da.6 Arc address".
The resulting control path is an arc having as its center the intersection point of
perpendicular bisectors of a straight line between the start point address (current
stop position) and auxiliary point address (arc address), and a straight line
between the auxiliary point address (arc address) and end point address
(positioning address).
Forward direction
Zero point
Reverse direction
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Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
• When "degree" is set in " Pr.1 Unit setting"
• When the units set in " Pr.1 Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
• When "stepping motor mode" is set in " Pr.11 Stepping motor mode
selection"
• When "reference axis speed" is set in " Pr.21 Interpolation speed
designation method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
• When the radius exceeds "536870912 (2 )". (The maximum radius for which
29
circular interpolation control is possible is "536870912 (2 )"
... An error "outside radius range" (error code: 544) will occur at positioning
start.
31
• When the center point address is outside the range of "–2147483648 (–2 ) to
31
2147483647 (2 –1)"
... An error "auxiliary point setting error" (error code: 525) will occur at
positioning start.
• When the start point address is the same as the end point address
... An error "end point setting error" (error code: 526) will occur.
• When the start point address is the same as the auxiliary point address
... An error "auxiliary point setting error" (error code: 525) will occur.
• When the end point address is the same as the auxiliary point address
... An error "auxiliary point setting error" (error code: 525) will occur.
• When the start point address, auxiliary point address, and end point address
are in a straight line
... An error "auxiliary point setting error" (error code: 525) will occur.
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* Refer to section "5.3 List of positioning data" for information on the setting details.
POINT
Set a value in " Da.7 Command speed" so that the speed of each axis does not
exceed the " Pr.7 Speed limit value". (The speed limit does not function for the
speed calculated by the AD75 during interpolation control.)
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In the increment system, 2-axis circular interpolation control with auxiliary point
designation, addresses established by a machine zero point return on a 2-axis
coordinate plane are used. 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.5 Positioning address/movement amount", in an arc path that passes
through the auxiliary point address set in " Da.6 Arc address".
The resulting control path is an arc having as its center the intersection point of
perpendicular bisectors of the following:
(1) A straight line between the start point address (current stop position) and
auxiliary point address (arc address) calculated from the movement amount to
the auxiliary point.
(2) A straight line between the start auxiliary point address (arc address) and end
point address (positioning address) calculated from the movement amount to
the end point.
Forward direction
Auxiliary point address
Movement by circular interpolation
(arc address)
End point address
(positioning address)
Arc center
Reverse direction Forward direction
Movement amount
to the auxiliary point
Reverse direction
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Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
• When "degree" is set in " Pr.1 Unit setting"
• When the units set in " Pr.1 Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
• When "stepping motor mode" is set in " Pr.11 Stepping motor mode
selection"
• When "reference axis speed" is set in " Pr.21 Interpolation speed
designation method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
• When the radius exceeds "536870912 (2 )". (The maximum radius for which
29
circular interpolation control is possible is "536870912 (2 )"
... An error "outside radius range" (error code: 544) will occur at positioning
start.
31
• When the center point address is outside the range of "–2147483648 (–2 ) to
31
2147483647 (2 –1)"
... An error "auxiliary point setting error" (error code: 525) will occur at
positioning start.
• When the start point address is the same as the end point address
... An error "end point setting error" (error code: 526) will occur.
• When the start point address is the same as the auxiliary point address
... An error "auxiliary point setting error" (error code: 525) will occur.
• When the end point address is the same as the auxiliary point address
... An error "auxiliary point setting error" (error code: 525) will occur.
• When the start point address, auxiliary point address, and end point address
are in a straight line
... An error "auxiliary point setting error" (error code: 525) will occur.
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Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Positioning address/ 80000.0 60000.0 Set the movement amount. (Assuming that the " Pr.1 Unit
Da.5
movement amount µm µm setting" is set to "mm".)
40000.0 30000.0 Set the auxiliary point address. (Assuming that the " Pr.1
Da.6 Arc address
µm µm Unit setting" is set to "mm".)
6000.00 Set the speed during movement. (Designate the composite
Da.7 Command speed –
mm/min speed in " Pr.21 Interpolation speed designation method".)
Set the time the machine dwells after the positioning stop
Da.8 Dwell time 500ms – (pulse output stop) to the output of the positioning complete
signal.
Set this when other auxiliary operation commands are
Da.9 M code 10 –
issued in combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
POINT
Set a value in " Da.7 Command speed" so that the speed of each axis does not
exceed the " Pr.7 Speed limit value". (The speed limit does not function for the
speed calculated by the AD75 during interpolation control.)
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In "2-axis circular interpolation control" (" Da.2 Control method" = ABS right arc, INC
right arc, ABS left arc, INC left arc), two motors are used to carry out position control in
an arc path having a designated center point, while carrying out interpolation for the
axis directions set in each axis.
(Refer to section "9.1.6 Interpolation control" for details on interpolation control.)
The following table shows the rotation directions, arc center angles that can be
controlled, and positioning paths for the different control methods.
Arc center angle that
Control method Rotation direction Positioning path
can be controlled
Positioning path
0° < θ ≤ 360°
Center point
0°< θ ≤ 360°
Counterclockwise
Start point End point
(current stop (positioning address)
INC left arc position)
Positioning path
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9 MAIN POSITIONING CONTROL
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(1) Calculated error " Pr.42 Allowable circular interpolation error width"
Circular interpolation control to the set end point address is carried out while
the error compensation is carried out. (This is called "spiral interpolation".)
(2) Calculated error > " Pr.42 Allowable circular interpolation error width"
At the positioning start, an error "large arc error deviation" (error code: 506)
will occur and the control will not start. The machine will immediately stop if the
error is detected during positioning control.
During arc interpolation control with center point designation, the angle is calculated on
the assumption that movement at the command speed occurs on an arc drawn in the
radius calculated from the start point and center point addresses, and the radius is
corrected in proportion to the angular velocity from the start point.
Therefore, if there is difference between the radius (radius at start point) calculated
from the start point and center point addresses and the radius (radius at end point)
calculated from the end point and center point addresses, the resultant velocity has the
following tendency, different from the command speed.
• If the radius at the start point is larger than that at the end point:
The velocity becomes slower as the end point address draws nearer when
compared with the case including no error.
• If the radius at the start point is smaller than that at the end point:
The velocity becomes faster as the end point address draws nearer when
compared with the case including no error.
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9 MAIN POSITIONING CONTROL
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Operation chart
In the absolute system, 2-axis circular interpolation control with center point
designation, addresses established by a machine zero point return on a 2-axis
coordinate plane are used. Positioning is carried out from the current stop position
(start point address) to the address (end point address) set in " Da.5 Positioning
address/movement amount", in an arc path having as its center the address (arc
address) of the center point set in " Da.6 Arc address".
Radius
Arc address
Reverse direction
Positioning of a complete round with a radius from the start point address to the
arc center point can be carried out by setting the end point address (positioning
address) to the same address as the start point address.
Forward direction
Reverse direction
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9 MAIN POSITIONING CONTROL
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Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
• When "degree" is set in " Pr.1 Unit setting"
• When the units set in " Pr.1 Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
• When "stepping motor mode" is set in " Pr.11 Stepping motor mode
selection"
• When "reference axis speed" is set in " Pr.21 Interpolation speed
designation method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
• When the radius exceeds "536870912 (2 )". (The maximum radius for which
29
circular interpolation control is possible is "536870912 (2 )"
... An error "outside radius range" (error code: 544) will occur at positioning
start.
• When the start point address is the same as the center point address
... An error "center point setting error" (error code: 527) will occur.
• When the end point address is the same as the center point address
... An error "center point setting error" (error code: 527) will occur.
Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Positioning address/ 80000.0 60000.0 Set the positioning address. (Assuming "mm" is set in
Da.5
movement amount µm µm " Pr.1 Unit setting".)
40000.0 30000.0 Set the arc address. (Assuming that the " Pr.1 Unit
Da.6 Arc address
µm µm setting" is set to "mm".)
Set the speed when moving to the end point address.
6000.00
Da.7 Command speed – (Designate the composite speed in " Pr.21 Interpolation
mm/min
speed designation method".)
Set the time the machine dwells after the positioning stop
Da.8 Dwell time 500ms – (pulse output stop) to the output of the positioning complete
signal.
Set this when other auxiliary operation commands are
Da.9 M code 10 –
issued in combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
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9 MAIN POSITIONING CONTROL
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POINT
Set a value in " Da.7 Command speed" so that the speed of each axis does not
exceed the " Pr.7 Speed limit value". (The speed limit does not function for the
speed calculated by the AD75 during interpolation control.)
Operation chart
In the increment system, 2-axis circular interpolation control with center point
designation, addresses established by a machine zero point return on a 2-axis
coordinate plane are used. 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.5 Positioning address/movement amount", in an arc path having as its
center the address (arc address) of the center point set in " Da.6 Arc address".
Movement amount
to the end point
Radius
Positioning of a complete round with a radius of the distance from the start point
address to the arc center point can be carried out by setting the movement amount
to "0".
Forward direction
Movement amount = 0
Reverese direction
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9 MAIN POSITIONING CONTROL
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Start point radius > End point radius: As compared with the speed without error,
the speed becomes slower as end point
address is reached.
Start point radius < End point radius: As compared with the speed without error,
the speed becomes faster as end point
address is reached.
Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
• When "degree" is set in " Pr.1 Unit setting"
• When the units set in " Pr.1 Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
• When "stepping motor mode" is set in " Pr.11 Stepping motor mode
selection"
• When "reference axis speed" is set in " Pr.21 Interpolation speed
designation method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
• When the radius exceeds "536870912 (2 )". (The maximum radius for which
29
circular interpolation control is possible is "536870912 (2 )"
... An error "outside radius range" (error code: 544) will occur at positioning
start.
• When the start point address is the same as the center point address
... An error "center point setting error" (error code: 527) will occur.
• When the end point address is the same as the center point address
... An error "center point setting error" (error code: 527) will occur.
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9 MAIN POSITIONING CONTROL
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Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.9 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Positioning address/ 80000.0 60000.0 Set the movement amount. (Assuming that the " Pr.1 Unit
Da.5
movement amount µm µm setting" is set to "mm".)
40000.0 30000.0 Set the center point address. (Assuming that the " Pr.1
Da.6 Arc address
µm µm Unit setting" is set to "mm".)
Set the speed when moving to the end point address.
6000.00
Da.7 Command speed – (Designate the composite speed in " Pr.21 Interpolation
mm/min
speed designation method".)
Set the time the machine dwells after the positioning stop
Da.8 Dwell time 500ms – (pulse output stop) to the output of the positioning complete
signal.
Set this when other auxiliary operation commands are
Da.9 M code 10 –
issued in combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
POINT
Set a value in " Da.7 Command speed" so that the speed of each axis does not
exceed the " Pr.7 Speed limit value". (The speed limit does not function for the
speed calculated by the AD75 during interpolation control.)
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9 MAIN POSITIONING CONTROL
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In "speed control"(" Da.2 Control method" = Forward run: speed limit, Reverse run:
speed limit), 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.7 Command
speed" until the input of a stop command.
The two types of speed control are "Forward run: speed limit" in which the control
starts in the forward run direction, and "Reverse run: speed limit" in which control starts
in the reverse run direction.
Operation chart
The following chart shows the operation timing for speed control. The "in speed
control flag" ( Md.40 Status: b0) is turned ON during speed control.
ON
OFF
Positioning start signal
[Y10,Y11,Y12]
ON
OFF
BUSY signal
[X4,X5,X6]
Does not turn ON even
when control is stopped
by stop command
OFF
Positioning complete signal
[X7,X8,X9]
ON
OFF
Stop command
ON
In speed control flag
Md.40 Status:b0 OFF
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9 MAIN POSITIONING CONTROL
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t t t
Current feed value during speed control start is maintained Current feed value is updated 0
(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared
Restrictions
(1) Set “Positioning complete” for “ Da.1 Operation pattern.” If “continuous
positioning control” or “continuous path control” is selected, an error
“continuous path control not possible” (error code: 516) occurs, resulting in a
failure to start. (In the speed control mode, “continuous positioning control” or
“continuous path control” cannot be selected.)
(2) To use M codes, set the “WITH” mode for “ Pr.19 M code ON signal output
timing.” If the “AFTER” mode is selected, the M codes are not output and the
“M code ON” signal does not turn ON.
(3) The current speed (“-1”) cannot be set for “ Da.7 Command speed.” If the
current speed is set, an error “no command speed” (error code: 503) occurs.
(4) The software stroke limit check is not made with the “degree” unit.
Positioning data setting examples
The following table shows setting examples when "speed control (forward run:
speed limit)" is set in positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Positioning Setting other than "Positioning complete" is not possible in speed
Da.1 Operation pattern
complete control.
Forward run:
Da.2 Control method Set speed control.
speed limit
Designate the value set in " Pr.26 Acceleration time 1" as the
Positioning data No. 1
* Refer to section "5.3 List of positioning data" for information on the setting details.
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9 MAIN POSITIONING CONTROL
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Operation chart
The following chart (Fig.9.10) shows the operation timing for speed/position
changeover control. The "in speed control flag" ( Md.40 Status: b0) is turned ON
during speed control of speed/position changeover control.
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9 MAIN POSITIONING CONTROL
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ON
OFF
Positioning start signal
[Y10,Y11,Y12]
ON
OFF
BUSY signal
[X4,X5,X6]
ON
OFF
Positioning complete signal
[X7,X8,X9]
ON
OFF
Speed/position changeover signal
ON
OFF
Cd. 20 Speed/position
changeover enable flag
ON
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9 MAIN POSITIONING CONTROL
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Positioning start
signal [Y10,Y11,Y12]
t1
M code ON signal
[XD,XE,XF](WITH mode)
t2
Cd.14 M code OFF request
t4
Output pulse to external source
(PULSE)
Speed Position
control control
Positioning operation
*
Positioning complete signal
[X7,X8,X9] t7
M code ON signal (AFTER mode)
[XD,XE,XF]
t2
Cd.14 M code OFF request
Fig. 9.11 Operation timing and processing time during speed/position changeover control
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9 MAIN POSITIONING CONTROL
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Speed Speed control Position control Speed Speed control Position control Speed Speed control Position control
t t t
(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared
ON
ON
Speed/position changeover latch flag OFF
1ms
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9 MAIN POSITIONING CONTROL
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Movement amount
change possible
ON
Speed/position changeover signal OFF
Setting after the speed/position
changeover signal ON is ignored
POINT
• The machine recognizes the presence of a movement amount change request when the data is
written to " Cd.21 Speed/position changeover control movement amount change register" with the
sequence program.
• The new movement amount is validated after execution of the speed/position changeover control,
before the input of the speed/position changeover signal.
• The movement amount change can be enabled/disabled with the interlock function in position
control using the "speed/position changeover latch flag" of the axis monitor area.
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9 MAIN POSITIONING CONTROL
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Restrictions
(1) If “continuous path control” is specified for “ Da.1 Operation pattern,” an error “continuous
path control not possible” (error code: 516) occurs, resulting in a failure to start. (In the
speed or position changeover control mode, “continuous path control” cannot be set.)
(2) If “continuous path control” is specified for “ Da.1 Operation pattern” of the positioning data
immediately before, “speed/position changeover control” cannot be specified for “ Da.2
Control method” in the positioning data. (For example, if the operation pattern of positioning
data No. 1 is “continuous control path control,” “speed/position changeover control” cannot
be specified for positioning data No. 2.) If this setting is given, an error “continuous path
control not possible” (error code: 516) occurs, resulting in deceleration and stop.
(3) If the current speed (-1) is specified for “ Da.7 Command speed,” an error “no command
speed” (error code: 503) occurs.
(4) If the position control movement amount specified for “ Da.5 Positioning
address/movement amount” is smaller than the deceleration distance from “ Da.7
Command speed,” deceleration occurs when the speed/position changeover signal is
supplied.
(5) Turn on the speed/position changeover signal in a stable-speed area (constant-speed
state). If it is turned on during acceleration, a warning “speed/position changeover signal ON
during acceleration” (warning code: 508) occurs due to large variation in the accumulating
pulses.
(6) The software stroke limit range check under speed control is performed only if “1: update
current feed value” is specified for “ Pr.22 Current feed value during speed control.” At this
time, if the movement amount exceeds the software stroke limit range during speed control,
an error “start outside stroke limit +/-” (error code: 507/508) occurs at the timing of the
change to position control, resulting in deceleration and stop.
If the “degree” unit is selected, the software stroke limit range check is not performed.
(7) Do not turn ON the speed/position changeover signal during speed change if the servomotor
is used. (Turn the speed/position changeover signal ON in the stable-speed area (constant-
speed state).) The actual movement amount after switching is the “set movement amount +
amount of accumulated pulses.” If the signal is turned on during acceleration or deceleration,
there is variation in the stopping position due to a large variation in the amount of
accumulated pulses. If “ Da.7 Command speed” varies even if “ Md.38 Speed/position
changeover control positioning amount” is the same, the amount of accumulated pulses
varies and therefore the stopping position varies.
Designate the value set in " Pr.26 Acceleration time 1" as the
Da.3 Acceleration time No. 1
acceleration time at start.
Designate the value set in " Pr.9 Deceleration time 0" as the
Da.4 Deceleration time No. 0
deceleration time at deceleration.
Positioning address/ Set the movement amount after the changeover to position control.
Da.5
movement amount 10000.0µm (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.6 Arc address – Setting not required. (Setting value is ignored.)
Da.7 Command speed 6000.00mm/min Set the speed to be controlled.
Da.8 Dwell time – Setting not required. (Setting value is ignored.)
Set this when other auxiliary operation commands are issued in
Da.9 M code 10
combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
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When the current value is changed to a new value, control is carried out in which the
" Md.29 Current feed value" of the stopped axis is changed to a random address set
by the user. (The " Md.30 Machine feed value" is not changed when the current value
is changed.)
The two methods for changing the current value are shown below.
(1) Current value change using the positioning data
(2) Current value change using the start No. (No. 9003) for a current value
change
The current value change using method [1] is used during continuous positioning of
multiple blocks, etc.
Operation chart
The following chart shows the operation timing for a current value change. The
" Md.29 Current feed value" is changed to the value set in " Da.5 Positioning
address/movement amount" when the positioning start signal turns ON.
ON
Positioning start signal OFF
[Y10,Y11,Y12]
Restrictions
(1) An error "Current value change not possible" (error code: 515) will occur and
the operation cannot start if "continuous path control" is set in " Da.1
Operation pattern". ("Continuous path control" cannot be set in current value
change.)
(2) "Current value change" cannot be set in " Da.2 Control method" of the
positioning data when "continuous path control" has been set in " Da.1
Operation pattern" of the immediately prior positioning data. (For example, if
the operation pattern of positioning data No. 1 is "continuous path control",
"Current value change" cannot be set in positioning data No. 2.) An error
"Current value change not possible" (error code: 515) will occur and the
machine will carry out a deceleration stop if this type of setting is carried out.
(3) An error "Outside current value change" (error code: 514) will occur and the
operation cannot start if "degree" is set in " Pr.1 Unit setting" and the value
set in " Da.5 Positioning address/movement amount" is outside the setting
range.
(4) If the value set in " Da.5 Positioning address/movement amount" is outside
the software stroke limit ( Pr.13 , Pr.14 ) setting range, an error "start outside
stroke limit +/-" (error code: 507/508) will occur at the positioning start, and the
operation will not start.
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9 MAIN POSITIONING CONTROL
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Designate the value set in " Pr.26 Acceleration time 1" as the
Da.3 Acceleration time No. 1
acceleration time at start.
Designate the value set in " Pr.9 Deceleration time 0" as the
Da.4 Deceleration time No. 0
deceleration time at deceleration.
Positioning address/ Set the movement amount after the changeover to position control.
Da.5
movement amount 10000.0µm (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.6 Arc address – Setting not required. (Setting value is ignored.)
Da.7 Command speed 6000.00mm/min Set the speed to be controlled.
Da.8 Dwell time – Setting not required. (Setting value is ignored.)
Set this when other auxiliary operation commands are issued in
Da.9 M code 10
combination with the No. 1 positioning data.
* Refer to section "5.3 List of positioning data" for information on the setting details.
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9 MAIN POSITIONING CONTROL
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(2) Current value change using the start No. (No. 9003) for a current
value change
Operation chart
The current value is changed by setting the new current value in the new current
value buffer memory " Cd.15 New current value", setting "9003" in the " Cd.11
Positioning start No.", and turning ON the positioning start signal.
ON
Positioning start signal OFF
[Y10,Y11,Y12]
Restrictions
(1) An error "Outside current value change" (error code: 514) will occur if the
designated value is outside the setting range when "degree" is set in " Pr.1
Unit setting".
(2) An error will not occur even if the designated value is outside the stroke limit
range.
However, an error "Start outside stroke limit +/-" (error code: 507/508) will
occur at the positioning start.
(3) The current value cannot be changed during stop commands and while the M
code ON signal is ON.
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9 MAIN POSITIONING CONTROL
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* Refer to section "5.7 List of control data" for details on the setting details.
Cd.11 Positioning start No. Data No. during positioning execution 9003
Fig. 9.13 Current value change using the start No. (No. 9003) for a current value change
9 - 57
9 MAIN POSITIONING CONTROL
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(3) Add the following sequence program to the control program, and write it to the
PLC CPU.
Example
*
* Current value change program
*
*
* Store new current feed value in D106 and D107
*
*
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The JUMP command 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".
Operation
(1) Unconditional JUMP
The JUMP command is unconditionally executed. The operation jumps to the
positioning data No. set in " Da.8 Dwell time".
(2) Conditional JUMP
• If the JUMP command execution conditions set in " Da.9 M code" have
been established, the JUMP command is executed and the operation jumps
to the positioning data No. set in " Da.8 Dwell time".
• If the JUMP command execution conditions set in " Da.9 M code" have not
been established, the JUMP command is ignored and the next positioning
data No. is executed.
Restrictions
(1) When using a conditional JUMP command, establish the JUMP command
execution conditions by the 4th positioning data No. before the JUMP
command positioning data No.
If the JUMP command execution conditions are not established by the time the
4th positioning control is carried out before the JUMP command positioning
data No., the operation will be processed as an operation without established
JUMP command execution conditions.
(During execution of continuous path control/continuous positioning control,
the AD75 calculates the positioning data of the positioning data No. four items
ahead of the current positioning data.)
(2) Set JUMP commands in positioning data No. of "continuous positioning
control" or "continuous path" operation patterns.
JUMP commands cannot be set in the positioning data No. of a "Positioning
complete" operation pattern.
Also set the operation pattern to "continuous positioning control" or
"continuous path" when setting JUMP commands at the end of continuous
path control/continuous positioning control.
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9 MAIN POSITIONING CONTROL
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(3) Use unconditional JUMP commands when setting JUMP commands at the
end of continuous path control/continuous positioning control.
When conditional JUMP commands are set at the end of continuous path
control/continuous positioning control, the positioning data of the next
positioning data No. will be executed if the execution conditions have not been
established.
(4) Positioning control such as loops cannot be executed by conditional JUMP
commands alone until the conditions have been established.
Positioning address/
Da.5 – Setting not required. (Setting value is ignored.)
movement amount
Da.6 Arc address – Setting not required. (Setting value is ignored.)
Da.7 Command speed – Setting not required. (Setting value is ignored.)
Set the positioning data No. 1 to 600 for the JUMP destination. (The
Da.8 Dwell time 500
positioning data No. of the JUMP command cannot be set.)
Set the JUMP command execution conditions with the condition data
No.
0 : Unconditional JUMP
Da.9 M code 10
1 to 10 : Condition data No.
("Simultaneous start" condition data cannot be
set.)
* Refer to section "5.3 List of positioning data" for information on the setting details.
9 - 60
Chapter 10
The details and usage of advanced positioning control (control functions using the
"start block data") are explained in this chapter.
Advanced positioning control is used to carry out applied control using the "positioning
data". Examples of advanced control are using conditional judgment to control
"positioning data" set with the main positioning control, or simultaneously starting
"positioning data" for several different axes.
Read the execution procedures and settings for each control, and set as required.
10 - 1
10 ADVANCED POSITIONING CONTROL
MELSEC-A
In "advanced positioning control" the execution order and execution conditions of the
"positioning data" are set to carry out more applied positioning. (The execution order
and execution conditions are set in the "start block data" and "condition data".)
The following applied positioning controls can be carried out with "advanced
positioning control".
Advanced
Details
positioning control
Block* start With one start, executes the positioning data in a random block with the set
(Normal start) order.
Carries out condition judgment set in the "condition data" for the
designated positioning data, and then executes the "start block data".
Condition start When the condition is established, the "start block data" is executed. When
not established, that "start block data" is ignored, and the next point's "start
block data" is executed.
Carries out condition judgment set in the "condition data" for the
designated positioning data, and then executes the "start block data".
Wait start
When the condition is established, the "start block data" is executed. When
not established, stops the control until the condition is established. (Waits.)
Simultaneously executes the positioning data having the No. for the axis
Simultaneous start
designated with the "condition data". (Outputs pulses at the same timing.)
Stop Stops the positioning operation.
Repeated start Repeats the program from the "start block data" set with the "FOR loop" to
(FOR loop) the "start block data" set in "NEXT" for the designated No. of times.
Repeats the program from the "start block data" set with the "FOR
Repeated start
condition" to the "start block data" set in "NEXT" until the conditions set in
(FOR condition)
the "condition data" are established.
REMARK
Block *:
"1 block" is defined as all the data continuing from the positioning data in which
"continuous positioning control" or "continuous path control" is set in the
operation pattern ( Da.1 ) to the positioning data in which "independent
positioning control (Positioning complete)" is set.
10 - 2
10 ADVANCED POSITIONING CONTROL
MELSEC-A
"Advanced positioning control" is executed by setting the required items in the "start
block data" and "condition data", then starting that "start block data". Judgment about
whether execution is possible, etc., is carried out at execution using the "condition
data" designated in the "start block data".
"Start block data" can be set for each No. from 7000 to 7010 (called "block Nos."), and
up to 50 points can be set for each axis. (This data is controlled with Nos. called
"points" to distinguish it from the positioning data. For example, the 1st start block data
item is called the "1st point start block data" or "point No. 1 start block data".)
"Condition data" can be set for each No. from 7000 to 7010 (called "block Nos."), and
up to 10 data items can be set for each axis.
The "start block data" and "condition data" are set as 1 set for each block No.
The following table shows an outline of the "start block data" and "condition data"
stored in the AD75.
Setting item Setting details
Set whether to end the control after executing only the "start
Da.10 Shape block data" of the shape itself, or continue executing the "start
Start block data
Da.15
operator Da.14 .
Set the buffer memory address in which condition judgment is
Da.16 Address carried out (only when the details set in Da.14 are "buffer
memory storage details").
Set the required conditions according to the details set in
Da.17 Parameter 1
Da.14 and Da.15 .
Set the required conditions according to the details set in
Da.18 Parameter 2
Da.14 and Da.15 .
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10 ADVANCED POSITIONING CONTROL
MELSEC-A
The "start block data" and "condition data" corresponding to "block No. 7000" can be
stored in the buffer memory. (The following drawing shows an example for axis 1.)
50th point
Buffer memory
Setting item
address
2nd point
1st point Setting item Buffer memory
Buffer memoryaddress 4349
Setting item
address
b15 b8 b7 b0 4301
Axis 1 start block data
4300
b15 b8 b7 b0 4351
4350
10th item
Buffer memory
Setting item
address
2nd item Condition identifier
1st item Setting item Buffer memory
address 4490
Buffer memory
Setting item
address
Condition identifier
b15 b12 b11 b8 b7 b0 4410 4491
Axis 1 condition data
10 - 4
10 ADVANCED POSITIONING CONTROL
MELSEC-A
Set in AD75 the "start block data" and "condition data" corresponding to the following
"block Nos. 7001 to 7010" using the AD75 software package. (The following drawing
shows an example for axis 1.)
b15 b8 b7 b0 b15 b8 b7 b0
Da11 Start positioning data No. Da11 Start positioning data No.
Da10 Shape Da10 Shape
b15 b8 b7 b0 b15 b8 b7 b0
Da15 Condition Da14 Condition target Da15 Condition Da14 Condition target
operater operater
Open Open
Open Open
7001 7010
* Setting is only possible when the AD75 software package is used.
(Same for axis 2 and axis 3.)
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10 ADVANCED POSITIONING CONTROL
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STEP 2 Set the start block data corresponding to each control. * The 50 "start block data" points from 1 to 50 points
Refer to Section 10.3 ( Da. 10 to Da. 13 ) × required data amount. can be set.
STEP 4 Create a sequence program in which "7000"*is set in * The AD75 recognizes that the control is advanced
Refer to Section 10.5 the " Cd. 11 Positioning start No." (Control data setting) positioning control using "start block data" by the
"7000" designation.
Create a sequence program in which the "start block Use the GPP function software package to create a
data point No. to be started" (1 to 50) is set in the sequence program to execute the "advanced
" Cd. 31 Positioning start point No." (Control data setting) positioning control".
(Set the control data in the AD75 buffer memory using
Create a sequence program in which the "positioning a TO command.)
start signal" is turned ON by a positioning start command.
Stopping the control STEP 8 * Same procedure as for the "main positioning control" stop.
Stop when control is completed
Refer to Section 6.5.6
Control termination
REMARK
* (1) One set of "start block data (50 points)" and "condition data (10 items)
corresponding to "7000" is set with a sequence program.
(2) Eleven sets of data from "7000" to "7010" can be set when the AD75 software
package is used. If the AD75 software package is used to set the "start block
data" and "condition data" corresponding to "7001" to "7010" and write the
data to the AD75, "7001" to "7010" can be set in " Cd.11 Positioning start
No." in STEP 4.
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The "start block data" must be set to carry out "advanced positioning control". The
setting requirements and details of each "start block data" item to be set differ
according to the " Da.12 Special start command" setting.
The following shows the "start block data" setting items corresponding to various
control methods. The operation details of each control type are explained starting in
section 10.3.2. Also refer to section "10.4 Setting the condition data" for details on
"condition data" with which control execution is judged.
(The "start block data" settings in this chapter are assumed to be carried out using the
AD75 software package.)
Advanced positioning Block Repeated
control Simulta- Repeated
start Condition start NEXT
Wait start neous Stop start
Start block data (Normal start (FOR start *
start (FOR loop)
setting items start) condition)
0 : End
Da.10 Shape
1 : Continue
No. of Condition
Da.13 Parameter – Condition data No. – –
repetitions data No.
* The "NEXT start" command is used in combination with "repeated start (FOR loop)" and "repeated start (FOR
condition)". Control using only the "NEXT start" will not be carried out.
REMARK
It is recommended that the "start block data" be set whenever possible with the
AD75 software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times will
increase.
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In a "block start (normal start)", the positioning data groups of a block are continuously
executed in a set sequence starting from the positioning data set in " Da.11 Start data
No." by one start.
Section [2] shows a control example where the "start block data" and "positioning data"
are set as shown in section [1].
REMARK
Block * :
"1 block" is defined as all the data continuing from the positioning data in which
"continuous positioning control" or "continuous path control" is set in the operation
pattern ( Da.1 ) to the positioning data in which "independent positioning control
(Positioning complete)" is set.
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<1> The positioning data is executed in the following order before stopping.
Axis 1 positioning data No. 1 2 3 4 5 6 10 15.
Operation pattern
Positioning data No.
3(01) *1 *1
1(00) 4(00)
2(11)
Address(+) 10(00)
t
Address(-) *1 *1 5(11)
6(00)
*1 15(00)
*1
ON
Positioning start signal OFF ON
[Y10,Y11,Y12]
Start complete signal OFF
[X1,X2,X3]
ON
BUSY signal [X4,X5,X6] OFF ON
Positioning complete signal OFF
[X7,X8,X9]
*1 Dwell time of corresponding positioning data
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In a "condition start", the "condition data" conditional judgment designated in " Da.13
Parameter" is carried out for the positioning data set in " Da.11 Start data No.". If the
conditions have been established, the "start block data" set in "1: condition start" is
executed. If the conditions have not been established, that "start block data" will be
ignored, and the "start block data" of the next point will be executed.
Section (2) shows a control example where the "start block data" and "positioning data"
are set as shown in section (1).
* The "condition data Nos." have been set in " Da.13 Parameter".
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In a "wait start", the "condition data" conditional judgment designated in " Da.13
Parameter" is carried out for the positioning data set in " Da.11 Start data No.". If the
conditions have been established, the "start block data" is executed. If the conditions
have not been established, the control stops (waits) until the conditions are
established.
Section (2) shows a control example where the "start block data" and "positioning data"
are set as shown in section (1).
* The "condition data Nos." have been set in " Da.13 Parameter".
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In a "simultaneous start", the positioning data set in the " Da.11 Start data No." and
positioning data of other axes set in the "condition data" are simultaneously executed
(pulses are output with the same timing).
(The "condition data" is designated with " Da.13 Parameter".)
Section (2) shows a control example where the "start block data" and "positioning data"
are set as shown in section (1).
(1) Setting examples
(a) Start block data setting example
Axis 1 start Da.11 Da.12 Special Da.13
Da.10 Shape
block data Start data No. start command Parameter
1st point 1: Continue 1 3: Simultaneous start 4
2nd point 1: Continue 10 3: Simultaneous start 5
3rd point 0: End 50 3: Simultaneous start 6
•
•
* It is assumed that the "axis 2 positioning data" for simultaneous starting is set in the
"condition data" designated with " Da.13 Parameter".
(b) Positioning data setting example
Axis 1 position-
Da.1 Operation pattern
ing data No.
1 01: Continuous positioning control
2 01: Continuous positioning control
3 00: Positioning complete
•
10 11: Continuous path control
11 11: Continuous path control
12 00: Positioning complete
•
50 00: Positioning complete
•
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10.3.6 Stop
In a "stop", the control is stopped with the "start block data" set in "4: stop".
The control after the point in which the "stop" is set can be restarted by issuing a
" Cd.13 Restart command".
Section (2) shows a control example where the "start block data" and "positioning data"
are set as shown in section (1).
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In a "repeated start (FOR loop)", the data between the "start block data" in which "5:
FOR loop" is set in " Da.12 Special start command" and the "start block data" in which
"7: NEXT start" is set in " Da.12 Special start command" is repeatedly executed for the
No. of times set in " Da.13 Parameter". An endless loop will result if the No. of
repetitions is set to "0", and the data between "5: FOR loop" and "7: NEXT start" will be
repeated until the control is stopped by a "stop command".
(The No. of repetitions is set in " Da.13 Parameter" of the "start block data" in which
"5: FOR loop" is set in " Da.12 Special start command".)
Section (2) shows a control example where the "start block data" and "positioning data"
are set as shown in section (1).
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In a "repeated start (FOR condition)", the data between the "start block data" in which
"6: FOR condition" is set in " Da.12 Special start command" and the "start block data"
in which "7: NEXT start" is set in " Da.12 Special start command" is repeatedly
executed until the establishment of the conditions set in the "condition data".
(The "condition data" designation is set in " Da.13 Parameter" of the "start block data"
in which "6: FOR condition" is set in " Da.12 Special start command".)
Section (2) shows a control example where the "start block data" and "positioning data"
are set as shown in section (1).
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The "NEXT start" is a command indicating the end of the repetitions when executing
section "10.3.7 Repeated start (FOR loop)" and section "10.3.8 Repeated start (FOR
condition)".
The following shows the restrictions when setting "7: NEXT start" in the "start block
data".
(1) The processing when "7: NEXT start" is set before execution of "5: FOR loop" or
"6: FOR condition" is the same as that for a "0: normal start".
(2) Repeated processing will not be carried out if there is no "7: NEXT start"
command after the "5: FOR loop" or "6: FOR condition" command. (Note that an
"error" will not occur.)
(3) Nesting is not possible between "5: FOR loop" and "7: NEXT start", or between
"6: FOR condition" and "7: NEXT start". A warning "FOR to NEXT nesting
structure" (warning code: 506) will occur if nesting is attempted.
Start block data Da.12 Special start command
1st point Normal start
2nd point FOR
3rd point Normal start
4th point FOR
The JUMP destination of the
5th point Normal start NEXT designated with points
6th point Normal start 7 and 9 is the FOR of point 4.
A warning will occur if the
7th point NEXT
NEXT designated with point 9
8th point Normal start is executed.
9th point NEXT
•
•
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(1) When setting conditions during execution of section "9.2.11 JUMP command"
(main positioning control)
(2) When setting conditions during execution of "advanced positioning control"
The "condition data" to be set includes the 5 setting items from Da.14 to Da.18 , but
the setting requirements and details differ according to the control methods and setting
conditions.
The following shows the "condition data" " Da.14 Condition target" corresponding to
the different types of control.
(The "condition data" settings in this chapter are assumed to be carried out using the
AD75 software package.)
Control type Main positioning
Advanced positioning control
control
Da.14 Simultaneous Repeated start
Block start Wait start JUMP command
setting item start (For condition)
01H: Device X
02H: Device Y
03H: Buffer memory
(1 word)
04H: Buffer memory
(2 words)
05H: Positioning
data No.
REMARK
It is recommended that the "condition data" be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence programs
and devices. The execution becomes complicated, and the scan times will increase.
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10 ADVANCED POSITIONING CONTROL
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The setting requirements and details of the following "condition data" Da.15 to
Da.18 setting items differ according to the " Da.14 Condition target" setting.
The following shows the Da.15 to Da.18 setting items corresponding to the " Da.14
Condition target".
Other setting item
Da.15 Da.16
Da.17 Parameter 1 Da.18 Parameter 2
Da.14 Condition operator Address
setting item
01H: Device X 07H : DEV=ON 0H to FH (bit No.)
– –
02H: Device Y 08H : DEV=OFF 10H to 1FH (bit No.)
03H: Buffer memory 01H : =P1
(1 word) 02H : ≠ P1
Buffer P2 (numeric value)
03H : ≤P1
memory P1 (numeric value) (Set only when Da.15 is
04H: Buffer memory 04H : ≥P1 address [05H] or [06H].)
(2 words) 05H : P1 ≤ ≤P 2
06H : ≤P1, P2 ≤
09H : Axis 1 designation
0AH : Axis 2 designation Low-order Axis 1 positioning Low-order Axis 3 positioning
0BH : Axis 1 and axis 2 16 bits data No. 16 bits data No.
designation
05H: Positioning data
0CH : Axis 3 designation —
No.
0DH : Axis 1 and axis 3
designation High-order Axis 2 positioning High-order
–
0EH : Axis 2 and axis 3 16 bits data No. 16 bits
designation
– : Setting not required (Setting value will be ignored. Use the initial value or a value within the setting range.)
: Value stored in buffer memory designated in Da.16 .
REMARK
The "PLC CPU memory area" can be designated as the buffer memory address to
be designated in " Da.16 ". (Refer to section "7.1.1 Configuration and roles of AD75
memory".)
AD75 buffer memory
Address 5050
5051
5099
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10 ADVANCED POSITIONING CONTROL
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[Condition]
The value stored in buffer memory addresses "800, 801" (=" Md.29 Current
feed value") is "1000" or larger.
Da.15
Da.14 Da.16 Da.17 Da.18
Condition
Condition target Address Parameter 1 Parameter 2
operator
04H: Buffer memory
03H: ≤ P1 800 1000 –
(2 words)
[Condition]
Simultaneously starting "axis 2 positioning data No.3".
Da.15
Da.14 Da.16 Da.17 Da.18
Condition
Condition target Address Parameter 1 Parameter 2
operator
05H: Positioning 0AH: Axis 2 High-order 16
– –
data No. designation bits "0003H"
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10 ADVANCED POSITIONING CONTROL
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The following shows the procedure for starting the "1st point start block data"
(regarded as block No. 7000) set in axis 1.
AD75
Buffer memory Drive unit
4)
Control by designated
1) positioning data
7000
2) 1150
1
PLC CPU 1178
3)
ON
Input/output signal
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10 ADVANCED POSITIONING CONTROL
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The following shows an example of a start program for advanced positioning control in
which the 1st point "start block data" of axis 1 is started. (The block No. is regarded as
"7000".)
* Refer to section "5.7 List of control data" for details on the setting details.
Start conditions
The following conditions must be fulfilled when starting the control. The required
conditions must also be integrated into the sequence program, and configured so
the control does not start unless the conditions are fulfilled.
Device
Signal name Signal state
Axis 1 Axis 2 Axis 3
PLC READY signal ON PLC CPU preparation completed Y1D
AD75 READY signal OFF AD75 preparation completed X0
Axis stop signal OFF Axis stop signal is OFF Y13 Y14 Y1C
Interface Positioning start
signal OFF Start complete signal is OFF X1 X2 X3
complete signal
BUSY signal OFF BUSY signal is OFF X4 X5 X6
Error detection signal OFF There is no error XA XB XC
M code ON signal OFF M code ON signal is OFF XD XE XF
Drive unit READY signal ON Drive unit preparation completed –
External Stop signal OFF Stop signal is OFF –
signal Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –
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V
Operation pattern Dwell time Dwell time
Fig. 10.3 Start time chart for advanced positioning control (block start)
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Example
Positioning
start
command
M104 Y10 X1
TO H0 K1150 K7000 K1 Write the positioning data No. 7000
for block positioning.
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MEMO
10 - 24
Chapter 11
MANUAL CONTROL
The details and usage of manual control are explained in this chapter.
In manual control, pulse output commands are issued during a JOG operation executed
by the turning ON of the JOG START signal, or from a manual pulse generator
connected to the AD75.
Manual control using a sequence program from the PLC CPU is explained in this chapter.
Refer to the AD75 software package operating manual for an explanation of manual
control (JOG operation, manual pulse generator operation) using the AD75 software
package.
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"Manual control" refers to control in which positioning data is not used, and a
positioning operation is carried out in response to signal input from an external source.
The two types of this "manual control" are explained below.
ON
OFF
JOG START signal
Movement in response
to the command pulses
Output pulses
AD75 M
Pulse input
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11 MANUAL CONTROL
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Important
Use the hardware stroke limit function when carrying out JOG operation near the
upper or lower limits. (Refer to section 12.4.4).
* If the hardware stroke limit function is not used, the workpiece may exceed the
operating range, causing an accident.
JOG operation
In JOG operation, the FORWARD JOG START signal (Y16, Y18, Y1A) or
REVERSE JOG START signal (Y17, Y19, Y1B) turns ON, causing pulses to be
output to the drive unit from the AD75 while the signal is ON. The workpiece is
then moved in the designated direction.
The following shows examples of JOG operation.
When the START signal turns ON, acceleration begins in the direction designated by the
START signal, and continues for the acceleration time designated in " Pr.33 JOG
1)
operation acceleration time selection". At this time, the BUSY signal changes from OFF to
ON.
When the workpiece being accelerated reaches the speed set in " Cd.19 JOG speed",
2) the movement continues at this speed.
Constant speed operation takes place at 2) and 3).
When the START signal is turned OFF, deceleration begins from the speed set in
3) " Cd.19 JOG speed", and continues for the deceleration time designated in " Pr.34 JOG
operation deceleration time selection".
The operation stops when the speed becomes 0. At this time, the BUSY signal changes
4)
from ON to OFF.
1) 2) 3) 4)
Reverse JOG run
ON
PLC READY signal [Y1D] OFF
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11 MANUAL CONTROL
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V
JOG operation
Upper/lower
limit switch
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11 MANUAL CONTROL
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ON
Pulse output to an
external source (PULSE)
Positioning operation
• Delays may occur in the t1 timing time due to the following factors.
1) Whether a FROM/TO command is issued during start processing.
2) The operation status of other axes.
3) Whether there is intervention from a peripheral device during start
processing.
4) Details of the positioning data to be started.
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* Using the GPP function software package, set the control data
STEP 2 Set the " Cd. 19 JOG speed". and create a sequence program for executing the JOG operation.
(Control data setting) (Set the control data in the AD75 buffer memory using the TO
Refer to section command.)
11.2.4.
Create a sequence program in which the "JOG start
signal" is turned ON by a JOG operation start command.
STEP 6 * Stop the JOG operation when the JOG start signal is turned
JOG operation Turn OFF the JOG operation start signal that is ON. OFF using the sequence program in STEP 2.
stop
End of control
REMARK
• Mechanical elements such as limit switches are considered as already installed.
• Parameter settings work in common for all control using the AD75.
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11 MANUAL CONTROL
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REMARK
• Parameter settings work in common for all control using the AD75. When carrying
out other control ("main positioning control", "advanced positioning control", "zero
point return positioning control"), the respective setting items must also be
matched and set.
• Parameters are set for each axis.
• Refer to "Chapter 5 DATA USED FOR POSITIONING CONTROL" for setting
details.
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* Refer to section "5.7 List of control data" for details on the setting details.
Start conditions
The following conditions must be fulfilled when starting. The required conditions
must also be assembled in the sequence program, and the sequence program
must be configured so the operation will not start if the conditions are not fulfilled.
Device
Signal name Signal state
Axis 1 Axis 2 Axis 3
PLC READY signal ON PLC CPU preparation completed Y1D
AD75 READY signal OFF AD75 preparation completed X0
Axis stop signal OFF Axis stop signal is OFF Y13 Y14 Y1C
Interface
signal Start complete signal OFF Start complete signal is OFF X1 X2 X3
BUSY signal OFF AD75 is not operating X4 X5 X6
Error detection signal OFF There is no error XA XB XC
M code ON signal OFF M code ON signal is OFF XD XE XF
Drive unit READY signal ON Drive unit preparation completed –
External Stop signal OFF Stop signal is OFF –
signal Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –
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Forward
JOG run
t
Reverse JOG run
ON
Forward run JOG start signal [Y16] OFF
ON
Reverse run JOG start signal [Y17] OFF
ON
PLC READY signal [Y1D] OFF
AD75 READY signal [X0] ON
OFF
ON
OFF
BUSY signal [X4]
OFF
Error detection signal [XA]
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*
* No. 11 JOG operation program
*
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ON
PLC READY signal [Y1D] OFF
ON
AD75 READY signal [X0] OFF
ON
Forward run JOG start signal OFF
[Y16, Y18, Y1A]
ON
Axis stop signal OFF
[Y13, Y14, Y1C]
ON
BUSY signal [X4, X5, X6] OFF
Fig. 11.6 Operation when the stop signal is turned ON during JOG operation
POINT
The AD75 will not receive a "JOG start signal" while the "stop signal" is ON.
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When both the "forward run JOG start signal" and "reverse run JOG start
signal" are turned ON simultaneously for one axis
When both the "forward run JOG start signal" and "reverse run JOG start signal"
are turned ON simultaneously for one axis, the "forward run JOG start signal" is
given priority. In this case, the "reverse run JOG start signal" is validated when the
AD75 BUSY signal is turned OFF.
ON
Forward run JOG start signal OFF
[Y16, Y18, Y1A]
ON
OFF
Reverse run JOG start signal
[Y16, Y18, Y1B]
ON
BUSY signal [X4, X5, X6]
OFF
Fig. 11.7 Operation when both the forward run JOG start signal and reverse run JOG start signal are
turned ON simultaneously
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When the "JOG start signal" is turned ON again during deceleration caused
by the ON OFF of the "JOG start signal"
When the "JOG start signal" is turned ON again during deceleration caused by the
ON OFF of the "JOG start signal", the JOG operation will be carried out from the
time the "JOG start signal" is turned ON.
ON
Forward JOG start
OFF
signal [Y16, Y18, Y1A]
ON
BUSY signal
[X4, X5, X6] OFF
Fig. 11.8 Operation when the JOG start signal is turned ON during deceleration
When the "JOG start signal" is turned ON during a peripheral device test
mode
When the "JOG start signal" is turned ON during a peripheral device test mode, it
will be ignored and the JOG operation will not be carried out.
ON
In test mode OFF
ON
Fig. 11.9 Operation when the JOG start signal is turned ON during a test mode
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When the "JOG start signal" is turned ON immediately after the stop signal
OFF (within 56.8ms)
When the "JOG start signal" is turned ON immediately after the stop signal OFF
(within 56.8ms), it will be ignored and the JOG operation will not be carried out.
ON ON
Fig. 11.10 Operation when the JOG start signal is turned ON immediately after the stop signal OFF
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Important
Create the sequence program so that " Cd.22 Manual pulse generator enable flag"
is always set to "0" (disabled) when a manual pulse generator operation is not
carried out.
* Mistakenly touching the manual pulse generator when the manual pulse
generator enable flag is set to "1" (enable) can cause accidents or incorrect
positioning.
Manual pulse
generator
operation stops *1
t
1) 2) 3) 4)
Cd 22 Manual pulse ON
generator enable flag 0 1 0
ON
BUSY signal [X4, X5, Y6] OFF
Manual pulse
generator input
[Precautions]
*1 When the input from the manual pulse generator stops, the last pulse will be output from the
AD75, delayed by the time for one control cycle (100ms).
*2 The start complete signal does not turn ON in manual pulse generator operation.
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11 MANUAL CONTROL
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Restricted items
A manual pulse generator is required to carry out manual pulse generator
operation.
REMARK
• One AD75 module can be connected to each manual pulse generator axis.
• The AD75 module can simultaneously output pulses to the axis 1 to axis 3 drive
units by one manual pulse generator.
(1-axis to 3-axis simultaneous operation is possible.)
V
Manual pulse
generator operation
Upper/lower
limit switch
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Positioning start complete The start complete signal does not turn ON in manual pulse generator operation.
signal [X1, X2, X3]
Md. 35 Axis operation status Standing by In manual pulse generator operation Standing by
t2
Positioning operation
Fig. 11.12 Manual pulse generator operation timing and processing times
• Delays may occur in the t1 timing time due to the following factors.
1) Whether a FROM/TO command is issued during start processing.
2) The operation status of other axes.
3) Whether there is intervention from a peripheral device during processing
the start process.
4) Details of the positioning data to be started.
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*: When the manual pulse generator input frequency changes, the new frequency will
apply after a maximum of 180ms delay.
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11 MANUAL CONTROL
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The manual pulse generator operation is carried out by the following procedure.
Preparation STEP 1 Set the parameters * One of the following two methods can be used.
)
Pr.1 to Pr.44 ) <Method 1>
Refer to Chapter 5
and section 11.3.3. Directly set (write) the parameters in the AD75 using the
AD75 software package.
<Method 2>
Set (write) the parameters from the PLC CPU to the AD75
using the sequence program (TO command).
Manual pulse STEP 4 Issue a command to enable the manual pulse generator * Write "1" in " Cd.22 Manual pulse generator enable
generator operation operation, and input the signals from the manual pulse
generator.
flag", and operate the manual pulse generator.
start
Monitoring of the STEP 5 * One of the following two methods can be used.
manual pulse Monitor the manual pulse generator operation. <Method 1>
generator operation Monitor using the AD75 software package.
<Method 2>
Monitor using the GPP function software package.
Manual pulse STEP 6 * Stop operating the manual pulse generator, and write "0"
End the input from the manual pulse generator,
generator operation and issue a command to disable the manual pulse in " Cd. 22 Manual pulse generator enable flag".
stop
End of control
REMARK
• Mechanical elements such as limit switches are considered as already installed.
• Parameter settings work in common for all control using the AD75.
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11.3.3 Setting the required parameters for manual pulse generator operation
The "Parameters" must be set to carry out manual pulse generator operation.
The following table shows the setting items of the required parameters for carrying out
manual pulse generator operation. When only manual pulse generator operation will
be carried out, no parameters other than those shown below need to be set. (Use the
initial values or setting values within a range where no error occurs for trouble-free
operation.)
Factory-set initial value
Setting item Setting requirement
(setting details)
Pr.1 Unit setting 3 (pulse)
Pr.2 No. of pulses per rotation (Ap) (Unit: pulse) 20000
Pr.3 Movement amount per rotation (Al) (Unit: pulse) 20000
Pr.4 Unit magnification (Am) 1 (1-fold)
Pr.5 Pulse output mode 1 (CW/CCW mode)
0 (current value increases by
Pr.6 Rotation direction setting
forward run pulse output)
Parameters
REMARK
• Parameter settings work in common for all control using the AD75. When carrying
out other control ("main positioning control", "advanced positioning control", "zero
point return positioning control"), the respective setting items must also be
matched and set.
• Parameters are set for each axis.
• Refer to "Chapter 5 DATA USED FOR POSITIONING CONTROL" for setting
details.
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11 MANUAL CONTROL
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* Refer to section "5.7 List of control data" for details on the setting details.
Start conditions
The following conditions must be fulfilled when starting. The required conditions
must also be assembled in the sequence program, and the sequence program
must be configured so the operation will not start if the conditions are not fulfilled.
Device
Signal name Signal state
Axis 1 Axis 2 Axis 3
PLC READY signal ON PLC CPU preparation completed Y1D
AD75 READY signal OFF AD75 preparation completed X0
Axis stop signal OFF Axis stop signal is OFF Y13 Y14 Y1C
Interface Positioning start
signal OFF Start complete signal is OFF X1 X2 X3
complete signal
BUSY signal OFF AD75 is not operating X4 X5 X6
Error detection signal OFF There is no error XA XB XC
M code ON signal OFF M code ON signal is OFF XD XE XF
Drive unit READY signal ON Drive unit preparation completed –
External Stop signal OFF Stop signal is OFF –
signal Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –
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Forward run
Reverse run
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Example
*
* No.12 Manual pulse generator operation program
*
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MEMO
11 - 26
Chapter 12
The details and usage of the "auxiliary functions" added and used in combination with
the main functions are explained in this chapter.
A variety of auxiliary functions are available, including functions specifically for machine
zero point returns and generally related functions such as control compensation, etc.
More appropriate, finer control can be carried out by using these auxiliary functions.
Each auxiliary function is used together with a main function by creating matching
parameter settings and sequence programs. Read the execution procedures and
settings for each auxiliary function, and set as required.
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"Auxiliary functions" are functions that compensate, limit, add functions, etc., to the
control when the main functions are executed. These auxiliary functions are executed
by parameter settings, commands from the AD75 software package, auxiliary function
sequence programs, etc.
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The auxiliary functions specifically for machine zero point returns include the "zero
point retry function" and "zero point shift function". Each function is executed by
parameter setting.
When the workpiece goes past the zero point without stopping during positioning
control, it may not move back in the direction of the zero point although a machine zero
point return is commanded, depending on the workpiece position. This normally means
the workpiece has to be moved to a position before the near-point dog by a JOG
operation, etc., to start the machine zero point return again. However, by using the
zero point return retry function, a machine zero point return can be carried out
regardless of the workpiece position.
The details shown below explain about the "zero point return retry function".
(1) Control details
(2) Precautions during control
(3) Setting the zero point return retry function
1) The movement starts in the " Pr.46 Zero point return direction" by a machine zero point return start.
2) The operation decelerates when the limit switch is detected.
3) After stopping due to the limit switch detection, the operation moves at the " Pr.48 Zero point return
speed" in the opposite direction of the " Pr.46 Zero point return direction".
4) The operation decelerates when the near-point dog turns OFF.
5) After stopping due to the near-point dog OFF, a machine zero point return is carried out in the " Pr.46
Zero point return direction".
2)
5) 1)
6) 3)
4)
Fig. 12.1 Zero point return retry operation by limit switch detection
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(b) Zero point return retry operation when the workpiece is outside the range
between the upper and lower limits.
1) When the direction from the workpiece to the zero point is the same as the " Pr.46 Zero point
return direction", a normal machine zero point return is carried out.
Movement range
2) When the direction from the workpiece to the zero point is the opposite direction from the
" Pr.46 Zero point return direction", the operation carries out a deceleration stop when the near-
point dog turns OFF, and then carries out a machine zero point return in the direction set in
" Pr.46 Zero point return direction".
Zero point
Pr. 46 Zero point return direction
Movement range
Fig. 12.2 Zero point return retry operation from on limit (limit switch OFF)
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(c) Setting the dwell time for a zero point return retry
With the zero point return retry function, the dwell time can be set for
reverse run operation started at detection of the upper/lower limit switch and
for a machine zero point return executed after a stop by near-point dog OFF
when a zero point return retry is made.
" Pr.58 Dwell time during zero point return retry" is made valid when the
operation stops in position "A" of the following figure. (The dwell times in
positions A and B are the same values.)
B Zero point
A
Stop by near-point
dog OFF Reverse run operation
after limit switch detection
Near-point dog Limit switch OFF
Fig. 12.3 Setting the dwell time during a zero point return retry
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(a) The following table shows whether the zero point return retry function may
be executed by the " Pr.45 Zero point return method".
Pr.45 Zero point return method Execution status of zero point return retry function
Near-point dog method : Execution possible
Stopper stop method 1) : Execution may not be possible due to the stopper
Stopper stop method 2) : Execution may not be possible due to the stopper
Stopper stop method 3) : Execution not possible
Count method 1) : Execution possible
Count method 2) : Execution possible
(b) Always establish upper/lower limit switches at the upper/lower limit positions
of the machine, and connect an AD75 module. If the zero point return retry
function is used without hardware stroke limit switches, the motor will
continue rotation until a hardware stroke limit signal is detected.
(c) Always wire AD75 upper/lower limit switches even when the zero point
return function is invalidated. Control cannot be carried out with the AD75
unless the wiring is carried out.
(d) Do not carry out settings so that the drive unit power turns OFF by the
upper/lower limit switches connected to the AD75. If the drive unit power is
turned OFF, the zero point return retry cannot be carried out.
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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When a machine zero point return is carried out, the zero point is normally established
using the near-point dog, stopper, and zero point signal. However, by using the zero
point shift function, the machine can be moved a designated movement amount from
the position where the zero point signal was detected. A mechanically established zero
point can then be interpreted at that point.
The zero point shift function can be used without relation to " Pr.45 Zero point return
method".
The details shown below explain about the "zero point shift function".
(1) Control details
(2) Setting range for the zero point shift amount
(3) Movement speed during zero point shift
(4) Precautions during control
(5) Setting the zero point shift function
Near-point dog
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Near-point dog
Lower limit switch Upper limit switch
Pr. 46 zero point return direction
Zero point signal
Fig. 12.5 Setting range for the zero point shift amount
(a) Zero point shift operation at the " Pr.48 Zero point return speed"
Zero point
Near-point dog
Fig. 12.6 Zero point shift operation at the zero point return speed
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(b) Zero point shift operation at the " Pr.49 Creep speed"
Zero point
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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The auxiliary functions for compensating the control include the "backlash
compensation function", "electronic gear function", and "near pass mode function".
Each function is executed by parameter setting or sequence program creation and
writing.
The details shown below explain about the "backlash compensation function".
(1) Control details
(2) Precautions during control
(3) Setting the backlash compensation function
Worm gear
Workpiece
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(a) The feed pulses of the backlash compensation amount are not added to the
" Md.29 Current feed value" or " Md.30 Machine feed value".
(b) Always carry out a machine zero point return before starting the control
when using the backlash compensation function (when " Pr.12 Backlash
compensation amount" is set). The backlash in the mechanical system
cannot be correctly compensated if a machine zero point return is not
carried out.
(c) Set the No. of pulses output in one backlash compensation (value in which
the " Pr.12 Backlash compensation amount" is divided by the "movement
amount per pulse") to a value of 255 or lower. A "Setting error" will occur if a
value over 255 is set. (Depending on the connected servo, tracking may not
be possible if a large amount of pulses is output at once.)
Setting Factory-set
Setting item Setting details
value initial value
Backlash
Pr.12 compensation Set the backlash compensation amount. 0
amount
* Refer to section "5.2 List of parameters" for setting details.
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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The "electronic gear function" adjusts the position and speed commands calculated
and output according to the parameters set in the AD75 with the actual machine
movement amount.
The AD75 automatically carries out the processing for (A), (B) and (C).
The details shown below explain about the "electronic gear function", including the
method for compensating the error in (D) above, etc.
(1) Error compensation method
(2) Relation between the movement amount per pulse and speed
(3) Precautions during control
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(a) Definition
The "error compensation amount" used to carry out the error compensation
is defined as follows.
The AD75 "movement amount per pulse" is calculated with the following
equation.
Movement amount per pulse is "A", Pr.2 No. of pulses per rotation is
(Ap), Pr.3 Movement amount per rotation is (Al), and Pr.4 Unit
magnification is (Am).
Al
A= × Am
Ap
(b) Procedure
1) Set the "command movement amount (L)", and carry out positioning.
(Set the "movement amount per pulse (A)" according to section "5.2
List of parameters".)
2) After positioning, measure the "actual movement amount (L')".
3) Calculate the "error compensation amount".
L'
Error compensation amount =
L
Al L'
= × Am ×
Ap L
Al'
= × Am'
Ap'
(Adjust with Am' so that Al' and Ap' do not exceed the setting range.)
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Calculation example
(Conditions)
Movement amount per pulse : 500 (µm/rev)
No. of pulses per rotation : 12000 (pulse/rev)
Unit magnification :1
(Positioning results)
Command movement amount : 100mm
Actual movement amount : 101mm
(Compensation amount)
5× 10 101× 10
3 3
AL' 5050 101
= × = =
101× 10
3
AP' 12000 12000 240
5) Set the post-compensation " Pr.2 No. of pulses per rotation (Ap')",
" Pr.3 Movement amount per rotation (Al')", and " Pr.4 Unit
magnification (Am')" in the parameters, and write them to the AD75.
The set details are validated at the rising edge (OFF ON) of the
PLC READY signal (Y1D).
Setting Pre-compensation
Setting item Setting details
value value
No. of pulses per
Pr.2 Ap' Set the post-compensation value. Ap
rotation
Movement
Pr.3 amount per Al' Set the post-compensation value. Al
rotation
Unit
Pr.4 Am' Set the post-compensation value. Am
magnification
* Refer to section "5.2 List of parameters" for setting details.
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(2) Relation between the movement amount per pulse and speed
The following shows the relation of the "movement amount per pulse (A)" to the
command speed and actual speed. The command speed is the speed
commanded by each control, and the actual speed is the actual feedrate.
V
Actual speed V'
1)
Command speed V 2)
3)
Fig. 12.9 Relation of the movement amount per pulse to the command speed and actual speed
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(a) If the setting of the movement amount per pulse is less than 1, the
command frequency increases, and the actual speed may exceed the speed
limit value ( Pr.7 Speed limit value, Pr.32 JOG speed limit value),
causing the servomotor speed to be overspeed.
(b) If the setting of the movement amount per pulse is less than 1, the
mechanical system may vibrate.
(c) Set the movement amount per pulse that will make the pulse output
frequency to the drive unit not more than 400kpps when the differential
driver is connected, or not more than 200kpps when the open collector is
connected.
If the setting of the movement amount per pulse is a value that will make the
pulse output frequency to the drive unit more than 400kpps (when the
differential driver is connected) or more than 200kpps (when the open
collector is connected), the AD75 may operate improperly.
(d) Depending on the servomotor resolution (No. of PLG pulses), the speed
may not reach the rated speed, even when the pulses are output from the
AD75 at the max. pulse output frequency. In this case, a drive unit electronic
gear function, etc., is jointly used.
REMARK
In the AD75, the general term for the functions in items (a) to (c) above is defined as
the "electronic gear function". Refer to the user's manual for the servomotor for the
definition of the "electronic gear" on the servomotor side.
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When carrying out continuous path control using interpolation control, either the
"positioning address pass mode" or the "near pass mode" can be selected by setting
the " Pr.44 Near pass mode selection for path control".
The "near pass mode" can be selected as the "near pass mode function" to suppress
the mechanical vibration occurring during speed changes when carrying out
continuous path control using interpolation control. (Mechanical vibration may occur in
continuous path control due to the dropping of the output speed during speed
changes.)
The details shown below explain about the "near pass mode function".
(1) Control details
(2) Precautions during control
(3) Setting the near pass mode function
REMARK
The "near pass mode function" is added to AD75 software version "F" and
subsequent versions.
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Path of positioning data No.3 Path of positioning data No.3 Path of positioning data No.4
V V
t t
Positioning data No. 3 Positioning data No. 4 Positioning data No. 3 Positioning data No. 4
Fig. 12.10 Paths of the positioning address pass mode and near pass mode
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(a) If the movement amount designated by the positioning data is small when
the continuous path control is executed in the near pass mode, the output
speed may not reach the designated speed.
(b) If continuous path control is carried out in the near pass mode, the output
will suddenly reverse when the reference axis movement direction changes
from the positioning data No. currently being executed to the next
positioning data No.
If the sudden output reversal affects the mechanical system, carry out
control with continuous positioning control.
(When the reference axis movement direction changes in the positioning
address pass mode, the operation automatically decelerates.)
Axis 2
t t
Positioning data Positioning data No.2 Positioning data Positioning data No.2
No. 1 No. 1
t t
Fig. 12.11 Path and output speed of various axes during continuous path control
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(c) When continuous path control of a circular interpolation is being carried out in
the near pass mode, an address in which the extra movement amount is
subtracted from the positioning address of the positioning data currently being
executed is replaced by the starting point address of the next positioning data
No.
Because of this, circular interpolation control cannot be carried out using the
increment system.
Because the starting point address will be replaced, an error "large arc error
deviation" (error code: 506) may occur.
In this case, adjust the " Pr.42 Allowable circular interpolation error width".
Positioning data No.2
starting point address Address designated by positioning data No.1
during the near pass mode
Positioning data No.2
Starting point address of positioning data No.1 Path of positioning data No.2
Starting point address of
positioning data No.2
Functions to limit the control include the "speed limit function", "torque limit function",
"software stroke limit", and "hardware stroke limit". Each function is executed by
parameter setting or sequence program creation and writing.
The speed limit function limits the command speed to a value within the "speed limit
value" setting range when the command speed during control exceeds the "speed limit
value".
The details shown below explain about the "speed limit function".
(1) Relation between the speed limit function and various controls
(2) Precautions during control
(3) Setting the speed limit function
(1) Relation between the speed limit function and various controls
The following table shows the relation of the "speed limit function" and various
controls.
Control type Speed limit function Speed limit value
Zero point Machine zero point return control
return
control High-speed zero pint return control
1-axis linear control
2-axis linear interpolation
control
1-axis fixed-dimension Pr.7 Speed limit
Position
feed control value
control
Main 2-axis fixed-dimension
positioning feed control (interpolation)
control 2-axis circular interpolation
control
Speed control
Speed/position changeover control
Other Current value change –
Setting value invalid
control JUMP command –
Pr.32 JOG speed
Manual JOG operation
limit value
control
Manual pulse generator operation Setting not possible.
: Always set
: Setting not possible
– : Setting not required (Setting value is invalid. Use the initial values or setting values
within a range where no error occurs.)
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REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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The "torque limit function" limits the generated torque to a value within the "torque limit
value" setting range when the torque generated in the servomotor exceeds the "torque
limit value".
The "torque limit function" protects the deceleration function, limits the power of the
operation pressing against the stopper, etc. It controls the operation so that
unnecessary force is not applied to the load and machine.
The details shown below explain about the "torque limit function".
(1) Relation between the torque limit function and various controls
(2) Control details
(3) Precautions during control
(4) Setting the torque limit function
(1) Relation between the torque limit function and various controls
The following table shows the relation of the "torque limit function" and various
controls.
Torque limit
Control type Torque limit value *
function
Zero point Machine zero point return control
return
control High-speed zero pint return control
1-axis linear control
2-axis linear interpolation
control Pr.18 Torque limit setting value
1-axis fixed-dimension * After the " Pr.49 Creep
Position
feed control speed" is reached, this value
control
2-axis fixed-dimension becomes the " Pr.56 Zero
Main point return torque limit value".
positioning feed control (interpolation)
control 2-axis circular interpolation
control
Speed control
Speed/position changeover control
Other Current value change –
Setting value is invalid.
control JUMP command –
Manual JOG operation Pr.18 Torque limit setting value
control Manual pulse generator operation Pr.18 Torque limit setting value
: Set when required (Set to " – " when not used.)
– : Setting not required (Setting value is invalid. Use the initial values or setting values
within a range where no error occurs.)
* : Shows the torque limit value when " Cd.30 New torque value" is set to "0".
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Various operations
(a) When limiting the torque at the " Pr.18 Torque limit setting value", confirm
that " Cd.30 New torque value" is set to "0". If this parameter is set to a
value besides "0", the " Cd.30 New torque value" will be validated, and the
torque will be limited at that value. (Refer to section "12.5.4 Torque change
function" for details about the "new torque value".)
(b) When limiting the torque, a D/A converter module and drive unit in which
torque limit commands by analog voltage are possible.
(c) When the operation is stopped by torque limiting, the droop pulse will remain
in the deviation counter. If a "deviation counter clear" is carried out by
issuing an external signal at this time, positional deviation will occur when
the operation is continued. If the load torque is eliminated, operation for the
amount of droop pulses will be carried out.
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(b) The "torque limit value" set in the AD75 is set in the " Md.45 Torque limit
stored value". The " Md.45 Torque limit stored value" in the sequence
program is transferred to the "D/A converter module", and the torque is
limited.
AD75
The following table shows the " Md.45 Torque limit stored value" of the
buffer memory address.
Monitor Buffer memory address
Monitor item Storage details
value Axis 1 Axis 2 Axis 3
Torque limit The "torque limit value" valid at that time is
Md.45 826 926 1026
stored value stored. ( Pr.18 , Pr.56 , or Cd.30 )
* Refer to section "5.6 List of monitor data" for information on the setting details.
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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In the "software stroke limit function" the address established by a machine zero point
return is used to set the upper and lower limits of the moveable range of the workpiece.
Movement commands issued to addresses outside that setting range will not be
executed.
In the AD75, the "current feed value" and "machine feed value" are used as the
addresses indicating the current position. However, in the "software stroke limit
function", the address used to carry out the limit check is designated in the " Pr.15
Software stroke limit selection". (Refer to section "9.1.4 Confirming the current value"
or details on the "current feed value" and "machine feed value".)
The upper and lower limits of the moveable range of the workpiece are set in " Pr.13
Software stroke limit upper limit value"/ " Pr.14 Software stroke limit lower limit value".
The details shown below explain about the "software stroke limit function".
(1) Differences in the moveable range when "current feed value" and "machine feed
value" are selected.
(2) Software stroke limit check details
(3) Relation between the software stroke limit function and various controls
(4) Precautions during software stroke limit check
(5) Setting the software stroke limit function
(6) Invalidating the software stroke limit
(7) Setting when the control unit is "degree"
(1) Differences in the moveable range when "current feed value" and
"machine feed value" are selected.
The following drawing shows the moveable range of the workpiece when the
software stroke limit function is used.
Software stroke limit (lower limit) Software stroke limit (upper limit)
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The following drawing shows the differences in the operation when " Md.29
Current feed value" and " Md.30 Machine feed value" are used in the moveable
range limit check.
[Conditions]
Assume the current stop position is 2000, and the upper stroke limit is set to 5000.
Moveable range
Fig. 12.16 Software stroke limits of the current feed value and machine feed value
POINT
When "machine feed value" is set in " Pr.15 Software stroke limit selection", the
moveable range becomes an absolute range referenced on the zero point. When
"current feed value" is set, the moveable range is the relative range from the
"current feed value".
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*1 Check whether the " Md.29 Current feed value" or " Md.30 Machine feed value" is set in
" Pr.15 Software stroke limit selection".
*2 Moveable range from the " Pr.13 Software stroke limit upper limit value" to the " Pr.14
Software stroke limit lower limit value".
(3) Relation between the software stroke limit function and various
controls
Limit
Control type Processing at check
check
Zero point Machine zero point return control –
Check not carried out.
return control High-speed zero pint return control –
1-axis linear control
2-axis linear interpolation
control Checks 1) and 2) in the previous section (2) are carried
out.
Position 1-axis fixed-dimension feed
control For speed control: The axis decelerates to a stop when
control
2-axis fixed-dimension feed it exceeds the software stroke limit
control (interpolation) range.
2-axis circular interpolation For position control: The axis comes to an immediate
Main
control stop when it exceeds the software
positioning
stroke limit range.
control Speed control *3, 4
Speed/position changeover control *3, 4
When the current value is changed, an error will not occur
even if the new address is outside the software stroke
Other Current value change – limit range. However, an error "start outside stroke limit
control +/-" (error code: 507/508) will occur at the next operation
start.
JUMP command – Check not carried out.
5 Check 1) in the previous section (2) is carried out.
JOG operation *
The machine will carry out a deceleration stop when the
Manual software stroke limit range is exceeded. If the address is
control Manual pulse generator operation *5 outside the software stroke limit range, the operation can
only be started toward the moveable range after the error
is reset.
: Check valid
: Check only carried out at start. (If "current feed value" is set in the " Pr.15 Software stroke limit selection", the
check will not be carried out when the Pr.22 Current feed value is updated.)
– : Check not carried out (check invalid).
: Valid only when "valid" is set in the " Pr.16 Software stroke limit valid/invalid setting".
*3 : The value in " Md.29 Current feed value" will differ according to the " Pr.22 Current feed value during speed
control" setting.
*4 : When the unit is "degree", check is not carried out during speed control.
*5 : When the unit is "degree", check is not carried out.
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Axis 1
* The software stroke limit check is carried out for the following addresses
during circular interpolation control.
Current value/end point address ( Da. 5 )/arc address ( Da. 6 )
(d) If an error is detected during continuous path control, the operation will
immediately stop after the positioning data just before the positioning data
where the error occurred has been executed.
Example
• If the positioning address of positioning data No. 13 is outside the software stroke limit range,
the operation immediately stops after positioning data No. 12 has been executed.
Positioning data
Immediate stop at
error detection No.10
P11
No.11
P11
No.10 No.11 No.12 No.13
No.12
P11
No.13
P11
Md. 35
Axis operation status Controlling position Error occurring No.14
P01
(e) During simultaneous start, a stroke limit check is carried out for the current
values of both axes to be started. Neither axis will start if an error occurs,
even if it only occurs in one axis.
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(For manual operation, set "0: software stroke limit invalid" in the " Pr.16
Software stroke limit valid/invalid setting".)
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y1D).
When the unit is "degree", the software stroke limit check is not performed during
speed control (including speed control in speed/position changeover control) or
during manual control, independently of the values set in Pr.13 , Pr.14 and
Pr.16 .
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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12 CONTROL AUXILIARY FUNCTIONS
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359.99999° 359.99999°
0° 0° 0°
Fig. 12.17 Current value address when the control unit is "degree".
Lower limit
90º
Section B
Fig. 12.18 Software stroke limit when the control unit is "degree"
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12 CONTROL AUXILIARY FUNCTIONS
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In the "hardware stroke limit function", limit switches are set at the upper/lower limit of
the physical moveable range, and the control is stopped (by deceleration stop) by the
input of a signal from the limit switch. Damage to the machine can be prevented by
stopping the control before the upper/lower limit of the physical moveable range is
reached.
Hardware stroke limit switches are normally installed inside the stroke limit/stroke end
on the drive unit side, and the control is stopped before the stroke limit/stoke end on
the drive unit side is reached.
The details shown below explain about the "hardware stroke limit function".
(1) Control details
(2) Wiring the hardware stroke limit
(3) Precautions during control
(4) When the hardware stroke limit is not used
Drive unit Lower limit switch Upper limit switch AD75 Drive unit
stroke limit stroke limit
Drive unit
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12 CONTROL AUXILIARY FUNCTIONS
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AD75
FLS
RLS
COM
24VDC
AD75
FLS
RLS
COM
24VDC
Fig. 12.21 Wiring when not using the hardware stroke limit
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12 CONTROL AUXILIARY FUNCTIONS
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Functions to change the control details include the "speed change function", "override
function", "acceleration/deceleration time change function" and "torque change
function". Each function is executed by parameter setting or sequence program
creation and writing.
Both the "speed change function" or "override function" change the speed, but the
differences between the functions are shown below. Use the function that corresponds
to the application.
"Override function"
• The speed is changed for all control to be executed. (Note that this excludes
manual pulse generator operation.)
• The new speed is set as a percent (%) of the command speed.
The speed control function is used to change the speed during control to a newly
designated speed at any time.
The new speed is directly set in the buffer memory, and the speed is changed by a
speed change command ( Cd.17 Speed change request) or external start signal.
The details shown below explain about the "speed change function".
(1) Control details
(2) Precautions during control
(3) Setting the speed change function from the PLC CPU
(4) Setting the speed change function using an external start signal
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12 CONTROL AUXILIARY FUNCTIONS
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V3
t
Md. 50 In speed change processing flag
(a) Control is carried out as follows at the speed change during continuous path
control.
1) When no speed designation (current speed) is provided in the next
positioning data:
The next positioning data is controlled at the " Cd.16 New speed
value".
2) When a speed designation (current speed) is provided in the next
positioning data:
The next positioning data is controlled at its command speed
( Da.7 ).
Speed change
command
(b) When changing the speed during continuous path control, the speed change
will be ignored if there is not enough distance remaining to carry out the
change.
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12 CONTROL AUXILIARY FUNCTIONS
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(c) When the speed is changed by setting " Cd.16 New speed value" to "0", the
operation is carried out as follows.
• A deceleration stop is carried out, and the speed change 0 flag ( Md.40
Status: b10) turns ON.
(During interpolation control, the speed change 0 flag on the reference axis
side turns ON.)
• The axis stops, but " Md.35 Axis operation status" does not change, and
the BUSY signal remains ON. (If a stop signal is input, the BUSY signal
will turn OFF, and " Md.35 Axis operation status" will change to
"stopped".)
* In this case, setting the " Cd.16 New speed value" to a value besides "0"
will turn OFF the speed change 0 flag ( Md.40 Status: b10), and enable
continued operation.
Positioning operation
ON
Speed change 0 flag OFF
Md. 40 status: b10
(d) A warning "deceleration and stop speed change" (warning code: 500)
occurs and the speed cannot be changed in the following cases.
• During deceleration by a stop command
• During automatic deceleration during positioning control
(e) A warning "speed limit value over" (warning code: 501) occurs and the
speed is controlled at the " Pr.7 Speed limit value" when the value set in
" Cd.16 New speed value" is equal to or larger than the " Pr.7 Speed limit
value".
(f) When the speed is changed during interpolation control, the required speed
is set in the reference axis.
(g) When carrying out consecutive speed changes, be sure there is an interval
between the speed changes of 100ms or more.
(If the interval between speed changes is short, the AD75 will not be able to
track, and it may become impossible to carry out commands correctly.)
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12 CONTROL AUXILIARY FUNCTIONS
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(3) Setting the speed change function from the PLC CPU
The following shows the data settings and sequence program example for
changing the control speed of axis 1 from the PLC CPU. (In this example, the
control speed is changed to "10000.00mm/min".)
* Refer to section "5.7 List of control data" for details on the setting details.
V
Dwell time
Fig. 12.25 Time chart for changing the speed from the PLC CPU
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12 CONTROL AUXILIARY FUNCTIONS
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(c) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example
*
* No.13 Speed change program
*
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12 CONTROL AUXILIARY FUNCTIONS
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(4) Setting the speed change function using an external start signal
The speed can also be changed using an "external start signal".
The following shows the data settings and sequence program example for
changing the control speed of axis 1 using an "external start signal". (In this
example, the control speed is changed to "10000.00mm/min".)
(a) Set the following data to change the speed using an external start signal.
(Use the start time chart shown in section (2) below as a reference, and set
using the sequence program shown in section (3).)
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
External start
Pr.43 1 Set "1: External speed change request". 62 212 362
function selection
1156 1206 1256
Cd.16 New speed value 1000000 Set the new speed.
1157 1207 1257
Cd.25 External start valid 1 Set "1: Validate the external start". 1171 1221 1271
* Refer to section "5.7 List of control data" for details on the setting details.
V
Dwell time
Fig. 12.26 Time chart for changing the speed using an external start signal
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12 CONTROL AUXILIARY FUNCTIONS
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(c) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example
External start
valid signal [Speed change processing]
DTOP H0 K1156 D108 K1 Write the new speed.
Input the external start signal. (AD75 starts speed change processing.)
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Md. 31 Feedrate 50 1 25 75 50 75
V
Not enough remaining
Not affected by the override value
distance could be secured
during deceleration
so operation is carried out
at an increased speed.
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12 CONTROL AUXILIARY FUNCTIONS
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(a) When changing the speed during continuous path control, the speed change
will be ignored if there is not enough distance remaining to carry out the
change.
(b) A warning "deceleration and stop speed change" (warning code: 500)
occurs and the speed cannot be changed in the following cases.
• During deceleration by a stop command
• During automatic deceleration during positioning control
(c) When the speed is changed during interpolation control, the required speed
is set in the reference axis.
(a) Set the following data. (Use the start time chart shown in section (2) below
as a reference, and set using the sequence program shown in section (3).)
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Positioning
Cd.18 operation speed 200 Set the new speed as a percentage (%). 1159 1209 1259
override
* Refer to section "5.7 List of control data" for details on the setting details.
(b) The following shows a time chart for changing the speed using the override
function.
V
Dwell time
Fig. 12.28 Time chart for changing the speed using the override function
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12 CONTROL AUXILIARY FUNCTIONS
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(c) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example
*
* No.14 Override program
*
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12 CONTROL AUXILIARY FUNCTIONS
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The details shown below explain about the "acceleration/deceleration time change
function".
(1) Control details
(2) Precautions during control
(3) Setting the acceleration/deceleration time change function
Cd.17 Speed
change request
t
Cd.35 Acceleration/deceleration
time change during
Disabled
speed change, enable/
disable selection
Cd.17 Speed
change request
Cd.35 Acceleration/deceleration
time change during Disabled Enabled
speed change, enable/
disable selection
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12 CONTROL AUXILIARY FUNCTIONS
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V Speed change
Speed change
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12 CONTROL AUXILIARY FUNCTIONS
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(d) If the "new acceleration/deceleration time" is set to "0" and the speed is
changed after the "new acceleration/deceleration time" is validated, the
operation will be controlled with the previous "new acceleration/deceleration
time".
Example
New acceleration/deceleration
time ( Cd. 33 , Cd. 34 )
V Speed change
Speed change
Speed change
POINT
If the speed is changed when an acceleration/deceleration change is enabled, the
"new acceleration/deceleration time" will become the acceleration/deceleration time
of the positioning data being executed. The "new acceleration/deceleration time"
remains valid until the changeover to the next positioning data. (The automatic
deceleration processing at the completion of the positioning will also be controlled
by the "new acceleration/deceleration time".)
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The "torque change function" is used to change the torque limit value during torque
limiting.
The torque limit value during torque limiting is normally the value set in the " Pr.18
Torque limit setting value" that was previously set in the parameters. However, by
setting the new torque limit value in the positioning data " Cd.30 New torque value",
and writing it to the AD75, the torque generated by the servomotor during control can
be limited with the new torque value.
(The " Cd.30 New torque value" is validated when written to the AD75.)
The details shown below explain about the "control torque change function".
(1) Control details
(2) Precautions during control
(3) Setting the torque change function start signal
Various operations
ON
PLC READY signal [Y1D] OFF
(a) If a value besides "0" is set in the " Cd.30 New torque value", the torque
generated by the servomotor will be limited by that value. To limit the torque
with the value set in " Pr.18 Torque limit setting value", set the " Cd.30
New torque value" to "0".
(b) The " Cd.30 New torque value" is validated when written to the AD75.
(c) If the setting value is outside the setting range, a warning "Outside torque
change value range" (warning code: 113) will occur and the torque will not
be changed.
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12 CONTROL AUXILIARY FUNCTIONS
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* Refer to section "5.7 List of control data" for details on the setting details.
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12 CONTROL AUXILIARY FUNCTIONS
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Other functions include the "step function", "skip function", "M code output function",
"teaching function", "command in-position function", "stepping motor mode function",
"acceleration/deceleration processing function" and "indirectly specification function".
Each function is executed by parameter setting or sequence program creation and
writing.
The "step function" is used to confirm each operation of the positioning control one by
one.
It is mainly used in debugging work for positioning control, etc.
A positioning operation in which a "step function" is used is called a "step operation".
In step operations, the timing for stopping the control can be set. (This is called the
"step mode".) Control stopped by a step operation can be continued by setting "step
continue" (to continue the control)" or restarted by setting "restart" in the "step start
information".
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12 CONTROL AUXILIARY FUNCTIONS
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The following warnings will occur if the " Md.35 Axis operation status" is not
appropriate when step start information is set.
Md.35 Axis operation status Step start results
Standing by
Step start information invalid
Stopped warning
Error occurring
In interpolation
In JOG operation
In manual pulse generator operation
Analyzing
Waiting for special start
Start during operation warning
In zero point return
In position control
In speed control
In speed control of speed/position changeover control
In position control of speed/position changeover control
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12 CONTROL AUXILIARY FUNCTIONS
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(a) Turn ON the step valid flag before starting the positioning data.
(Write "1" (carry out step operation) in " Cd.26 Step valid flag".)
(b) Set the step mode before starting the positioning data.
(Set in " Cd.27 Step mode".)
(c) Turn ON the positioning start signal, and check that the
positioning control starts normally.
(d) The control will stop for the following reasons.
1) One step of positioning stopped normally. (Go to step (f))
2) Control stopped by a stop signal (Take appropriate measures, go to
step (e))
3) An error occurred and the control stopped. (Take appropriate
measures, go to step (c))
(e) Write "2" (restart) to " Cd.28 Step start information", and check
that the positioning data where the control stopped operates
normally. (Go to (d)).
(f) Write "1" (step continue) to " Cd.28 Step start information", and
check that the next positioning data where the control stopped
operates normally.
1) One step of positioning stopped normally. (Go to step (f))
2) Control stopped by a stop signal (Take appropriate measures, go to
step (e))
3) An error occurred and the control stopped. (Take appropriate
measures, go to step (c))
4) All positioning data operated normally (Go to step (g))
(g) Turn OFF the step valid flag, and quit the "step function".
(Write "0" (do not carry out step operation) in " Cd.26 Step valid flag".)
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12 CONTROL AUXILIARY FUNCTIONS
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(a) The following drawing shows a step operation during a "deceleration unit
step".
ON
Cd. 26 Step valid flag OFF
ON
Positioning start signal OFF
[Y10, Y11, Y12]
ON
BUSY signal [X4, X5, X6] OFF
ON
Positioning complete signal OFF
[X7, X8, X9] V
Positioning
t
(b) The following drawing shows a step operation during a "data No. unit step".
ON
Cd. 26 Step valid flag
OFF
ON
Positioning start signal OFF
[Y10, Y11, Y12]
ON
BUSY signal [X4, X5, X6] OFF
ON
Positioning complete signal OFF
[X7,X8,X9]
V
Positioning
t
Cd. 28 Step start information 00H 01H 00H
Fig. 12.32 Operation during step execution positioning data No. unit step
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(a) When step operation is carried out using interpolation control positioning
data, the step function settings are carried out for the reference axis.
(b) When the step valid flag is ON, the step operation will start from the
beginning if the positioning start signal is turned ON while " Md.35 Axis
operation status" is "step standing by", "step stopped", or "step error
occurring". (The step operation will be carried out from the positioning data
set in " Cd.11 Positioning start No.".)
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The "skip function" is used to stop (deceleration stop) the control of the positioning data
being executed at the time of the skip signal input, and execute the next positioning
data.
A skip is executed by a skip command ( Cd.29 Skip command) or external start signal.
The "skip function" can be used during control in which positioning data is used.
ON
Positioning start signal OFF
[Y10, Y11, Y12]
ON
BUSYsignal OFF
[X4,X5,X6]
ON
Positioning complete signal OFF
[X7,X8,X9] V
Positioning
t
Deceleration by Start of the
skip signal next positioning
ON
Skip signal OFF
Fig. 12.33 Operation when a skip signal is input during positioning control
(a) If the skip signal is turned ON at the last of an operation, a deceleration stop
will occur and the operation will be terminated.
(b) When a control is skipped (when the skip signal is turned ON during a
control), the positioning complete signals (X7, X8, X9) will not turn ON.
(c) When the skip signal is turned ON during the dwell time, the remaining dwell
time will be ignored, and the next positioning data will be executed.
(d) When a control is skipped during interpolation control, the reference axis
skip signal is turned ON. When the reference axis skip signal is turned ON,
a deceleration stop will be carried out for both axes, and the next reference
axis positioning data will be executed.
(e) The M code ON signals (XD, XE, XF) will not turn ON when the M code
output is set to the AFTER mode (when "1: AFTER mode" is set in " Pr.19
M code ON signal output timing").
(In this case, the M code will not be stored in " Md.32 Valid M code".)
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12 CONTROL AUXILIARY FUNCTIONS
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* Refer to section "5.7 List of control data" for details on the setting details.
(b) Add the following sequence program to the control program, and write it to
the PLC CPU.
1) When the "skip command" is input, the value "1" (skip request) set in
" Cd.29 Skip command" is written to the AD75 buffer memory (1175).
Example
*
* No.18 Skip program
*
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12 CONTROL AUXILIARY FUNCTIONS
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(a) Set the following data to execute the skip function using an external start
signal.
(The setting is carried out using the sequence program shown below in
section (2)).
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
External start
Pr.43 2 Set "2: Skip request". 62 212 362
function selection
Cd.25 External start valid 1 Set "1: Validate external start". 1171 1221 1271
* Refer to section "5.7 List of control data" for details on the setting details.
(b) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example
Skip function
selection command
TOP H0 K62 K2 K1 Select skip request
Skip request
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The "M code output function" is used to command auxiliary work (clamping, drill
rotation, tool replacement, etc.) related to the positioning data being executed.
When the M code ON signal (XD, XE, XF) is turned ON during positioning execution, a
No. called the M code is stored in " Md.32 Valid M code".
These " Md.32 Valid M code" are read from the PLC CPU, and used to command
auxiliary work. M codes can be set for each positioning data. (Set in setting item
" Da.9 M code" of the positioning data.)
The timing for outputting (storing) the M codes can also be set in the "M code output
function".
The details shown below explain about the "M code output function".
(1) M code ON signal output timing
(2) M code OFF request
(3) Precautions during control
(4) Setting the M code output function
(5) Reading M codes
ON
Positioning start signal OFF
[Y10, Y11, Y12]
ON
BUSY signal [X4,X5,X6] OFF
V Dwell time
Positioning
t
Da. 1 Operation pattern 01 00
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12 CONTROL AUXILIARY FUNCTIONS
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ON
Positioning start signal OFF
[Y10, Y11, Y12] ON
BUSY signal [X4,X5,X6] OFF
ON
M code ON signal [XD,XE,XF] OFF
V
Positioning
t
* Refer to section "5.7 List of control data" for details on the setting details.
The next positioning data will be processed as follows if the M code ON signal is
not turned OFF. (The processing differs according to the " Da.1 Operation
pattern".)
Da.1 Operation pattern Processing
Independent positioning control
00 The next positioning data will not be executed until the M code ON
(Positioning complete)
signal is turned OFF.
01 Continuous positioning control
The next positioning data will be executed, but a warning "M code
11 Continuous path control
ON signal ON start" (warning code: 503) will occur.
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ON
Positioning start signal OFF
[Y10, Y11, Y12]
ON
BUSY signal [X4,X5,X6] OFF
ON
M code ON signal [XD,XE,XF] OFF
Positioning
t
Fig. 12.36 Warning due to an M code ON signal during continuous path control
POINT
If the M code output function is not required, set a "0" in setting item " Da.9 M
code" of the positioning data.
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12 CONTROL AUXILIARY FUNCTIONS
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(a) Set the M code No. in the positioning data " Da.9 M code".
(b) Set the timing to output the M code ON signal (XD, XE, XF).
Set the required value in the following parameter, and write it to the AD75.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y1D).
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3
Set the timing to output the M code ON signal.
M code ON signal
Pr.19 0: WITH mode 25 175 325
output timing
1: AFTER mode
* Refer to section "5.2 List of parameters" for setting details.
* Refer to section "5.6 List of monitor data" for information on the storage details.
The following shows a sequence program example for reading the " Md.32 Valid
M code" to the PLC CPU data register (D110). (The read value is used to
command the auxiliary work.)
Read M codes not as "rising edge commands", but as "ON execution
commands".
Example
M code ON signal
ON execution command
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The "teaching function" is used to set addresses aligned using the manual control
(JOG operation, manual pulse generator operation) in the positioning data addresses
( Da.5 Positioning address/movement amount, Da.6 Arc address).
Positioning data
Positions aligned by manual
control
Da.5 Positioning address/movement
"Current feed value" A
amount
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(a) Before teaching, a "machine zero point return" must be carried out to
establish the zero point. (When a current value change function, etc., is
carried out, " Md.29 Current feed value" may not show absolute addresses
having the zero point as a reference.)
(b) Teaching cannot be carried out for positions to which movement cannot be
executed by manual control (positions to which the workpiece cannot
physically move). (During center point designation circular interpolation
control, etc., teaching of " Da.6 Arc address" cannot be carried out if the
center point of the arc is not within the moveable range of the workpiece.)
(c) Writing to the flash ROM can be executed up to 100,000 times.
Writing to the flash ROM will become impossible after 100,000 times.
* Refer to section "5.7 List of control data" for details on the setting details.
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12 CONTROL AUXILIARY FUNCTIONS
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Start
Set the target axis. • • • • • • • • Set the target axis in the buffer memory address [1103].
Confirm the completion of the writing. • • • • • • • • Confirm that the buffer memory address [1106] has become 0.
NO End teaching?
YES
Confirm the completion of the writing. • • • • • • • • Confirm that the buffer memory address [1138] has become 0.
End
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(b) When teaching to the " Da.6 Arc address", then teaching to the " Da.5
Positioning address/movement amount"
Start
Set the target axis. • • • • • • • • Set the target axis in the buffer memory address [1103].
Confirm the completion of the writing. • • • • • • • • Confirm that the buffer memory address [1106] has become 0.
II I
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II I
Confirm the completion of the writing. • • • • • • • • Confirm that the buffer memory address [1106] has become 0.
NO
End teaching?
YES
Turn OFF the PLC READY • • • • • • • • Set 1 in the buffer memory address [1138].
signal [Y1D].
End
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D40 272 (0110H) (Deceleration time: Use No. 0) 1108 Positioning identifier
(Acceleration time: Use No. 1)
(Operation pattern: Positioning complete)
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12 CONTROL AUXILIARY FUNCTIONS
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1) Move the workpiece to the target position using a JOG operation (or a
manual pulse generator operation).
Example
Target position
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12 CONTROL AUXILIARY FUNCTIONS
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Example
*
* No.19 Teaching program
*
*
* • Positioning to the target position with manual operation.
* • Store the data other than the positioning data interface address
* in D40 to D45.
*
*
*
<Axis 1 setting>
POINT
(1) Use the address 1103 to 1137 areas in the system control data area as the buffer memory
for the positioning data interface.
(2) Confirm the teaching function and teaching procedure before setting the positioning data.
(3) The positioning addresses that are written are absolute address (ABS) values.
(4) If the positioning operation is correctly completed with the written positioning data, it is
recommended that the positioning data be registered in the AD75 flash ROM.
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Address 800
Md. 29 Current feed value (axis1)
801
PLC CPU data register 900
Md. 29 Current feed value (axis2)
D111 4 (Interpolation with axis 1 and axis 2) 901
D112 2 (Data No. 2)
1551(060FH) (When the arc auxiliary 1103 Cd.4 Target axis
/ point is set.)
D113 1104 Cd.5 Positioning data No.
1295(050FH) (When the positioning address is set.)
D114 2 (Writing request) 1105 Cd.6 Write pattern
1) Move the workpiece to the target position using a JOG operation (or a
manual pulse generator operation).
Example
V
Arc auxiliary point End position
(The following drawing is
for the 1st axis only.) (Positioning address)
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12 CONTROL AUXILIARY FUNCTIONS
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Example
*
* Teaching program
*
*
* • Set the positioning data other than the positioning address and circle
* data of data No. 2.
*
*
*
* • Position the workpiece to the auxiliary point of the circular interpolation
using a manual operation.
• Store the data for the positioning data interface in D111 to D114.
(Write pattern: 060FH)
X4 : BUSY signal
X40, X41 : Teaching 1, 2 command
M105, M107 : Teaching command 1, 2 pulse
M106, M108 : Teaching command 1, 2 storage
D111 to D114 : Positioning data interface
D115, D116 : Teaching results
POINT
(1) Use the address 1103 to 1137 areas in the system control data area as the buffer memory
for the positioning data interface.
(2) Confirm the teaching function and teaching procedure before setting the positioning data.
(3) The positioning addresses that are written are absolute address (ABS) values.
(4) If the positioning operation is correctly completed with the written positioning data, it is
recommended that the positioning data be registered in the AD75 flash ROM.
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The "command in-position function" checks the remaining distance to the stop position
during the automatic deceleration of positioning control, and set a flag. This flag is
called the "command in-position flag". The command in-position flag is used as a front-
loading signal indicating beforehand the completion of the position control.
The details shown below explain about the "command in-position function".
(1) Control details
(2) Precautions during control
(3) Setting the command in-position function
(4) Confirming the command in-position flag
(a) When the remaining distance to the stop position during the automatic
deceleration of positioning control becomes equal to or less than the value
set in " Pr.17 Command in-position width", "1" is stored in the command in-
position flag ( Md.40 Status: b2).
Positioning t
ON ON
Command in-position flag OFF
[ Md.40 Status : b2]
Command in-position
width setting value
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12 CONTROL AUXILIARY FUNCTIONS
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(a) A command in-position width check will not be carried out in the following
cases.
• During deceleration by a stop command or sudden stop command.
• During speed control, or during the speed control of speed/position
changeover control.
Command in-position
V width setting value Speed to position changeover
Speed/position
Positioning changeover Command in-position
control start control start width setting value
Execution of the command in-position width check Execution of the command in-position
width check
(b) The command in-position flag will be turned OFF in the following cases.
("0" will be stored in " Md.40 Status: b2".)
• At the positioning control start
• At the speed control start
• At the zero point return control start
• At the JOG operation start
• When the manual pulse generator operation is enabled.
(c) The " Pr.17 Command in-position width" and command in-position flag
( Md.40 Status: b2) of the reference axis are used during interpolation
control.
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12 CONTROL AUXILIARY FUNCTIONS
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* Refer to section "5.6 List of monitor data" for information on the storage details.
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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The "stepping motor mode function" is used to carry out the settings when controlling a
stepping motor with the AD75. By setting the "stepping motor mode function", "step out
prevention during acceleration/deceleration", "reduction of mechanical vibration due to
decreases in frequency fluctuations", etc., will be carried out, and control of the
stepping motor with the AD75 will be enabled.
The details shown below explain about the "stepping motor mode function".
(1) Precautions during control
(2) Setting the stepping motor mode function
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Setting Factory-set
Setting item Setting details
value initial value
Bias speed at
Pr.10 Set the minimum speed during start. 0
start
Stepping motor
Pr.11 1 Set "1: stepping motor mode". 0
mode selection
REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the AD75
software package. Execution by sequence program uses many sequence
programs and devices. The execution becomes complicated, and the scan times
will increase.
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Set the required values for the acceleration/deceleration time size in the
parameters shown in the following table, and write them to the AD75.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y1D).
Setting Factory-set
Setting item Setting details
value initial value
Select the acceleration/deceleration time size (setting
Size selection for range) from the following two sizes, and set the
Pr.25 acceleration/dece appropriate value. 0
leration time 0: 1 to 65535ms
1: 1 to 8388608ms
* Refer to section "5.2 List of parameters" for setting details.
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Setting Factory-set
Setting item Setting details
value initial value
Pr.8 Acceleration time 0 1000
Pr.26 Acceleration time 1 Set the acceleration time within the setting value 1000
range set in " Pr.25 Size selection for
Pr.27 Acceleration time 2 acceleration/deceler-ation time". 1000
Pr.28 Acceleration time 3 1000
Pr.9 Deceleration time 0 1000
Pr.29 Deceleration time 1 Set the deceleration time within the setting value 1000
range set in " Pr.25 Size selection for
Pr.30 Deceleration time 2 acceleration/deceler-ation time". 1000
Pr.31 Deceleration time 3 1000
Velocity
Distance
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Velocity
Distance
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12 CONTROL AUXILIARY FUNCTIONS
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REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the
AD75 software package. Execution by sequence program uses many
sequence programs and devices. The execution becomes complicated, and
the scan times will increase.
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The "indirectly specification function" specifies indirectly and starts the positioning data
No.
The "indirectly specification function" is executed by setting the positioning data No. 1
to 600 desired to be started to the "indirectly specification data area" and starting that
"indirectly specification data".
The "indirectly specification data" can be set on an "indirectly specification No. (8001 to
8050)" basis and can be set to up to 50 pieces on an axis basis.
The following details will be explained about the "indirectly specification function".
(1) "Indirectly specification data" setting items and setting details
(2) "Indirectly specification data" configuration
(3) Control details and setting
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Indirectly speccification
No.8050
Buffer memory
Setting item address
specification data
Axis 1 indirectly
Indirectly speccification
No.8002
Indirectly speccification
Buffer memory
No.8001 Setting item address
specification data
Buffer memory
Setting item Positioning data No.(1 to 600) 4549
Axis 1 indirectly
address
specification data
Axis 1 indirectly
Indirectly speccification
No.8050
Buffer memory
Setting item address
specification data
Axis 1 indirectly
Indirectly speccification
No.8002
Indirectly speccification
Buffer memory
No.8001 Setting item address
specification data
Buffer memory
Setting item Positioning data No.(1 to 600) 4799
Axis 1 indirectly
address
specification data
Axis 2 indirectly
Indirectly speccification
No.8050
Buffer memory
Setting item address
specification data
Axis 1 indirectly
Indirectly speccification
No.8002
Indirectly speccification
Buffer memory
No.8001 Setting item address
specification data
Buffer memory
Setting item Positioning data No.(1 to 600) 5049
Axis 1 indirectly
address
specification data
Axis 3 indirectly
* Set to the AD75 using a sequence program or the AD75 software package.
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AD75
Buffer memory Drive unit
4
Controlled with
the specified
positioning data
1
8001
1150
2
1
4500
PLC CPU
3
ON
Input/output signal
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Device
Signal name Signal state
Axis 1 Axis 2 Axis 3
PLC READY signal ON PLC CPU preparation completed Y1D
AD75 READY signal OFF AD75 preparation completed X0
Axis stop signal OFF Axis stop signal is OFF Y13 Y14 Y1C
Interface Positioning start
signal OFF Start complete signal is OFF X1 X2 X3
complete signal
BUSY signal OFF BUSY signal is OFF X4 X5 X6
Error detection signal OFF There is no error XA XB XC
M code ON signal OFF M code ON signal is OFF XD XE XF
Drive unit READY signal ON Drive unit preparation completed
External Stop signal OFF Stop signal is OFF
signal Upper limit (FLS) ON Within limit range
Lower limit (RLS) ON Within limit range
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V
Operation pattern Dwell time Dwell time
3(11)
Positioning data No. 1(11)
2(01) 4(11)
5(00)
t
Fig. 12.43 Start time chart for positioning control using indirectly specification function
12 - 86
Chapter 13
COMMON FUNCTIONS
The details and usage of the "common functions" executed according to the user's
requirements are explained in this chapter.
Common functions include functions required when using the AD75, such as parameter
initialization and execution data backup.
Read the setting and execution procedures for each common function thoroughly, and
execute the appropriate function where required.
13
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13 COMMON FUNCTIONS
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13 COMMON FUNCTIONS
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"The parameter initialization function" is used to return the setting data set in the AD75
flash ROM and OS memory to their factory-set initial values.
This function is used when several parameter errors occur and the AD75 will not start.
In this case, resetting is carried out after the setting data are initialized. (If there is an
abnormality in the parameters set in the AD75 when the PLC READY signal (Y1D) is
turned ON, the AD75 READY signal (X0) will not turn OFF, and control will not be
possible.)
Parameter initialization is carried out using one of the following methods.
• Method using the sequence program.
• Method using the AD75 software package.
"The execution method using the sequence program" is explained in this section.
Refer to the AD75 software package operating manual for details on the execution
method using the AD75 software package.
The details shown below explain about the "parameter initialization function".
(1) Control details
(2) Precautions during control
(3) Initializing the parameters
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13 COMMON FUNCTIONS
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Important
Parameter initialization takes about 10 seconds. (Up to 30 seconds are sometimes
required.)
Do not turn the power ON/OFF; reset the PLC CPU, etc., during parameter
initialization. The flash ROM data may be corrupted.
When the initialization is complete, "0" will be set in " Cd.10 Parameter
initialization request" by the AD75.
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13 COMMON FUNCTIONS
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When the AD75 buffer memory data is rewritten from the PLC CPU, "the data backed
up in the AD75 flash ROM" may differ from "the data for which control is being
executed". In cases like these, the data being executed will be lost when the PLC
power is turned OFF. (Refer to Chapter 7.)
In cases like these, the "execution data backup function" backs up the data being
executed by writing it to the flash ROM. The data that was backed up is then written to
the buffer memory when the power is turned ON next.
The execution data is backed up (written to the flash ROM) using one of the following
methods.
• Method using the sequence program
• Method using the AD75 software package
"The execution method using the sequence program" is explained in this section.
Refer to the AD75 software package operating manual for details on the execution
method using the AD75 software package.
The details shown below explain about the "execution data backup function".
(1) Control details
(2) Precautions during control
(3) Backing up the execution data
OS memory
Positioning data (No. 101 to No. 600) Positioning data (No. 101 to No. 600)
Positioning start information Positioning start information
(No. 7000 to 7010) (No. 7000 to 7010)
Important
Do not turn the power ON/OFF; reset the PLC CPU, etc., during parameter writing.
The flash ROM data may be corrupted.
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13 COMMON FUNCTIONS
MELSEC-A
When the writing to the flash ROM is complete, "0" will be set in " Cd.9 Flash
ROM write request" by the AD75.
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13 COMMON FUNCTIONS
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The AD75 status, control status of each axis, input/output signal status, etc., can be
confirmed using the LED display on the front of the AD75 main unit.
Monitor the operation condition as required when the AD75 is not operating normally,
etc. (Constant monitoring is possible.)
The details shown below explain about the "LED display function".
(1) LED display position
(2) Display details
(3) Changing the display details
AD75P3-S3 A1SD75P3-S3
A D75P3- S3 A 1SD75P3-S3
AX1
17-segment LED AX2
AX3
(17-seg LED)
Axis display LED AX1
MODE
AX1
AX2
AX3 RS-422
RS-422
AX2 AX3
A1SD75P3-S3
AX1
AX3 AX2
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13 COMMON FUNCTIONS
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REMARK
The "OS type" appears in the LED display area for 1 second after the PLC power is
turned ON, then the "operation monitor 1" display appears.
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13 COMMON FUNCTIONS
MELSEC-A
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13 COMMON FUNCTIONS
MELSEC-A
Operation monitor 1
Operation monitor 2
Internal information 1
Internal information 2
Z-ON
ULMT
LLMT
V-P
DOG
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13 COMMON FUNCTIONS
MELSEC-A
"The clock data function" utilizes the PLC CPU clock data in the AD75.
This clock data is used to monitor the various history data. The clock data is controlled
in 0.1 second units in the AD75 to simplify the measurement of cycle time, etc.
The details shown below explain about the "clock data setting function".
(1) Precautions during control
(2) Setting the clock data
* Refer to section "5.7 List of control data" for details on the setting details.
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13 COMMON FUNCTIONS
MELSEC-A
(b) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example
*
* No.6 Clock data setting program
*
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Chapter 14
TROUBLESHOOTING
The "errors" and "warnings" detected by the AD75 are explained in this chapter.
Errors and warnings can be confirmed with the AD75 LED display and peripheral devices.
When an error or warning is detected, confirm the detection details and carry out the
required measures.
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14 TROUBLESHOOTING
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(1) Errors
Types of errors
Errors detected by the AD75 include parameter setting range errors and errors at
the operation start or during operation.
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Error storage
When an error occurs, the error detection signal turns ON, and the error code
corresponding to the error details is stored in the following buffer memory address
( Md.33 Axis error No.) for axis error No. storage. Note that there is a delay of up
to 56.8ms after the error detection signal turns ON until the error code is stored.
Axis No. Error detection signal Buffer memory address
1 XA 807
2 XB 907
3 XC 1007
A new error code is stored in the buffer memory ( Md.33 Axis error No.) for axis
error storage every time an error occurs.
(2) Warnings
Types of warnings
(2) Axis warnings occur due to setting warnings from operations such as
positioning operations, JOG operations, manual pulse generator operations, or
system errors. They can be canceled by turning ON the " Cd.12 Axis error
reset".
Note that some warnings cannot be canceled unless the cause of the warning
is eliminated.
The axis operation status does not change even if an axis warning occurs.
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Warning storage
(1) When an axis warning occurs, the warning code corresponding to the warning
details is stored in the following buffer memory ( Md.34 Axis warning No.) for
axis warning No. storage.
Axis No. Buffer memory address
1 808
2 908
3 1008
(2) When an axis warning occurs in a positioning operation, etc., "1" is set in bit 9
(b9) of the following buffer memory ( Md.40 Status) for axis status storage.
Axis No. Buffer memory address
1 817
2 917
3 1017
For details of (2) and (3), refer to the GPP Function Software Package Operating
Manual or AD75 Software Package Operating Manual.
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MEMO
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Division of Error
Error name Description Action at occurrence of error
error code
000 (Normal)
001 Fault
003 Division by zero
Fatal error Hardware error The system is stopped.
004 Overflow
005 Underflow
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Division of Error
Error name Description Action at occurrence of error
error code
Stopping according to sudden stop (stopping
group 3) setting (deceleration and stop/sudden
Test mode fault Communication between the personal
103 stop) selected in detail parameter 2 (However,
during operation computer and AD75 is interrupted in test mode.
deceleration and stop only during manual pulse
generator operation)
Common
PLC READY
The “PLC READY” signal is turned OFF while The AD75 READY signal (X0) is not turned
107 OFF --> ON in
the busy signal is turned ON. OFF.
busy
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Division of Error
Error name Description Action at occurrence of error
error code
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Division of Error
Error name Description Action at occurrence of error
error code
The condition data number specified in the
parameter of special positioning start data is
out of the setting range at the block start in the
Illegal condition special starting method when the conditional
500 Operation is terminated.
data No. start, wait start, simultaneous start or FOR
(condition) requiring condition data is
commanded.
(1 ≤ Condition data No. ≤ 10)
• The target axis of simultaneous start is busy.
Simultaneous • No axis designation is given in condition data. At start: Operation does not start.
501
start fault • The axis designated in condition data is the During operation: Operation is terminated.
own axis.
• The positioning data number to be executed
Illegal start data
502 is other than 1 to 600, 7000 to 7010, or 9001 Positioning data is not executed.
No.
to 9003.
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Refer to section “5.4 List of start <Condition data No.> Examine the condition data number. (Refer to Da. 13 in
block data.” 1 to 10 section 5.4)
<Condition operator>
Refer to section “5.5 List of Correct the condition operator.
Axis designation: 09H, 0AH, 0BH, 0CH,
condition data.” (Refer to section 5.5 Da. 15 )
0DH, 0EH
<Command speed>
(In standard mode)
1 to 1000000 [pulse/s]
1 to 600000000 [mm/min, etc.] Correct the positioning data.
(In stepping motor mode)
1 to 62500 [pulse/s]
1 to 37500000 [mm/min, etc.]
<Positioning address/movement
amount>
(In standard mode)
• [mm] [inch] [pulse] [degree (INC)]
Refer to section “5.3 List of -2147483648 to 2147483647
• [degree (ABS)] 0 to 35999999
positioning data.”
• Speed/position changeover Examine the positioning address.
0 to 2147483647
(In stepping motor mode)
• [mm] [inch] [pulse] [degree (INC)]
-134217728 to 134217727
• [degree (ABS)] 0 to 35999999
• Speed/position changeover
0 to 134217727
<Arc address>
(In standard mode) • Correct the center point address (positioning address).
-2147483648 to 2147483647 • Correct the end point address (arc address).
(In stepping motor mode)
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Division of Error
Error name Description Action at occurrence of error
error code
Start outside Positioning is started at a position outside the
507
stroke limit (+) upper software stroke limit.
Start outside Positioning is started at a position outside the
508
stroke limit (-) lower software stroke limit.
Movement
Positioning start is made to a position beyond Operation at the start is not carried out.
509 outside stroke
the upper software stroke limit.
limit (+)
Movement
Positioning start is made to a position beyond
510 outside stroke
the lower software stroke limit.
limit (-)
Positioning
operation Outside current The address of current value change is outside
514 value change the range between 0 and 359.99999 in the
range degree unit.
• The “continuous path control” operation
pattern is specified in the positioning data of
The current value is not changed.
Current value the current value change control method.
515 change not • The “current value change” control method is
possible specified in the data following the positioning
data of the “continuous path control”
operation pattern.
• Continuous path control is designated with
the speed control, speed/position
changeover, sizing feed or other control
method where continuous path control is
Continuous path
impossible.
516 control not Operation at the start is not carried out.
• The data preceding speed control,
possible
speed/position changeover or sizing feed is
continuous path control.
• The continuous positioning control is
designated for speed control.
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1154 1204 1254 <New current value> Change the new current value to within the setting range.
1155 1205 1255 [degree] 0 to 35999999 (Refer to section 9.2.10)
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Division of Error
Error name Description Action at occurrence of error
error code
Outside
518 operation pattern The operation pattern setting is “2.”
range
Interpolation
Interpolation is started during operation in the
519 while target axis
target axis.
is BUSY
Control method
524 The control method setting is out of the range.
setting error
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<Unit setting> Correct the positioning data or the “unit setting” parameter.
0 150 300
0, 1, 2, 3 (Refer to section 9.1.6)
<Positioning address/movement
amount>
(In standard mode)
• [mm] [inch] [pulse] Correct the address of the auxiliary point (arc address).
Refer to section “5.3 List of -2147483648 to 2147483647 (Refer to section 9.2.6)
positioning data.” (Unit [degree] cannot be set.)
<Arc address>
-2147483648 to 2147483647
(In stepping motor mode)
Correct the end point address (positioning address).
(Refer to section 9.2.6)
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Division of Error
Error name Description Action at occurrence of error
error code
Arc with center point designation applicable to
one of the following
Center point • Start point = Center point At start: Operation does not start.
527
setting error • End point = Center point During operation: Immediate stop
• The center point address is out of the range
between -2147483648 and 2147483647
• The positioning address setting is a negative
At start: Operation does not start.
value in the speed/position changeover
Outside address control mode. During operation: Stopping according to
530
range • The positioning address setting of ABS1 or sudden stop (stopping group 3) setting
ABS2 is out of the range between 0 and (deceleration and stop/sudden stop) selected in
359.99999 [degrees].
detail parameter 2
Simultaneous An error other than this one is developed to a (However, deceleration and stop only during
532 manual pulse generator operation)
start not possible target axis of simultaneous start.
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<Positioning address/movement
amount> Correct the center point address (arc address).
(In standard mode) (Refer to section 9.2.7)
• [mm] [inch] [pulse] [degree (INC)]
Refer to section “5.3 List of -2147483648 to 2147483647
positioning data.” • [degree (ABS)] 0 to 35999999
<Arc address>
-2147483648 to 2147483647 Correct the positioning address.
(In stepping motor mode) (Refer to section 9.2.9)
Refer to section "5.3 List of Refer to the error history to search for axes developing
positioning data" and section "5.4 errors other than this one and remove the causes of the
Start block data." errors. Correct the start block data and positioning data.
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Division of Error
Error name Description Action at occurrence of error
error code
Outside unit The setting range of “unit setting” in basic
900
setting range parameter 1 is out of the setting range.
No. of pulses per
The setting range of “No. of pulses per rotation”
901 rotation setting
in basic parameter 1 is out of the setting range.
error
Movement
The setting range of “movement amount per
amount per
902 rotation” in basic parameter 1 is out of the
rotation setting At start: Operation does not start.
setting range.
error During operation: Immediate stop
Unit
The setting range of “unit magnification” in
903 magnification
basic parameter 1 is out of the setting range.
setting error
Pulse output The setting range of “pulse output mode” in
904
mode error basic parameter 1 is out of the setting range.
Rotation direction The setting range of “rotation direction setting”
905
setting error in basic parameter 1 is out of the setting range.
Parameter
Outside
The setting range of “acceleration time 0” in
911 acceleration time At power-on or when the PLC READY signal
basic parameter 2 is out of the setting range.
range (Y1D) is turned ON: The AD75 READY signal
Outside (X0) is not turned on.
The setting range of “deceleration time 0” in
912 deceleration time At start: Operation does not start.
basic parameter 2 is out of the setting range.
range
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0 150 300 0, 1, 2, 3
4 154 304 0, 1, 2, 3
5 155 305 0, 1
(In standard mode) Change the setting to within the setting range and turn
1 to 1000000 [pulse/s] OFF then ON the PLC READY signal (Y1D).
6 156 306 1 to 600000000 [mm/min, etc.]
7 157 307 (In stepping motor mode)
1 to 62500 [pulse/s]
1 to 37500000 [mm/min, etc.]
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Division of Error
Error name Description Action at occurrence of error
error code
The setting range of the “command in-position The AD75 READY signal (X0) is not turned
Parameter Command in-
926 range” in detail parameter 1 is out of the setting OFF.
position range
range.
The setting range of the “M code ON signal
M code ON
927 output timing” in detail parameter 1 is out of the
timing error
setting range.
Speed The setting range of the “speed changeover
928 changeover mode” in detail parameter 1 is out of the setting
mode error range.
Interpolation
The setting range of the “interpolation speed
speed
929 designation method” in detail parameter 1 is
designation
out of the setting range.
method
Current value The setting range of the “current feed value
930 update request during speed control” in detail parameter 1 is
error out of the setting range.
Manual pulse
The “manual pulse generator selection” setting
931 generator
in detail parameter 1 is out of the setting range.
selection error
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20 170 320 0, 1
21 171 321 0, 1
25 175 325 0, 1 Change the setting to within the setting range and turn
OFF then ON the PLC READY signal (Y1D).
26 176 326 0, 1
27 177 327 0, 1
28 178 328 0, 1, 2
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Division of Error
Error name Description Action at occurrence of error
error code
The “logic selection for pulse output to the drive
Pulse logic
932 unit” setting in detail parameter 1 is out of the
selection error
setting range.
Acceleration/dec The “size selection for
The AD75 READY signal (X0) is not turned
933 eleration time acceleration/deceleration time” setting in detail
OFF.
size error parameter 1 is out of the setting range.
Backlash
The movement amount per pulse converted to
938 compensation
the pulse count exceeds 256 pulses.
amount error 2
Parameter
At start: Failure to start
Deceleration time The setting range of “deceleration time 1” in
953 During operation:
1 setting error detail parameter 2 is out of the setting range.
Stopping according to sudden stop
(stopping group 3) setting
(deceleration and stop/sudden
Deceleration time The setting range of “deceleration time 2” in
954 stop) selected in detail parameter 2
2 setting error detail parameter 2 is out of the setting range.
(However, deceleration and stop only during
manual pulse generator operation)
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0: Positive logic
30 180 330
1: Negative logic
Change the setting to within the setting range and turn
OFF then ON the PLC READY signal (Y1D).
0: One-word type
31 181 331
1: Two-word type
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MELSEC-A
Division of Error
Error name Description Action at occurrence of error
error code
JOG deceleration The setting range of “JOG deceleration time
958 selection setting selection” in detail parameter 2 is out of the
error setting range.
Acceleration/dec
The setting range of “acceleration/deceleration
eleration
959 process selection” in detail parameter 2 is out
selection setting
of the setting range.
error
S-pattern
The setting range of the “S-pattern proportion”
960 proportion setting
in detail parameter 2 is out of the setting range.
error
14 - 26
14 TROUBLESHOOTING
MELSEC-A
51 201 351 0, 1, 2 ,3
52 202 352 0, 1
(One-word type)
54 204 354 1 to 65535
55 205 355 (Two-word type)
1 to 8388608
56 206 356 0, 1
57 207 357 0, 1
58 208 358 0, 1
62 212 362 0, 1, 2
70 220 370 0, 1, 2, 3, 4, 5
71 221 371 0, 1
14 - 27
14 TROUBLESHOOTING
MELSEC-A
Division of Error
Error name Description Action at occurrence of error
error code
If a reserved error code is displayed, unnecessary data is stored in the buffer memory not described in the
manual.
If a reserved error occurs, write the following data to the designated buffer memory.
14 - 28
14 TROUBLESHOOTING
MELSEC-A
78 228 378 0, 1
82 232 382 0, 1, 2 ,3
83 233 383 0, 1, 2 ,3
88 238 388 0, 1
14 - 29
14 TROUBLESHOOTING
MELSEC-A
Illegal new The new speed value setting is out of the Clamped at the maximum limit in the setting
052
speed value setting range during JOG operation. range.
Start during
100 A start request is issued when the axis is busy. Operation continues.
operation
Current value
The current value is changed when the axis is
101 change when The current value change request is ignored.
busy.
BUSY
Deviation
A deviation counter clear request is issued
102 counter clear The deviation counter clear request is ignored.
when the axis is busy.
request
Illegal target The target axis of reading/writing is out of the • The warning is for the reference axis.
105
axis setting range. • Reading/writing is not made.
Common
Illegal
The positioning data number to be read/written • The warning is for the target axis.
106 positioning data
is out of the setting range. • Reading/writing is not made.
No.
Illegal writing The writing pattern to be read/written is out of • The warning is for the target axis.
107
pattern the setting range. • Reading/writing is not made.
Illegal flash A flash ROM writing request is issued when • The warning is for axis 1.
108
ROM writing AD75 READY (X0) is OFF. • The flash ROM is not written.
Writing when The warning is for the target axis of the writing
109 A request is issued when the axis is busy.
BUSY request.
14 - 30
14 TROUBLESHOOTING
MELSEC-A
14 - 31
14 TROUBLESHOOTING
MELSEC-A
Division of Warning
Warning name Description Action at occurrence of warning
warning code
Illegal override A value outside the range from 1 to 300 is • Setting “0”: Controlled to 100.
112
value specified as an override value. • “301” or larger setting: Controlled to 300.
Outside new
A value outside the range from 1 to 500 is
113 torque value Torque change is not carried out.
specified as a new torque value.
range
Common
Below bias The command speed is smaller than the
114 Operation is made at the bias speed at start.
speed starting bias speed.
Outside manual
The manual pulse generator 1 pulse input
pulse generator • Input magnification ≥ 101: 100
401 magnification is “0” or equal to or larger than
input • Input magnification “0”: 1
“101.”
magnification
Manual
pulse
generator Manual pulse The manual pulse generator enable flag is set
Failure to start manual pulse generator
402 generator when “manual pulse generator selection” in
operation
selection 0 detail parameter 1 is set at “0.”
14 - 32
14 TROUBLESHOOTING
MELSEC-A
<No. of read/write data> Change the setting to within the setting range and issue
5102
1 to 100 a read/write request. (Refer to section 7.2)
<Speed change request> Do not change the JOG speed during deceleration
1158 1208 1258
1: Speed change request caused by turned OFF of the JOG start signal.
Manual pulse generator enable flag <Manual pulse generator enable flag>
1167 1217 1267 0: Operation using the manual pulse
Manual pulse generator selection generator is not enabled.
1: Operation using the manual pulse
generator is enabled.
<Manual pulse generator selection> • Change the manual pulse generator enable flag to
0: Manual pulse generator operation prohibition.
ignored • Change the manual pulse generator selection setting
29 179 329 1: Manual pulse generator connected to to a value between 1 and 3.
axis 1 is used.
2: Manual pulse generator connected to
axis 2 is used.
3: Manual pulse generator connected to
axis 3 is used.
14 - 33
14 TROUBLESHOOTING
MELSEC-A
Division of Warning
Warning name Description Action at occurrence of warning
warning code
Deceleration and
A speed change request is issued during
500 stop speed Speed change is not carried out.
deceleration and stop.
change
FOR to NEXT
506 There is a nested set of FOR and NEXT.
nesting structure
Speed/position
The changeover signal is turned ON during Operation continues.
changeover
508 acceleration under speed/position changeover
Positioning signal ON during
control.
operation acceleration
Insufficient A speed change occurs at the nearest value.
The deceleration distance for a speed change
509 remaining (However, the request is ignored if the
request is insufficient.
distance operation pattern is continuous path control.)
“2: Restart” is specified for the step start
information in the “in step wait” axis operation
status.
Invalid step start
511 “1: Step continue” or “2: Restart” is specified in Step operation does not start.
information
the step start information in the “step error
occurring,” “error occurring,” “waiting,” or
“stopped” axis operation status.
Illegal external The “external start function selection” setting in Nothing occurs in response to the external start
512
start function detail parameter 2 exceeds the setting range. signal.
Insufficient
There is no movement amount necessary for Immediate stop after the positioning address is
513 movement
automatic deceleration. reached
amount
System Illegal clock data The clock data is written when the clock data
900 The clock data is not written.
control data setting setting is out of the setting range.
14 - 34
14 TROUBLESHOOTING
MELSEC-A
<External start function selection> Change “external start function selection” in detail
62 212 362
0, 1, 2 parameter 2 to within the setting range.
Refer to section “5.3 List of positioning Change the positioning data to an address or
data.” movement amount sufficient for deceleration.
Refer to section “5.3 List of positioning <Command speed, speed limit value>
data” for the command speed. <In standard mode>
Speed limit value 1 to 1000000 [pulse/s]
Change the command speed to within the setting
1 to 600000000 [mm/min, etc.]
range.
<In stepping motor mode>
6, 7 156, 157 306, 307
1 to 62500 [pulse/s]
1 to 37500000 [mm/min, etc.]
Hours: 00 to 23
1100
Minutes: 00 to 59 Enter settings within the setting range in BCD codes.
1101
Seconds: 00 to 59
14 - 35
14 TROUBLESHOOTING
MELSEC-A
If an error occurs when starting, all the data in the buffer memory start history area
(address: 462 to 541) is copied to the start during error history area (addresses: 543 to
622).
The data stored in the start during error history area is lost when the power is turned
OFF.
(When the power is turned ON, a "0" is stored in the start during error history.)
Up to 16 start history items from turning the power ON can be stored in the start during
error history area.
(The previous history items are cleared in order from No. 1 when the No. of history
items is exceeded.)
The start during error history can be monitored with a peripheral device.
Refer to the AD75 software package operating manual for details on operation of the
peripheral device.
14 - 36
APPENDICES
APPEN-
DICES
Appendix - 1
APPENDICES
MELSEC-A
(1) AD75P1-S3/AD75P2-S3/AD75P3-S3
4.2
A D75P3- S3
2
AX1
AX2
AX3
MODE
RS-422
PCB
250
AX1
AX3 AX2
(Unit : mm)
Appendix - 2
APPENDICES
MELSEC-A
(2) A1SD75P2-S3/A1SD75P2-S3/A1SD75P3-S3
A 1SD75P3-S3
AX1
AX2
AX3
AX1
MODE
RS-422
130
PCB
AX2 AX3
A1SD75P3-S3
(Unit : mm)
Appendix - 3
APPENDICES
MELSEC-A
Axis address
mm, inch, degree, pulse
Appendix - 4
APPENDICES
MELSEC-A
Axis address
mm, inch, degree, pulse
Appendix - 5
APPENDICES
MELSEC-A
Setting value
Item
mm inch degree pulse
Pr.1 Unit setting 0 1 2 3
Pr.2 No. of pulses per rotation (Ap) 1 to 65535 pulse
Basic parameters 1
Appendix - 6
APPENDICES
MELSEC-A
3
20000
20000
200000
1000
1000
2147483647
–2147483648
100
300
0
Appendix - 7
APPENDICES
MELSEC-A
Setting value
Item
mm inch degree pulse
0: Ignore manual pulse generator operation
1: Use manual pulse generator 1
Detailed parameters 1
Appendix - 8
APPENDICES
MELSEC-A
Axis 1: 1, Axis 2: 2,
Axis 3: 3
1000
1000
1000
1000
1000
1000
20000
100
1000
300
100
Appendix - 9
APPENDICES
MELSEC-A
Setting value
Item
mm inch degree pulse
0: Near-point dog method, 1: Stopper stop method 1)
Pr.45 Zero point return method 2: Stopper stop method 2), 3: Stopper stop method 3)
Zero pint return basic parameters
–2147483648 to –2147483648 to
0 to 35999999 –2147483648 to
2147483647 2147483647
Pr.47 Zero point address × 10-5degree 2147483647
× 10-1µm × 10-5inch pulse/s
Pr.48 Zero point return speed 1 to 600000000 1 to 600000000 1 to 600000000 1 to 1000000
Pr.49 Creep speed × 10-2mm/min × 10-3inch/min × 10-3degree/min pulse/s
Appendix - 10
APPENDICES
MELSEC-A
1
1
300
Appendix - 11
APPENDICES
MELSEC-A
Appendix 2.3 Positioning data setting value entry table [data No. to ]
Axis
Da.1 Da.2 Da.3 Da.4 Da.5 Da.6 Da.7 Da.8 Da.9
Operation Control Accelera- Decelera- Positioning Arc Command Dwell time M code
Data pattern method tion time tion time address/ address speed
No. No. movement
amount
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
Appendix - 12
APPENDICES
MELSEC-A
Appendix - 13
APPENDICES
MELSEC-A
Appendix - 14
APPENDICES
MELSEC-A
Appendix - 15
APPENDICES
MELSEC-A
Detector
A1SD75/AD75 SG 16
SG 40
Near-point dog External emergency stop
DOC 11 EMG 46
Upper limit *2 Servo ON
FLS 12 SON 12
Lower limit *2 Reset
RLS 13 RES 15
Stop Torque limit 13 Within 50m
STOP 14 TL
Speed/position changeover *3 Forward run stroke end
CHG 15 LSP 38
Start *3 Reverse run stroke end
STRT 16 LSN 39
COM 35 VIN 20
24VDC VDD 22
COM 36
CLEAR 5 CR 37 *7
CLEAR COM 23 SG 17 CN3 Monitor output 10k
PULSE F+ 3 PP 10 4 MO1 A Max.1mA total
PULSE F- 21 PPR 11 3 MO2 A Two-way deviation
PULSE R+ 4 NP 35 1 MOG
PULSE R- 22 NPR 36 Within 2m
READY 7 RD 49
COM 26
*8 INPS 8 PF 24
PG0(5V) 24 LZ 8
PG0 COM 25 LZR 9
PULSE COM 19 LG 3
PULSE COM 20
VDD 21
5V +5V RA1
Zero speed
PULSER A+ 9 detection
ZSP 23
A
PULSER A- 27 Fault ALM 48
B
PULSER B+ 10 RA2
PULSER B- 28 0V 5G
Manual pulse
generator MR-HDP01 When connected with an open collector,
P15R 1 wire the sections indicated by as shown below.
Analog torque limit commmand(+)
+10V/max.current TLAP 27
A1SD75/AD75 CN1
LG 28
N15R 26 PULSE F 1 PP0 18
Analog torque limit commmand(-)
-10V/max.current TLAN 29 PULSE COM 19 SG 47
LG 30
PULSE R 2 NP0 19
SD 50
Within 2m PULSE COM 20
*1 Assignment of the pin numbers of the connector of the A1SD75/AD75 is the same for axes 1 to 3.
*2 The upper limit (FLS) and lower limit (RLS) of the A1SD75/AD75 are used for the zero point return retry function. Set these inside
the limit switches for the servo.
*3 Limit switch for servo (stopping).
*4 For details of connection, refer to the specification manual of the servo amplifier MR-H.
*5 The distance between the controller and amplifier is indicated. The distance must be within 2m with the open collector.
*6 Use “Logic selection for pulse output to the drive unit” specified in detailed parameter 1 to match the logic (positive or negative
logic) between the A1SD75/AD75 and the servo amplifier. The initial setting of A1SD75/AD75 is a positive logic.
*7 Use the output module to issue a clear signal to the MR-H A in a simple absolute position detection system.
(Do not use the deviation counter clear output of the AD75.)
*8 There is no need to wire the in-position signal. (It is output as “ Md.39 External input/output signal” but it is not used for internal
processes of the AD75.)
REMARK
The AD75C20SH cable (for differential driver) can be used for the connection between the A1SD75/AD75 and MR-
H A. (Refer to section 2.2 “List of configuration devices.”)
Appendix - 16
APPENDICES
MELSEC-A
Detector
1 OPC 11
*
PULSE F+ 3 PP 3
PULSE F- 21 PG 13
PULSE R+ 4 NP 2
PULSE R- 22 NG 12
CLEAR 5 CR 8 *6
CLEAR COM 23 SG 10
READY 7 RD 19
COM 26 COM 9
*7 INPS 8 INP 18
CN3
12 TxD RD
PG0 (5V) 24 LZ 5
2 RxD SD
PG0 COM 25 LZR 15 Commercially
1 LG GND
COM 35 available
24VDC 11 LG GND
COM 36 personal
5 LG RS computer
LG 1
15 LG CS
SD Plate
Near-point dog DR
DOG 11 CN1B
Upper limit *2 External emergency stop ER
FLS 12 EMG 15
Lower limit *2 Servo ON Monitor output
RLS 13 SON 5 Max.1mA total
Stop Reset 4 MO1 A
STOP 14 Speed/position changeover RES 14 Two-way deviation
Torque limit 3 LG 10k
CHG 15 PC 8
Start Forward run stroke end 14 MO2 A
STRT 16 +5V 3 TL 9
5V * Reverse run stroke end 13 LG 10k
PULSER A+ 9 LSP 16
A *3 Plate SD
PULSER A- 27 LSN 17
B Within 2m
PULSER B+ 10 SG 10
PULSER B- 28 0V SG 20
5G
Manual pulse VDD 3
generator COM 13
RA1
MR-HDP-01 Fault ALM 18
RA2
Zero speed detection ZSP 19 When connected with an open collector,
During torque limiting RA3 wire the sections indicated by as shown below.
TLC 6
A1SD75/AD75 CN1A
Analog torque limit commmand P15R 11
PULSE F 1 PP 3
+10V/max.current TLA 12
LG 1 PULSE COM 19 SG 10
SD Plate PULSE R 2 NP 2
Within 2m
PULSE COM 20
*1 Assignment of the pin numbers of the connector of the A1SD75/AD75 is the same for axes 1 to 3.
*2 The upper limit (FLS) and lower limit (RLS) of the A1SD75/AD75 are used for the zero point return retry function.
Set these inside the limit switches for the servo.
*3 Limit switch for servo (stopping).
*4 The distance between the controller and amplifier is indicated.
The distance must be within 2m with the open collector.
*5 Use “Logic selection for pulse output to the drive unit” specified in detailed parameter 1 to match the logic (positive or negative
logic) between the A1SD75/AD75 and the servo amplifier. The initial setting of A1SD75/AD75 is a positive logic.
*6 Use the output module to issue a clear signal to the MR-J2/J2S- A in a simple absolute position detection system. (Do not use
the deviation counter clear output of the AD75.)
*7 There is no need to wire the in-position signal. (It is output as “ Md.39 External input/output signal” but it is not used for internal
processes of the AD75.)
REMARK
The AD75C20SJ2 cable (for differential driver) can be used for the connection between the A1SD75/AD75 and MR-
J2/J2S- A. (Refer to section 2.2 “List of configuration devices.”)
Appendix - 17
APPENDICES
MELSEC-A
NF MC C P
U
Power supply L1 TE1 U
Single-phase 200VAC ( A type) V
V SM
or W
L2 W
single-phase 100VAC (A1 type) E
MR-C A or MR-C A1
EMG
Detector
CN1
1
*
PULSE F+ 3 PP 9
PULSE F- 21 PG 10
PULSE R+ 4 NP 7
PULSE R- 22 NG 8
CLEAR 5 CR 13
CLEAR COM 23 SG 12
COM 26
*6 INPS 8 PF 3
PG0(24V) 6 V+ 1
PG0 COM 25 OP 4
Servo READY
READY 7 SD 11
Near-point dog Servo ON
DOG 11 SON 17
Upper limit *2 Forward run stroke end
*3 15
FLS 12 LSP
Reverse run stroke end
Lower limit *2 *3 14
RLS 13 LSN
Stop Fault RA1
STOP 14 ALM 2
Speed/position changeover
CHG 15 V24 20
Start
STRT 16
COM 35
COM 36
5V +5V
PULSER A+ 9 When connected with an open collector,
A
PULSER A- 27 wire the sections indicated by as shown below.
B
PULSER B+ 10
A1SD75/AD75 CN1
PULSER B- 28 0V 5G
Manual pulse PULSE F 1 PP 9
generator
MR-HDP01 PULSE COM 19 SG 12
24V,0.2A or higher PULSE R 2 NP 7
*1 Assignment of the pin numbers of the connector of the A1SD75/AD75 is the same for axes 1 to 3.
*2 The upper limit (FLS) and lower limit (RLS) of the A1SD75/AD75 are used for the zero point return retry function.
Set these inside the limit switches for the servo.
*3 Limit switch for servo (stopping).
*4 The distance between the controller and amplifier is indicated.
The distance must be within 2m with the open collector.
*5 Use “Logic selection for pulse output to the drive unit” specified in detailed parameter 1 to match the logic (positive
or negative logic) between the A1SD75/AD75 and the servo amplifier. The initial setting of A1SD75/AD75 is a
positive logic.
*6 There is no need to wire the in-position signal. (It is output as “ Md.39 External input/output signal” but it is not
used for internal processes of the AD75.)
REMARK
The AD75C20SC cable (for differential driver) can be used for the connection between the A1SD75/AD75 and MR-
C A. (Refer to section 2.2 “List of configuration devices.”)
Appendix - 18
APPENDICES
MELSEC-A
Appendix 5.1 Connection example of A1SD75/AD75 and VEXTA UPD (Open collector) *4
2m max *5
PULSE F 1 CW-
PULSE COM 19 CW+
PULSE R 2 CCW-
PULSE COM 20 CCW+
PGO(24V) 6 P5V H.OFF+
PGO COM 25 5G H.OFF-
READY 7 TIMING
*6 INPS 8 COM
COM 26 O.H
5V +5V
PULSER A+ 9 Connect when required
A Manual pulse
PULSER A- 27 generator
10 B MR-HDP01
PULSER B+
PULSER B- 28 0V
Near-point dog 5G
DOG 11
Upper limit *2
FLS 12
Lower limit *2
RLS 13
Stop
STOP 14
Speed/ position changeover
CHG 15
Stop
STRT 16 24G
COM 35
COM 36 P24V
*1 Assignment of the pin numbers of the connector of the A1SD75/AD75 is the same for axes 1 to 3.
*2 The upper limit (FLS) and lower limit (RLS) of the A1SD75/AD75 are used for the zero point return retry function.
*3 For cable connections on the stepping motor drive side other than those specified above and shields of each
signal cable, refer to the manual prepared for the stepping motor drive.
*4 Use “Logic selection for pulse output to the drive unit” specified in detailed parameter 1 to match the logic (positive
or negative logic) between the A1SD75/AD75 and the servo amplifier. The initial setting of A1SD75/AD75 is a
positive logic.
*5 Indicates the distance between the A1SD75/AD75 and VEXTA UPD.
*6 There is no need to wire the in-position signal.
(It is output as “ Md.39 External input/output signal” but it is not used for internal processes of the AD75.)
Appendix - 19
APPENDICES
MELSEC-A
*1 Assignment of the pin numbers of the connector of the A1SD75/AD75 is the same for axes 1 to 3.
*2 The upper limit (FLS) and lower limit (RLS) of the A1SD75/AD75 are used for the zero point return retry function.
Set these inside the limit switches for the servo.
*3 For the connections on the servo amplifier side other than those specified above and the shields of each signal
cable, refer to the manual prepared for the servo amplifier.
*4 Use “Logic selection for pulse output to the drive unit” specified in detailed parameter 1 to match the logic (positive
or negative logic) between the A1SD75/AD75 and the servo amplifier. The initial setting of A1SD75/AD75 is a
positive logic.
*5 Indicates the distance between the A1SD75/AD75 and MINAS-A.
Appendix - 20
APPENDICES
MELSEC-A
Appendix 7.1 Connection example of A1SD75/AD75 and PYO series (Differential driver) *4
2m max *5
A1SD75/AD75 PYO *3
*1
PULSE F+ 3 26 PPC
PULSE F- 21 27 PPC
PULSE R+ 4 28 NPC
PULSE R- 22 29 NPC
CLEAR 5 34 CLE
CLEAR COM 23 50 5-24VDC
PGO(24V) 6 13 SG
PGO COM 25 11 COP
READY 7 41 SRDY
COM 26 49 12-24VDC
24 SG
5V +5V
PULSER A+ 9 25 SG
A Manual pulse
PULSER A- 27 37 SON
B generator
PULSER B+ 10 MR-HDP01 32 PROT
PULSER B- 28 0V 33 NROT
Near-point dog 5G
DOG 11
Upper limit *2
FLS 12
Lower limit *2
RLS 13
Stop
STOP 14 Speed/position changeover
CHG 15
24G
COM 35
COM 36 P24V
*1 Assignment of the pin numbers of the connector of the A1SD75/AD75 is the same for axes 1 to 3.
*2 The upper limit (FLS) and lower limit (RLS) of the A1SD75/AD75 are used for the zero point return retry function.
Set these inside the limit switches for the servo.
*3 For the connections on the servo amplifier side other than those specified above and the shields of each signal
cable, refer to the manual prepared for the servo amplifier.
*4 Use “Logic selection for pulse output to the drive unit” specified in detailed parameter 1 to match the logic (positive
or negative logic) between the A1SD75/AD75 and the servo amplifier. The initial setting of A1SD75/AD75 is a
positive logic.
*5 Indicates the distance between the A1SD75/AD75 and PYO.
Appendix - 21
APPENDICES
MELSEC-A
2m max *5
A1SD75/AD75 *3
*1
PULSE F+ 3 7 PULS
PULSE F- 21 8 /PULS
PULSE R+ 4 11 SIGN
PULSE R- 22 12 /SIGN
CLEAR 5 14 /CLR
CLEAR COM 23 6 SG
PGO(5V) 24 19 PCO
PGO COM 25 20 /PCO
READY 7 29 S-RDY+
COM 26 30 S-RDY-
15 CLR
5V +5V
PULSER A+ 9 18 PL3
A Manual pulse
PULSER A- 27 40 S-ON
B generator
PULSER B+ 10 MR-HDP01 42 P-OT
PULSER B- 28 0V 43 N-OT
Near-point dog 5G
DOG 11 47 +24VIN
Upper limit *2
FLS 12
Lower limit *2
RLS 13
Stop
STOP 14 Speed/position changeover
CHG 15
24G
COM 35
COM 36 P24V
*1 Assignment of the pin numbers of the connector of the A1SD75/AD75 is the same for axes 1 to 3.
*2 The upper limit (FLS) and lower limit (RLS) of the A1SD75/AD75 are used for the zero point return retry function.
Set these inside the limit switches for the servo.
*3 For the connections on the servo amplifier side other than those specified above and the shields of each signal
cable, refer to the manual prepared for the servo amplifier.
*4 Use “Logic selection for pulse output to the drive unit” specified in detailed parameter 1 to match the logic (positive
or negative logic) between the A1SD75/AD75 and the servo amplifier. The initial setting of A1SD75/AD75 is a
positive logic.
*5 Indicates the distance between the A1SD75/AD75 and Σ- .
Appendix - 22
APPENDICES
MELSEC-A
The following shows comparisons with the conventional positioning modules AD71
(S1) and AD71S2 (A1SD71S2), centered on the AD75 specifications.
Model A1SD75P1-S3 A1SD75P2-S3 A1SD75P3-S3 A1SD71S2
AD71 (S1)
Item AD75P1-S3 AD75P2-S3 AD75P3-S3 AD71S2
No. of control axes 1 2 3 2
No. of positioning data items 600/axis *1 400/axis
Interpolation 2-axis linear interpolation
functions 2-axis circular interpolation
Position control
Positioning Speed control
methods Speed/position
changeover control
Zero point return function (6 types)
JOG operation
Manual pulse generator function
Automatic trapezoidal
Acceleration/ acceleration/deceleration
deceleration
processing S-pattern
acceleration/deceleration
Acceleration time and deceleration time setting Acceleration/deceleration time
Acceleration/deceleration time
possible (4 patterns each) same
Compensation Electronic gears, backlash compensation Backlash compensation
Error display 17-segment display Error LED
History data storage
Provided (4 types, 16 items/axis) None
(Start, error, warning)
Flash ROM Buffer memory
Data storage destination
(battery-less backup) (battery backup)
No. of occupied input/output points 32 32 32 (48) *2
No. of module occupied slots 1 1 1 (2) *3
AD71TU
Peripheral
devices AD75TU
(data setting, A6GPP, A6PHP
etc.)
DOS/V personal computer
: Possible, : Not possible
REMARK
*1 Up to 100 data items/axis of the positioning data No. 1 to 100 can be set using the AD75 buffer
memory. Buffer memory positioning data is not backed up.
*2 The A1SD71S2 has 48 input/output points.
*3 The A1SD71S2 occupies 2 slots.
Appendix - 23
APPENDICES
MELSEC-A
Appendix - 24
APPENDICES
MELSEC-A
The following shows performance comparisons and function comparisons with old
versions of A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3, and AD75P1-S3/AD75P2-
S3/AD75P3-S3 models. A list of buffer memory addresses for additional functions is
also shown.
Appendix - 25
APPENDICES
MELSEC-A
B phase
2-SPEED TRAPEZOIDAL CONTROL
A phase
In this positioning control method, the
B phase positioning pattern, positioning addresses (P1,
P2), and positioning speeds (V1, V2) are set in
the sequence program. Positioning is carried
out to positioning address P1 by issuing the
2-PHASE EXCITATION SYSTEM 1st positioning start command. When P1 is
This is one system for exciting each stepping reached, the positioning then automatically
motor coil in a determined order. In this changes to positioning at the V2 speed.
system, a current constantly flows to 2 phases
to carry out step feed. Positioning speed V1
Speed
Positioning speed V2
Pulse input
Positioning address P2
A phase
Time
B phase
Positioning address P1
A phase
B phase
2-PHASE PULSE
An A phase and B phase double pulse. There
is a phase difference between the two phases,
so that difference can be automatically added
and subtracted in the pulse count. The
standard phase difference is a 90° electrical
angle.
If the B phase were to lag behind the A phase
in a forward run (B phase turns ON after the A
phase), the A phase would lag behind the B
phase in a reverse run (A phase turns ON after
the B phase). In this way the forward and
reverse run (addition and subtraction) can be
automatically carried out.
Appendix - 26
APPENDICES
MELSEC-A
Phototransistor
Speed 0 Time
24
23
22 Acceleration time
Rotating 2 1
axis 20
Binary code
ADDRESS
1) This is a numerical value to express the
ABSOLUTE POSITION DETECTION
positioning position, designated in mm, inch,
SYSTEM angle, or No. of pulse units.
When positioning is carried out using this 2) The memory address. Many addresses are
system, a zero point return can be carried out stored in the memory. An address is read or
once when the device is started to allow the written after it is designated.
machine position to be stored in the memory
and the current position to be held even when AFTER mode
the power is turned OFF. These will be
This is the mode that outputs the M code after
compensated if mechanical deviation occurs,
positioning is complete (after stopping).
so a zero point return is not required after the
Clamping can be commanded, drilling
power is turned ON again. A motor with an
dimensions can be selected, etc., with this
absolute position detector and servo amplifier
mode.
and positioning module compatible with an
absolute position detection system are No.10 No.11
Positioning
required to configure this system. M code (8)
ON OFF
Appendix - 27
APPENDICES
MELSEC-A
BACKLASH COMPENSATION
When a forward run operation changes to a
reverse run operation, there is sometimes play
(backlash) in the mesh of the toothed gears.
This also occurs when using a worm gear.
Because of this backlash, a left feed of 1m
carried out after a right feed of 1m will not be
sufficient to return the machine to its original
position. The machine cannot be positioned to
its original position without an extra feed
equivalent to the backlash amount. This
function compensates for that backlash
amount.
Forward run
Backlash
Machine
1m (right feed) does not
move.
1m (left feed)
Backlash
(Left feed amount)
Appendix - 28
APPENDICES
MELSEC-A
A phase
Y axis
Composite speed
speed
X axis speed
Appendix - 30
APPENDICES
MELSEC-A
Setting speed
DIGITAL BUS CONNECTION
Commands are generally output from the
positioning module to the servo amplifier as a
Speed 0 Time
pulse train. Recently, however, devices are
being digitalized. Accompanying that, a
Deceleration time connection method has appeared in which the
bus lines of both the positioning module and
DEVIATION COUNTER the servo amplifier CPUs are connected. This
Deviation counters have the following two has enabled the construction of higher-
functions. accuracy, higher-speed systems.
1) To count the command pulses issued from The MELSEC AD774M, A171SCPU,
the AD75, and transmit the count value to A273UCPU etc., models employ this digital
the D/A converter. bus connection.
2) To subtract the feedback pulses from the
command pulses, and run the motor by the
deviation value (droop pulse) of the DOG SIGNAL
command pulses and feedback pulses until The near-point dog of the machine zero point
the command pulses reaches 0. return.
Command
pulses Deviation D/A
counter convertor
Motor DRIVE UNIT
The commands output from the positioning
module are low-voltage, low-current
Feedback pulses
PLG Encoder commands with insufficient energy to run the
motor.
The drive unit increases the width of these
commands so the motor can be run. It is an
DIFFERENTIAL OUTPUT TYPE accessory on servomotors and stepping
motors. Also called a servo amplifier.
This is one type of encoder feedback pulse
output. When one signal is output with this
method, a companion signal having the Positioning Drive Motor
module unit
reverse polarity is simultaneously output. This
method enables high-frequency transfer, and
is resistant to noise, etc., so it is also used in Power supply
high-speed signal transfer such as inputting
and outputting of pulse trains. In general, the
transmission side is called the driver, the DRIVE UNIT READY
reception side is called the receiver, and a This signal is output when the drive unit for the
dedicated IC is used. motor is in a READY state.
This signal remains OFF when the drive unit
power is OFF, or during faults, etc.
Appendix - 31
APPENDICES
MELSEC-A
Appendix - 32
APPENDICES
MELSEC-A
Appendix - 33
APPENDICES
MELSEC-A
B signal slit
A signal slit
Zero point Light-emitting diode
Slit disk A
B
Z
Phototransistor Zero signal slit
Near-point dog switch
Rotating axis 1 pitch
INPUT TERMINAL
Near-point dog switch
This is a pin connector wired by the user for
inputting data to the AD75 from an external
INCREMENT SYSTEM source. It is connected to the motor drive unit
or machine side.
The current value is 0 in this system. Positions This terminal is used to output the following.
are expressed by the designated direction and • DRIVE UNIT READY signal
distance of travel. Also called the relative • STOP signal
address system. This system is used in fixed- The input No. Xn is not directly related to the
dimension feed, etc. Compare ABSOLUTE program, so it is not used.
SYSTEM.
Left
0 0
Right Right No. 2 is several millimeters
to the right of No. 1.
Appendix - 34
APPENDICES
MELSEC-A
Actuator
No.9
kPPS
This is the abbreviation for "kilopulses per
Longitudinal
second". 80kPPS equals 80,000 pulses per 4
5
feed
second. 3
6
2
No.8 7
No.1
Latitudinal feed
Appendix - 35
APPENDICES
MELSEC-A
Appendix - 36
APPENDICES
MELSEC-A
Appendix - 37
APPENDICES
MELSEC-A
ON
Positioning High speed POSITIONING COMPLETE SIGNAL
ON
Positioning Low speed This is a signal that occurs when the
ON ON positioning is complete. A timer set beforehand
Limit switch LS1
starts when this signal is output, and the
ON
Limit switch LS2 machine movement stops for that time.
Limit switch LS3
ON The purpose of this signal is to start a different
type of work.
The machine will not move to the next
positioning while this signal is ON.
POSITION LOOP GAIN
This is the ratio of the deviation counter droop Dwell time
pulse count to the command pulse frequency. Positioning complete
signal
Position Command pulse frequency
= (1/s)
loop gain Droop pulse count
The position loop gain can be set with the
drive unit. Raise the gain to improve the Positioning Different type of work
stopping accuracy. However, overshooting will
Time
occur if the position loop gain is raised too far,
and the operation will become unstable.
If the position loop gain is lowered too far, the
POSITIONING DATA
machine will stop more smoothly but the
stopping error will increase. This is data for the user to carry out
positioning. The No. of points to which
positioning is carried out (the No. of
POSITION LOOP MODE addresses) is designated by the user. In the
AD75, this is a maximum of 600 points.
This is one servo control mode used in
As a principle, positioning is executed in the
positioning. It is a mode for carrying out
order of the data Nos.
position control. The other servo control
modes are the speed loop mode for carrying
out speed control, and the torque loop mode
POSITIONING PARAMETER
for carrying out torque control (current control).
This is basic data for carrying out positioning
Servo amplifier Servomotor control. Types of data include control unit,
movement amount per pulse, speed limit
Droop pulses value, upper and lower stroke limit values,
Pulse train
acceleration/deceleration time, positioning
Posi- Speed Cur- method, etc.
tion rent Inverter M
control
control
control Parameters have an initial value, so that value
Current feedback is changed to match the control conditions.
Speed feedback
Position feedback Interface PLG
Appendix - 38
APPENDICES
MELSEC-A
PULSE READY
This means that preparation is complete.
The turning ON and OFF of the current
(voltage) for short periods. A pulse train is a
series of pulses. The AD75 is the module that
generates the pulses. REAL-TIME AUTO TUNING (Real-time
Automatic Tuning)
Refer to "AUTO TUNING".
Appendix - 39
APPENDICES
MELSEC-A
Toothed gear
Table
RLS SIGNAL (Reverse Limit Switch Signal) Motor holds the position
at the stop position.
This is the input signal XnC that notifies the
user that the lower limit switch (b contact
configuration, normally ON) outside the
movement range at which positioning control is
SERVO ON
carried out was activated. The servo module will not operate if the drive
The positioning operation stops when the unit is in a normal state and this servo ON
external RLS signal (b contact) turns OFF signal is OFF.
(non-continuity status).
READY Drive
AD75 Servo ON
unit
ROTARY TABLE
A round table on which the workpiece is
placed. Positioning control is carried out while
rotating the workpiece in a 360° range. Motor PLG Encoder
S-PATTERN
ACCELERATION/DECELERATION SERVOMOTOR
In this pattern, the acceleration and A motor that rotates true to the command.
deceleration follow a sine curve, and the Servomotors are highly responsive, and can
movement is smooth. The S-pattern proportion carry out frequent high-speed and high-
can be set from 1 to 100%. accuracy starts and stops.
DC and AC types are available, as well as
large-capacity motors. A pulse encoder
accessory for speed detection is common, and
feedback control is often carried out.
Acceleration Deceleration
Appendix - 40
APPENDICES
MELSEC-A
STATUS N A A S A A
Data showing the state of the machine.
Collectively refers to signals that turn ON when B C C
S
the battery voltage drops, during zero point
requests, during dwell time, etc. 1) First, the A phase is excited 2) When the B phase is then excited,
by a pulse. the force works in the direction
shown by the arrows.
STEP FUNCTION N
C B C B
When the operation is designed so that
several positioning data Nos. are
A A A A
consecutively run, this function can be used to
carry out a test operation for 1 data item at a
B C B C
time.
Appendix - 42
APPENDICES
MELSEC-A
Zero point
Machine zero point return
Stopper TEACHING
When the positioning address is uncertain, or
gauging is required, this function is used by
the user to search for and teach the position to
the machine.
For example, complex addresses such as
STROKE drawings can be taught by tracing a model,
The stroke is the variation in the operation by and the positioning operation can be
the distance from a stopped state to the next reproduced.
stopped state after a movement.
TEACHING UNIT
STROKE LIMIT This is a device capable of writing, reading,
This is the range in which a positioning running, and monitoring data.
operation is possible, or the range in which the It is used connected to the AD75. The model is
machine can be moved without damage AD75TU.
occurring.
(Movement outside this range is possible in
the manual operation.) For operations using a TORQUE CONTROL
worm gear, the stroke limit is determined by In this function, a limit is established for the
the length of the screw. For operations using a resistance torque applied to the motor. The
fixed-dimension feed, it is determined by the power is turned OFF if torque exceeding that
max. dimension to be cut. value is applied to the motor.
The upper and lower limits are set in the When excessive torque is applied to a motor, it
parameters, but a separate limit switch should causes the current to suddenly increase. Motor
be established and an emergency stop circuit burning and other stress on the motor occurs,
outside the PLC should be created. Refer to and the life of the motor is shortened.
the term "LIMIT SWITCH". This function utilizes the sudden increase in
the torque when the machine returns to the
Limit switch zero point to issue a command to stop the
for emergency
stop
motor.
Lower limit Upper limit
0 3m
TORQUE LOOP MODE
Positioning possible in a 3m range Also called the current loop mode.
Refer to "POSITIONING LOOP MODE".
Appendix - 43
APPENDICES
MELSEC-A
TURNTABLE XY TABLE
A rotating table, which is turned using power. This is a device that moves a table in the X
(latitudinal) and Y (longitudinal) directions so
The table is used divided from one 360° that positioning can be carried out easily.
rotation into the required locations for work. There are also commercially available
The positioning control unit is "degree". products.
Appendix - 44
APPENDICES
MELSEC-A
Appendix - 45
APPENDICES
MELSEC-A
Appendix - 46
APPENDICES
MELSEC-A
Appendix - 47
APPENDICES
MELSEC-A
Appendix - 48
APPENDICES
MELSEC-A
Appendix - 49
APPENDICES
MELSEC-A
Appendix - 50
APPENDICES
MELSEC-A
Appendix - 51
APPENDICES
MELSEC-A
The following shows the relation between the buffer memory addresses and the various items.
(The addresses specified in the list must not be used. If used, the system may not operate correctly.)
Buffer memory address Memory
Item area
Axis 1 Axis 2 Axis 3
0 150 300 Pr.1 Unit setting
Basic parameters 1
1 151 301 Pr.2 No. of pulses per rotation (Ap)
2 152 302 Pr.3 Movement amount per rotation (Al)
3 153 303 Pr.4 Unit magnification (Am)
4 154 304 Pr.5 Pulse output mode
5 155 305 Pr.6 Rotation direction setting
6 156 306
Pr.7 Speed limit value
7 157 307
Basic parameters 2
8 158 308
Pr.8 Acceleration time 0
9 159 309
10 160 310
Pr.9 Deceleration time 0
11 161 311
12 162 312
Pr.10 Bias speed at start
13 163 313
14 164 314 Pr.11 Stepping motor mode selection
15 165 315 Pr.12 Backlash compensation amount
16 166 316
Pr.13 Software stroke limit upper limit value
17 167 317
Positioning parameters
18 168 318
Pr.14 Software stroke limit lower limit value
19 169 319
20 170 320 Pr.15 Software stroke limit selection
Pr.16
Detailed parameters 1
21 171 321 Software stroke limit valid/invalid setting
22 172 322
Pr.17 Command in-position width
23 173 323
24 174 324 Pr.18 Torque limit setting value
25 175 325 Pr.19 M code ON signal output timing
26 176 326 Pr.20 Speed changeover mode
27 177 327 Pr.21 Interpolation speed designation method
28 178 328 Pr.22 Current feed value during speed control
29 179 329 Pr.23 Manual pulse generator selection
Pr.24 Logic selection for pulse output to the drive
30 180 330
unit
Pr.25 Size selection for acceleration/deceleration
31 181 331
time
36 186 336
Detailed parameters 2
Appendix - 52
APPENDICES
MELSEC-A
Positioning parameters
Detailed parameters 2
51 201 351 Pr.34 JOG operation deceleration time selection
52 202 352 Pr.35 Acceleration/deceleration process selection
53 203 353 Pr.36 S-pattern proportion
54 204 354
Pr.37 Sudden stop deceleration time
55 205 353
56 206 356 Pr.38 Stop group 1 sudden stop selection
57 207 357 Pr.39 Stop group 2 sudden stop selection
58 208 358 Pr.40 Stop group 3 sudden stop selection
59 209 359 Pr.41 Positioning complete signal output time
60 210 360
Pr.42 Allowable circular interpolation error width
61 211 361
62 212 362 Pr.43 External start function selection
66 216 366 Pr.44 Near pass mode selection for path control
70 220 370 Pr.45 Zero point return method
Appendix - 53
APPENDICES
MELSEC-A
Start history
463 468 473 478 483 488 493 498 503 508 513 518 523 528 533 538 Md.8 Operation type
464 469 474 479 484 489 494 499 504 509 514 519 524 529 534 539 Md.9 Start time (Hour: minut)
465 470 475 480 485 490 495 500 505 510 515 520 525 530 535 540 Md.10 Start time (Second: 100 ms)
466 471 476 481 486 491 496 501 506 511 516 521 526 531 536 541 Md.11 Error judgment
542 Md.12 Start history pointer
Monitor data
534 549 554 559 564 569 574 579 584 589 594 599 604 609 614 619 Md.14 Operation type
535 550 555 560 565 570 575 580 585 590 595 600 605 610 615 620 Md.15 Start time (Hour: minut)
536 551 556 561 566 571 576 581 586 591 596 601 606 611 616 621 Md.16 Start time (Second: 100 ms)
537 552 557 562 567 572 577 582 587 592 597 602 607 612 617 622 Md.17 Error judgment
623 Md.18 Start history pointer at error
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15) (pointer No.)
624 628 632 636 640 644 648 652 656 660 664 668 672 676 680 684 Md.19 Axis in which the error occurred
625 629 633 637 641 645 649 653 657 661 665 669 673 677 681 685 Md.20 Axis error No. Error history
Md.21 Axis error occurrence time
626 630 634 638 642 646 650 654 658 662 666 670 674 678 682 686
(Hour: minute)
Md.22 Axis error occurrence time
627 631 635 639 643 647 651 655 659 663 667 671 675 679 683 687
(Second: 100ms)
688 Md.23 Error history pointer
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15) (pointer No.)
689 693 697 701 705 709 713 717 721 725 729 733 737 741 745 749 Md.24 Axis in which the warning occurred
Warning history
690 694 698 702 706 710 714 718 722 726 730 734 738 742 746 750 Md.25 Axis warning No.
Md.26 Axis warning occurrence time
691 695 699 703 707 711 715 719 723 727 731 735 739 743 747 751
(Hour: minute)
Md.27 Axis warning occurrence time
692 696 700 704 708 712 716 720 724 728 732 736 740 744 748 752
(Second: 100ms)
753 Md.28 Warning history pointer
Appendix - 54
APPENDICES
MELSEC-A
Monitor data
Md.41 Target value
819 919 1019
820 920 1020
Md.42 Target speed
821 921 1021
822 922 1022
Md.43 Zero point absolute position
823 923 1023
824 924 1024
Md.44 Movement amount after near-point dog ON
825 925 1025
826 926 1026 Md.45 Torque limit stored value
Md.46 Special start data command code setting
827 927 1027
value
Md.47 Special start data command parameter
828 928 1028
setting value
829 929 1029 Md.48 Start positioning data No. setting value
830 930 1030 Md.49 In speed limit flag
831 931 1031 Md.50 In speed change processing flag
832 932 1032 Md.51 Start data pointer being executed
833 933 1033 Md.52 Last executed positioning data No.
834 934 1034 Md.53 Repeat counter
835 935 1035 Md.54 Positioning data No. being executed
836 936 1036 Md.55 Block No. being executed
838 to 847 938 to 947 1038 to 1047 Md.56 Positioning data being executed
Appendix - 55
APPENDICES
MELSEC-A
Control data
1160 1210 1260
Cd.19 JOG speed
1161 1211 1261
1163 1213 1253 Cd.20 Speed/position changeover enable flag
1164 1214 1264 Cd.21 Speed/position changeover control
1165 1215 1265 movement amount change register
Appendix - 56
APPENDICES
MELSEC-A
No.1
positioning data No.
Positioning data
1303 2303 3303 Not used
1304 2304 3304
Da.7 Command speed
1305 2305 3305
1306 2306 3306 Da.5 Positioning address/movement
1307 2307 3307 amount
1308 2308 3308
Da.6 Arc address
1309 2309 3309
1310 to 1319 2310 to 1219 3310 to 3319 No. 2
1320 to 1329 2320 to 2329 3320 to 3329 No. 3
Positioning data
2290 to 2299 3290 to 3299 4290 to 3299 No. 100
Da.10 Shape
1st point
Da.11 Start data No.
4300 4350 4550 4600 4800 4850
Da.16 Address
4403 4653 4903
Condition data
Appendix - 57
APPENDICES
MELSEC-A
Indirectly specification
4500 5750 5000 Start No. 8001
Positioning start
information
4501 4751 5001 Start No. 8002
data
Positioning data
4549 4799 5049 Start No. 8001
PLC CPU
5050
memory
Condition judgment target data of the condition
area
data
5099
5100 Target axis
5101 Head positioning data No. Block
5102 No. of read/write data transmission
area
5103 Read/write request
5110 to 6109 Read/write block
Appendix - 58
INDEX
[Number]
1-2 PHASE EXCITATION SYSTEM AD75 software package ......................... A-16,2-4
(explanation of terms) ...................... Appendix-26 ADDRESS (explanation of terms)....Appendix-27
1-axis fixed-dimension feed control .............. 9-29 AFTER mode ...............................................12-59
1-axis linear control (ABS linear 1) ............... 9-23 AFTER mode (explanation of terms)
1-axis linear control (INC linear 1) ................ 9-24 ...........................................................Appendix-27
101 to 600 positioning data No. setting ..... 7-8,13 AUTO TUNING (explanation of terms)
17-segment LED ............................................. 4-3 ...........................................................Appendix-28
2-PHASE EXCITATION SYSTEM AUTOMATIC TRAPEZOIDAL ACCELERATION/
(explanation of terms) ...................... Appendix-26 DECELERATION (explanation of terms)
2-PHASE PULSE (explanation of terms) ...........................................................Appendix-28
.......................................................... Appendix-26 Absolute system.............................................9-14
2-SPEED TRAPEZOIDAL CONTROL Acceleration / deceleration time change program
(explanation of terms) ...................... Appendix-26 ........................................................................6-17
2-axis circular interpolation control with auxiliary Acceleration time 0 ( Pr.8 ) .........................5-24
point designation (ABS circular interpolation) Acceleration time 1 ( Pr.26 ) .........................5-36
....................................................................... 9-33 Acceleration time 2 ( Pr.27 ) .........................5-36
2-axis circular interpolation control with auxiliary Acceleration time 3 ( Pr.28 ) .........................5-36
point designation (INC circular interpolation) Acceleration time No. ( Da.3 ) .....................5-59
....................................................................... 9-36 Acceleration/deceleration process selection
2-axis circular interpolation control with center ( Pr.35 )..........................................................5-38
point designation (ABS right arc, ABS left arc) Acceleration/deceleration processing function
....................................................................... 9-41 ......................................................................12-78
2-axis circular interpolation control with center Acceleration/deceleration time change during
point designation (INC right arc, INC left arc) speed change, enable/disable selection ( Cd.35 )
....................................................................... 9-43 ......................................................................5-120
2-axis fixed-dimension feed control (interpolation) Acceleration/deceleration time change function
....................................................................... 9-31 ......................................................................12-45
2-axis linear interpolation control (ABS linear 2) Address ( Da.16 )...........................................5-78
....................................................................... 9-25 Advanced positioning control ........................10-2
2-axis linear interpolation control (INC linear 2) Allowable circular interpolation error width
....................................................................... 9-27 ( Pr.42 )..........................................................5-43
Applicable system ............................................2-5
[A] Applicable wire size .........................................3-3
A phase/B phase mode................................. 5-22 Arc address ( Da.6 ).....................................5-64
ABSOLUTE ENCODER (explanation of terms) Assembling the connector section ................4-16
.......................................................... Appendix-27 Automatic trapezoidal acceleration/deceleration
ABSOLUTE POSITION DETECTION SYSTEM processing....................................................12-79
(explanation of terms) ...................... Appendix-27 Auxiliary functions ..........................................12-2
ABSOLUTE SYSTEM (explanation of terms) Auxiliary functions specifically for machine zero
.......................................................... Appendix-27 point returns ...................................................12-4
ACCELERATION TIME (explanation of terms) Axis display LED ..............................................4-4
.......................................................... Appendix-27 Axis error No. ( Md.33 ) ..................................5-90
Actual acceleration/deceleration time........... 5-25 Axis error occurrence time (Hour: minute)
AD75.............................................................. A-16 ( Md.21 )..........................................................5-86
AD75 READY signal ..................................... 3-13
Index - 1
Axis error occurrence time (Second: 100 ms) CIRCULAR INTERPOLATION
( Md.22 ) ......................................................... 5-86 (explanation of terms) .......................Appendix-29
Axis error reset ( Cd.12 ) ............................. 5-110 COMMAND PULSE (explanation of terms)
Axis feedrate ( Md.37 ) .................................. 5-94 ...........................................................Appendix-29
Axis in which the error occurred ( Md.19 ) .... 5-86 COMPOSITE SPEED (explanation of terms)
Axis in which the warning occurred ( Md.24 ) ...........................................................Appendix-29
....................................................................... 5-88 CONTINUOUS POSITIONING CONTROL
Axis monitor data........................................... 5-90 (explanation of terms) .......................Appendix-29
Axis operation status ( Md.35 )...................... 5-92 CONTROL UNIT (explanation of terms)
Axis stop signal ............................................. 3-14 ...........................................................Appendix-29
Axis warning No. ( Md.25 ) ............................ 5-88 CP CONTROL (explanation of terms)
Axis warning No. ( Md.34 ) ............................ 5-92 ...........................................................Appendix-29
Axis warning detection .................................. 5-96 CPU module.....................................................2-5
Axis warning occurrence time (Hour: minute) CREEP SPEED (explanation of terms)
( Md.26 ) ......................................................... 5-88 ...........................................................Appendix-30
Axis warning occurrence time (Second: 100 ms) CURRENT FEED VALUE (explanation of terms)
( Md.27 ) ......................................................... 5-88 ...........................................................Appendix-30
CURRENT LOOP MODE (explanation of terms)
[B] ...........................................................Appendix-30
BACKLASH COMPENSATION CURRENT VALUE (explanation of terms)
(explanation of terms) ...................... Appendix-28 ...........................................................Appendix-30
BACKUP FUNCTION (explanation of terms) CURRENT VALUE CHANGE
.......................................................... Appendix-28 (explanation of terms) .......................Appendix-30
BALL SCREW (explanation of terms) CW (explanation of terms)................Appendix-30
.......................................................... Appendix-28 CW/CCW mode .............................................5-22
BIAS SPEED AT START (explanation of terms) Cable clamp ...................................................4-10
.......................................................... Appendix-29 Cable fixture ...................................................4-13
BIPOLAR DRIVE CONSTANT-CURRENT Clock data (hour: minute) ( Md.5 ) ...............5-80
SYSTEM (explanation of terms) ...... Appendix-29 Clock data (second: 100 ms) ( Md.6 ) .........5-80
BUSY (explanation of terms) ........... Appendix-29 Clock data function ......................................13-11
BUSY signal .................................................. 3-13 Clock data setting (hour) ( Cd.1 ) ..............5-104
Backlash compensation amount ( Pr.12 ) ... 5-28 Clock data setting (minute, second) ( Cd.2 )
Backlash compensation function ................ 12-11 ......................................................................5-104
Basic parameters 1 ....................................... 5-18 Clock data setting program............................6-14
Basic parameters 2 ....................................... 5-24 Clock data writing ( Cd.3 ) .........................5-104
Bias speed at start ( Pr.10 ) ......................... 5-25 Combination of AD75 functions.....................3-10
Block .............................................................. 10-8 Combination of main functions and auxiliary
Block No. being executed ( Md.55 )............ 5-102 functions .........................................................3-10
Block start (normal start) ............................... 10-8 Command in-position flag..............................5-96
Block transmission ........................................ 7-13 Command in-position function.....................12-72
Block transmission area.................................. 7-3 Command in-position width ( Pr.17 )............5-30
Buffer memory................................................. 7-2 Command pulse frequency .............................1-9
Buffer memory area configuration .................. 7-5 Command speed ( Da.7 ) ............................5-68
Common functions.................................. 3-9,13-1
[C] Communicating signals between AD75 and each
CCW (explanation of terms) ............ Appendix-29 module............................................................1-10
CHANGE signal (explanation of terms) Composite speed...........................................5-34
.......................................................... Appendix-29 Condition data..............................................10-17
Index - 2
Condition operator....................................... 10-18 DOS/V personal computer ........................... A-16
Condition operator ( Da.15 ) ......................... 5-78 DRIVE UNIT (explanation of terms)
Condition start ............................................. 10-10 ...........................................................Appendix-31
Condition target ( Da.14 ).............................. 5-78 DRIVE UNIT READY (explanation of terms)
Conditional JUMP ......................................... 9-59 ...........................................................Appendix-31
Configuration and roles of AD75 memory ...... 7-2 DROOP PULSE (explanation of terms)
Confirming the current value......................... 9-15 ...........................................................Appendix-32
Confirming the installation and wiring........... 4-18 DWELL TIME (explanation of terms)
Conformation to the EMC Directive and Low ...........................................................Appendix-32
Voltage Instruction......................................... A-12 DYNAMIC BRAKE (explanation of terms)
Connecting the connector ............................. 4-17 ...........................................................Appendix-32
Connecting the connector and wire .............. 4-14 Data link system............................................ A-16
Connection confirmation ............................... 4-18 Data transmission process ..............................7-6
Connection connector ..................................... 3-3 Deceleration stop ...........................................6-37
Connector ...................................................... 4-13 Deceleration time 0 ( Pr.9 ).........................5-24
Connector cover ............................................ 4-13 Deceleration time 1 ( Pr.29 ).........................5-36
Continuous operation interrupt program....... 6-19 Deceleration time 2 ( Pr.30 ).........................5-36
Continuous path control .................................. 9-7 Deceleration time 3 ( Pr.31 ).........................5-36
Continuous positioning control........................ 9-6 Deceleration time No. ( Da.4 ).....................5-59
Control data area............................................. 7-3 Detailed parameters 1 ...................................5-28
Control functions ............................................. 3-4 Detailed parameters 2 ...................................5-36
Control method ( Da.2 )............................... 5-59 Details of input signals (AD75 PLC CPU)
Count method 1) zero point return................ 8-16 ........................................................................3-13
Count method 2) zero point return................ 8-18 Details of output signals (PLC CPU AD75)
Creep speed ( Pr.49 )................................... 5-50 ........................................................................3-14
Current feed value......................................... 9-15 Deviation counter clear ..................................3-19
Current feed value ( Md.29 ).......................... 5-90 Deviation counter droop pulse amount ...........1-9
Current feed value during speed control ( Pr.22 ) Disassembling the connector section ...........4-13
....................................................................... 5-34 Disposal instructions......................................4-23
Current speed ( Md.36 ) ................................ 5-92 Drive unit ....................................................... A-16
Current value change.................................... 9-54 Drive unit READY ..........................................3-19
Dwell time/JUMP designation positioning data No.
[D] ( Da.8 )..........................................................5-70
D/A CONVERTER (explanation of terms) Dwell time during zero point return retry ( Pr.58 )
.......................................................... Appendix-30 ........................................................................5-55
DATA NO. (explanation of terms).... Appendix-30
DECELERATION RATIO (explanation of terms) [E]
.......................................................... Appendix-30 ELECTROMAGNETIC BRAKE
DECELERATION TIME (explanation of terms) (explanation of terms) .......................Appendix-32
.......................................................... Appendix-31 ELECTRONIC GEAR (explanation of terms)
DEVIATION COUNTER (explanation of terms) ...........................................................Appendix-32
.......................................................... Appendix-31 EMERGENCY STOP (explanation of terms)
DIFFERENTIAL OUTPUT TYPE ...........................................................Appendix-32
(explanation of terms) ...................... Appendix-31 ENCODER (explanation of terms)
DIGITAL BUS CONNECTION ...........................................................Appendix-32
(explanation of terms) ...................... Appendix-31 ERROR CORRECTION (explanation of terms)
DOG SIGNAL (explanation of terms) ...........................................................Appendix-33
.......................................................... Appendix-31
Index - 3
ERROR RESET (explanation of terms) Functions to limit the control........................12-22
.......................................................... Appendix-33
EXTERNAL REGENERATIVE BRAKE [G]
RESISTOR (explanation of terms) GAIN (explanation of terms).............Appendix-33
.......................................................... Appendix-33 General configuration of program ...................6-8
Electrical specifications ................................. 3-15 General image of system.................................2-2
Electronic gear function............................... 12-13 General specifications .....................................3-2
Emergency stop ............................................ 6-36
Error and warning details .............................. 14-2 [H]
Error compensation method ....................... 12-14 HIGH-SPEED MACHINE ZERO POINT RETURN
Error detection signal .................................... 3-13 (explanation of terms) .......................Appendix-34
Error history pointer ( Md.23 ) ....................... 5-86 High-speed machine zero point return..........8-22
Error judgment ( Md.11 , Md.17 ).............. 5-82,84 HIGH-SPEED ZERO POINT RETURN
Error reset program....................................... 6-20 (explanation of terms) .......................Appendix-34
Execution data backup function.................... 13-5 Handling precautions .......................................4-5
External dimension drawing............... Appendix-2 Hardware stroke limit function .....................12-33
External input/output signal ( Md.39 ) ........... 5-94 High-speed zero point return.........................8-20
External start ................................................. 3-18
External start function selection ( Pr.43 )..... 5-44 [I]
External start function valid setting program I/F .................................................................. A-16
....................................................................... 6-14 INCREMENT SYSTEM (explanation of terms)
External start valid ( Cd.25 )........................ 5-116 ...........................................................Appendix-34
INCREMENTAL ENCODER
[F] (explanation of terms) .......................Appendix-34
F (explanation of terms) ................... Appendix-33 INERTIA (explanation of terms) .......Appendix-34
FEED PULSE (explanation of terms) INPUT TERMINAL (explanation of terms)
.......................................................... Appendix-33 ...........................................................Appendix-34
FEEDBACK PULSE (explanation of terms) INTERLOCK (explanation of terms)
.......................................................... Appendix-33 ...........................................................Appendix-35
FIXED-DIMENSION FEED (explanation of terms) INTERPOLATION OPERATION
.......................................................... Appendix-33 (explanation of terms) .......................Appendix-35
FLASH MEMORY (explanation of terms) INVERTER (explanation of terms)
.......................................................... Appendix-33 ...........................................................Appendix-35
FLS SIGNAL (explanation of terms) Immediate stop ..............................................6-37
.......................................................... Appendix-33 In speed change processing flag ( Md.50 )
Fatal stop ....................................................... 6-36 ......................................................................5-100
Features of AD75 ............................................ 1-2 In speed control flag ......................................5-96
Feedrate ( Md.31 ) ......................................... 5-90 In speed limit flag ( Md.49 )..........................5-100
Ferrite core .................................................... 4-10 In test mode flag ( Md.1 ) .............................5-80
Flash ROM ...................................................... 7-2 In-position.......................................................3-19
Flash ROM write program............................. 6-19 Increment system...........................................9-14
Flash ROM write request ( Cd.9 )............. 5-108 Independent positioning control ......................9-5
Flow of all processes..................................... 1-12 Indirectry specification data .........................12-82
Flow of system operation .............................. 1-12 Indirectry specification function ...................12-82
Forced stop.................................................... 6-36 Initialization program......................................6-21
Front-loading speed changeover mode ....... 9-12 Input/output information n..............................13-9
Functions for compensating the control ..... 12-11 Input/output interface internal circuit .............3-20
Functions to change the control details...... 12-35 Intentional stop...............................................6-36
Index - 4
Internal circuit ................................................ 3-20 List of input/output signal details ...................3-18
Internal current consumption .......................... 3-3 List of input/output signals .............................3-12
Internal information 1 .................................... 13-8 List of monitor data ........................................5-80
Internal information 2 .................................... 13-8 List of parameters ..........................................5-18
Interpolation axis ........................................... 9-19 List of positioning data ...................................5-56
Interpolation control....................................... 9-19 List of start block data....................................5-71
Interpolation speed designation method ( Pr.21 ) List of warnings ............................................14-30
....................................................................... 5-34 Logic selection for pulse output to the drive unit
Interrupt request during continuous operation ( Pr.24 )..........................................................5-35
( Cd.32 ) ....................................................... 5-120 Lower limit ......................................................3-19
[J] [M]
JOG (explanation of terms).............. Appendix-35 M CODE (explanation of terms) .......Appendix-36
JOG operation ............................................... 11-4 M code OFF request....................................12-59
JOG operation acceleration time selection M code OFF request ( Cd.14 ).....................5-110
( Pr.33 ) ......................................................... 5-37 M code ON signal ..........................................3-13
JOG operation deceleration time selection M code ON signal output timing ( Pr.19 ).....5-32
( Pr.34 ) ......................................................... 5-37 M code ON/OFF timing................................12-58
JOG operation program ................................ 6-16 M code output function ................................12-58
JOG operation start time chart.................... 11-11 M code/condition data ( Da.9 ) ....................5-68
JOG operation timing and processing times MACHINE FEED VALUE (explanation of terms)
....................................................................... 11-6 ...........................................................Appendix-36
JOG speed ( Cd.19 ) ................................... 5-114 MANUAL PULSE GENERATOR
JOG speed limit value ( Pr.32 ).................... 5-37 (explanation of terms) .......................Appendix-36
JOG start signal............................................. 3-14 MASTER AXIS (explanation of terms)
JUMP command............................................ 9-59 ...........................................................Appendix-36
MOVEMENT AMOUNT PER PULSE
[K] (explanation of terms) .......................Appendix-36
kPPS (explanation of terms) ............ Appendix-35 MULTI-PHASE PULSE (explanation of terms)
...........................................................Appendix-36
[L] MULTIPLYING RATE SETTING
LED display function ..................................... 13-7 (explanation of terms) .......................Appendix-36
LIMIT SWITCH (explanation of terms) Machine feed value........................................9-15
.......................................................... Appendix-35 Machine feed value ( Md.30 ) ........................5-90
LIMIT SWITCH OUTPUT (explanation of terms) Machine zero point return................................8-4
.......................................................... Appendix-35 Machine zero point return method ..................8-5
LINEAR INTERPOLATION (explanation of terms) Main functions ..................................................3-6
.......................................................... Appendix-35 Main positioning control ...................................9-2
LOW-INERTIA MOTOR (explanation of terms) Manual control ...............................................11-2
.......................................................... Appendix-36 Manual pulse generator.......................... A-16,2-4
Last executed positioning data No.( Md.52 ) Manual pulse generator 1 pulse input
..................................................................... 5-102 magnification ( Cd.23 ).................................5-116
List of condition data ..................................... 5-75 Manual pulse generator enable flag ( Cd.22 )
List of configuration devices............................ 2-4 ......................................................................5-116
List of control data ....................................... 5-104 Manual pulse generator operation ..............11-17
List of devices.................................................. 6-4 Manual pulse generator operation program
List of errors................................................... 14-6 ........................................................................6-16
List of functions................................................ 3-4
Index - 5
Manual pulse generator operation start time chart OUTPUT TERMINAL (explanation of terms)
..................................................................... 11-24 ...........................................................Appendix-37
Manual pulse generator operation timing and OVERRIDE FUNCTION (explanation of terms)
processing times ......................................... 11-19 ...........................................................Appendix-37
Manual pulse generator selection ( Pr.23 ) Operation monitor 1 .......................................13-8
....................................................................... 5-35 Operation monitor 2 .......................................13-8
Max. connection distance ............................... 3-3 Operation pattern ( Da.1 )............................5-59
Max. output pulse ............................................ 3-3 Operation patterns ...........................................9-4
Mechanism of positioning control ................... 1-6 Operation timing and processing time during
Mode switch..................................................... 4-4 speed/position changeover control ...............9-50
Module name ( Md.2 ) ................................. 5-80 Operation timing and processing time of high-
Module version label ....................................... 4-4 speed zero point returns................................8-21
Monitor data area ............................................ 7-3 Operation type ( Md.8 , Md.14 ) .............5-82,84
Movement amount after near-point dog ON Order of priority for stop process...................6-38
( Md.44 ) ......................................................... 5-98 Outline design of positioning system...............1-8
Movement amount per pulse ( Pr.2 to Pr.4 ) Outline for restarting ......................................1-17
....................................................................... 5-19 Outline of installation, wiring and maintenance
Movement amount per rotation ( Pr.3 )...... 5-20 ..........................................................................4-2
Outline of starting...........................................1-14
[N] Outline of stopping .........................................1-16
NEAR-POINT DOG (explanation of terms) Outline of zero point return control..................8-2
.......................................................... Appendix-37 Override function..........................................12-42
NEXT start ................................................... 10-16 Override program...........................................6-17
Names of each part......................................... 4-3
Near pass mode .......................................... 12-18 [P]
Near pass mode function ............................ 12-18 P RATE (explanation of terms).........Appendix-37
Near pass mode selection for path control PANCAKE MOTOR (explanation of terms)
( Pr.44 ) ......................................................... 5-44 ...........................................................Appendix-37
Near-point dog method zero point return ....... 8-6 PARAMETER (explanation of terms)
Near-point dog signal .................................... 3-19 ...........................................................Appendix-37
Network system............................................. A-16 PLC CPU....................................................... A-16
New acceleration time value ( Cd.33 )........ 5-120 PLC CPU memo area......................................7-3
New current value ( Cd.15 ) ........................ 5-112 PLC READY signal ........................................3-14
New deceleration time value ( Cd.34 ) ....... 5-120 PLC READY signal [Y1D] ON program ........6-14
New speed value ( Cd.16 ).......................... 5-112 POSITION CONTROL (explanation of terms)
New torque value ( Cd.30 ) ......................... 5-118 ...........................................................Appendix-37
No. of control axes .......................................... 3-3 POSITION DETECTION MODULE
No. of mounted modules................................. 2-6 (explanation of terms) .......................Appendix-38
No. of occupied input/output points ................ 3-3 POSITION LOOP GAIN (explanation of terms)
No. of pulses per rotation ( Pr.2 )............... 5-19 ...........................................................Appendix-38
Normal start ................................................... 10-8 POSITION LOOP MODE (explanation of terms)
...........................................................Appendix-38
[O] POSITIONING (explanation of terms)
OPERATION PATTERN (explanation of terms) ...........................................................Appendix-38
.......................................................... Appendix-37 POSITIONING COMPLETE SIGNAL
OS memory ..................................................... 7-2 (explanation of terms) .......................Appendix-38
OS type ( Md.3 )........................................... 5-80 POSITIONING DATA (explanation of terms)
OS version ( Md.4 )...................................... 5-80 ...........................................................Appendix-38
Index - 6
POSITIONING PARAMETER (explanation of Positioning start information area (No.7000)
terms)................................................ Appendix-38 ..........................................................................7-3
POSITIONING START (explanation of terms) Positioning start information area
.......................................................... Appendix-39 (No.7001 to 7010) ............................................7-3
PTP Control (explanation of terms) Positioning start signal...................................3-14
.......................................................... Appendix-39 Positioning start signal input program ...........6-15
PU (explanation of terms) ................ Appendix-39 Positioning starting point No. ( Cd.31 ) .......5-118
PULSE (explanation of terms) ......... Appendix-39 Positioning to the zero point ..........................8-22
PULSE GENERATOR (explanation of terms) Precautions according to module version.......2-6
.......................................................... Appendix-39 Precautions for configuring system .................2-6
PULSE OUTPUT MODE (explanation of terms) Precautions for creating program....................6-2
.......................................................... Appendix-39 Precautions for installation ..............................4-7
PULSE/SIGN mode....................................... 5-21 Precautions for maintenance.........................4-23
Parameter ( Da.13 )....................................... 5-74 Precautions for mounting.................................4-7
Parameter 1 ( Da.17 ).................................... 5-79 Precautions for mounting base unit.................2-6
Parameter 2 ( Da.18 ).................................... 5-79 Precautions for using 3-axis module...............2-7
Parameter area ............................................... 7-3 Precautions for using stepping motor .............2-7
Parameter initialization program ................... 6-19 Precautions for wiring ......................................4-8
Parameter initialization request ( Cd.10 ) Precautions
..................................................................... 5-108 Disposal instructions ..................................4-23
Parameter setting program ........................... 6-12 according to module version........................2-6
Performance specifications............................. 3-3 for creating program.....................................6-2
Personal computer ........................................ A-16 for installation ...............................................4-7
Positioning start information setting program for maintenance .........................................4-23
....................................................................... 6-13 for mounting .................................................4-7
Positioning address pass mode.................. 12-19 for mounting base unit .................................2-6
Positioning address/movement amount ( Da.5 ) for using 3-axis module................................2-7
....................................................................... 5-60 for using stepping motor ..............................2-7
Positioning complete ....................................... 9-5 for wiring .......................................................4-8
Positioning complete signal .......................... 3-13 Handling .......................................................4-5
Positioning complete signal output time ( Pr.41 ) Principle of operation .......................................1-7
....................................................................... 5-42 Process time
Positioning control operation program............ 6-9 JOG operation timing and processing times
Positioning data No. ( Cd.5 )..................... 5-106 ....................................................................11-6
Positioning data No. 101 to 600 setting..... 7-8,13 Machine zero point return operation timing and
Positioning data No. being executed] ( Md.54 ) process time ...............................................6-28
..................................................................... 5-102 Manual pulse generator operation timing and
Positioning data area (No. 1 to 100)............... 7-3 processing times ......................................11-19
Positioning data area (No. 101 to 600)........... 7-3 Operation timing and processing time during
Positioning data being executed ( Md.56 ) speed/position changeover control............9-50
..................................................................... 5-102 Operation timing and processing time of high-
Positioning data setting program .................. 6-12 speed zero point returns ............................8-21
Positioning operation speed override ( Cd.18 ) Position control operation timing and process
..................................................................... 5-112 time .............................................................6-29
Positioning program examples ..................... 6-12 Program details..............................................6-21
Positioning start No. ( Cd.11 ) ..................... 5-110 Program examples
Positioning start No. setting program ........... 6-14 Acceleration / deceleration time change
program ......................................................6-17
Index - 7
Clock data setting program ....................... 6-14 Read/write request ( Cd.7 ) .......................5-106
Continuous operation interrupt program... 6-19 Reference axis ...............................................9-19
Error reset program ................................... 6-20 Reference axis speed ....................................5-34
External start function valid starting program Relatively safe stop........................................6-36
................................................................... 6-14 Remote I/O station...........................................2-5
Flash ROM write program ......................... 6-19 Repeat counter ( Md.53 ) .............................5-102
JOG operation program ............................ 6-16 Repeated start (FOR condition) ..................10-15
Manual pulse generator operation program Repeated start (FOR loop) ..........................10-14
................................................................... 6-16 Reset program ...............................................6-16
Override program ...................................... 6-17 Restart command ( Cd.13 ) .........................5-110
PLC READY signal [Y1D] ON program.... 6-14 Restart operation ...........................................6-33
Parameter initialization program ............... 6-19 Restart program .............................................6-19
Parameter setting program ....................... 6-12 Rotation direction setting ( Pr.6 )................5-23
Positioning start information setting program
................................................................... 6-13 [S]
Positioning data setting program .............. 6-12 S-PATTERN ACCELERATION/DECELERATION
Positioning start No. setting program........ 6-14 (explanation of terms) .......................Appendix-40
Positioning start signal input program....... 6-15 S-pattern acceleration/deceleration processing
Reset program........................................... 6-16 method .........................................................12-80
Restart program......................................... 6-19 S-pattern proportion ( Pr.36 )........................5-39
Skip program ............................................. 6-18 SERVO AMPLIFIER (explanation of terms)
Speed change program............................. 6-17 ...........................................................Appendix-40
Step operation program ............................ 6-18 SERVO LOCK (explanation of terms)
Stop program ............................................. 6-20 ...........................................................Appendix-40
Teaching program ..................................... 6-18 SERVO ON (explanation of terms)
Torque change program............................ 6-17 ...........................................................Appendix-40
Zero point return request OFF program ... 6-13 SERVOMOTOR (explanation of terms)
Pulse encoder ................................................. 1-9 ...........................................................Appendix-40
Pulse output mode ( Pr.5 ) ......................... 5-21 SETTING UNIT (explanation of terms)
Purpose and applications of positioning control ...........................................................Appendix-41
......................................................................... 1-4 SKIP FUNCTION (explanation of terms)
...........................................................Appendix-41
[R] SLAVE AXIS (explanation of terms)
READY (explanation of terms)......... Appendix-39 ...........................................................Appendix-41
REAL-TIME AUTO TUNING SPEED CHANGE (explanation of terms)
(explanation of terms) ...................... Appendix-39 ...........................................................Appendix-41
REFERENCE AXIS SPEED SPEED CHANGEOVER CONTROL
(explanation of terms) ...................... Appendix-39 (explanation of terms) .......................Appendix-41
REGENERATIVE BRAKE OPTION SPEED CONTROL (explanation of terms)
(explanation of terms) ...................... Appendix-39 ...........................................................Appendix-41
RESOLVER (explanation of terms) SPEED INTEGRAL COMPENSATION
.......................................................... Appendix-40 (explanation of terms) .......................Appendix-41
RLS SIGNAL (explanation of terms) SPEED LIMIT VALUE (explanation of terms)
.......................................................... Appendix-40 ...........................................................Appendix-41
ROTARY TABLE (explanation of terms) SPEED LOOP GAIN (explanation of terms)
.......................................................... Appendix-40 ...........................................................Appendix-41
RS-422 cable................................................... 2-4 SPEED LOOP MODE (explanation of terms)
Read/write positioning data I/F ( Cd.8 ) .... 5-108 ...........................................................Appendix-41
Index - 8
SPEED/POSITION CONTROL CHANGEOVER Simultaneous start .......................................10-12
MODE (explanation of terms) .......... Appendix-41 Single module test .........................................4-19
START COMPLETE (explanation of terms) Size selection for acceleration/deceleration time
.......................................................... Appendix-42 ( Pr.25 )..........................................................5-35
STARTING AXIS.............................. Appendix-42 Skip command ( Cd.29 ) ..............................5-118
STATUS (explanation of terms)....... Appendix-42 Skip function.................................................12-55
STEP FUNCTION (explanation of terms) Skip program..................................................6-18
.......................................................... Appendix-42 Slot No..............................................................2-6
STEP OUT (explanation of terms) Software stroke limit lower limit value ( Pr.14 )
.......................................................... Appendix-42 ........................................................................5-29
STEPPING MOTOR (explanation of terms) Software stroke limit selection ( Pr.15 )........5-30
.......................................................... Appendix-42 Software stroke limit upper limit value ( Pr.13 )
STOP SETTLING TIME (explanation of terms) ........................................................................5-29
.......................................................... Appendix-42 Software stroke limit valid/invalid setting ( Pr.16 )
STOP SIGNAL (explanation of terms) ........................................................................5-30
.......................................................... Appendix-42 Special start command ( Da.12 )...................5-74
STOPPER STOP (explanation of terms) Special start data command code setting value
.......................................................... Appendix-43 ( Md.46 )........................................................5-100
STROKE (explanation of terms) ...... Appendix-43 Special start data command parameter setting
STROKE LIMIT (explanation of terms) value ( Md.47 )..............................................5-100
.......................................................... Appendix-43 Specifications of input/output interfaces .......3-15
SUDDEN STOP (explanation of terms) Specifications of input/output signals ............3-12
.......................................................... Appendix-43 Speed change 0 flag......................................5-96
Setting data ..................................................... 5-2 Speed change function................................12-35
Setting for the movement amount after near-point Speed change program .................................6-17
dog ON ( Pr.52 ) ........................................... 5-52 Speed change request ( Cd.17 ) .................5-112
Setting items for condition data .................... 5-10 Speed changeover mode ( Pr.20 ) ...............5-33
Setting items for positioning data.................... 5-7 Speed control .................................................9-46
Setting items for positioning parameters ........ 5-4 Speed designation during zero point shift
Setting items for start block data .................... 5-9 ( Pr.57 )..........................................................5-55
Setting items for zero point return parameters Speed limit function .....................................12-22
......................................................................... 5-6 Speed limit value ( Pr.7 ) ............................5-24
Setting the positioning data........................... 9-22 Speed/position changeover control...............9-48
Setting the torque limit function .................. 12-26 Speed/position changeover control movement
Shape ( Da.10 ) ............................................. 5-74 amount change register ( Cd.21 )................5-114
Signal layout for connector ........................... 3-17 Speed/position changeover control positioning
Signal name................................................... 3-13 amount ( Md.38 ) ............................................5-94
Signal Speed/position changeover enable flag ( Cd.20 )
AD75 READY signal.................................. 3-13 ......................................................................5-114
Axis stop signal.......................................... 3-14 Speed/position changeover latch flag ...........5-96
BUSY signal............................................... 3-13 Speed/position changeover signal ................3-18
Error detection signal ................................ 3-13 Spiral interpolation .........................................9-40
JOG start signal......................................... 3-14 Standard speed changeover mode...............9-11
M code ON signal ...................................... 3-13 Start axis ( Md.7 , Md.13 ) ......................5-82,84
PLC READY signal.................................... 3-14 Start block data ..............................................10-7
Positioning complete signal....................... 3-13 Start complete signal .....................................3-13
Positioning start signal .............................. 3-14 Start data No. ( Da.11 )..................................5-74
Start complete signal................................. 3-13
Index - 9
Start data pointer being executed ( Md.51 ) [T]
..................................................................... 5-102 TEACHING (explanation of terms)
Start details setting program ......................... 6-22 ...........................................................Appendix-43
Start during error history ............................. 14-36 TEACHING UNIT (explanation of terms)
Start positioning data No. setting value ( Md.48 ) ...........................................................Appendix-43
..................................................................... 5-100 TORQUE CONTROL (explanation of terms)
Start program................................................. 6-23 ...........................................................Appendix-43
Start program for advanced positioning control TORQUE LOOP MODE (explanation of terms)
..................................................................... 10-20 ...........................................................Appendix-43
Start time (Hour: minute) ( Md.9 , Md.15 ) TORQUE RIPPLE (explanation of terms)
.................................................................. 5-82,84 ...........................................................Appendix-44
Start time (Second:100 ms) ( Md.10 , Md.16 ) TRACKING FUNCTION (explanation of terms)
.................................................................. 5-82,84 ...........................................................Appendix-44
Start time chart for positioning control using TURNTABLE (explanation of terms)
indirectly specification function ................... 12-86 ...........................................................Appendix-44
Start time chart for positioning to the zero point Target axis ( Cd.4 ) ....................................5-104
....................................................................... 8-23 Target speed ( Md.42 )...................................5-98
Starting history pointer ( Md.12 ) ................... 5-82 Target value ( Md.41 ) ....................................5-96
Starting history pointer at error ( Md.18 ) ...... 5-84 Teaching function.........................................12-62
Status ( Md.40 ).............................................. 5-96 Teaching program..........................................6-18
Step function................................................ 12-50 Teaching unit....................................................2-4
Step mode ................................................... 12-51 Time chart for changing the speed from the PLC
Step mode ( Cd.27 ) .................................... 5-118 CPU ..............................................................12-38
Step operation program ................................ 6-18 Time chart for changing the speed using an
Step start information .................................. 12-51 external start signal......................................12-40
Step start information ( Cd.28 )................... 5-118 Time chart for changing the speed using the
Step valid flag ( Cd.26 )............................... 5-116 override function ..........................................12-43
Stepping motor mode function.................... 12-75 Time chart for restarting.................................6-35
Stepping motor mode selection ( Pr.11 )..... 5-26 Time chart for starting high-speed zero point return
Stop.............................................................. 10-13 ........................................................................6-26
Stop cause..................................................... 6-36 Time chart for starting machine zero point return
Stop group 1 sudden stop selection ( Pr.38 ) ........................................................................6-25
....................................................................... 5-41 Time chart for starting main positioning control
Stop group 2 sudden stop selection ( Pr.39 ) ........................................................................6-27
....................................................................... 5-41 Time chart for starting speed/position changeover
Stop group 3 sudden stop selection ( Pr.40 ) control.............................................................6-27
....................................................................... 5-41 Time chart for starting with external start signal
Stop process.................................................. 6-36 ........................................................................6-30
Stop program................................................. 6-20 Time chart
Stop signal..................................................... 3-18 for positioning control using indirectly
Stopper stop method 1) zero point return....... 8-8 specification function................................12-86
Stopper stop method 2) zero point return..... 8-11 for positioning to the zero point .................8-23
Stopper stop method 3) zero point return..... 8-14 for restarting ...............................................6-35
Sudden stop .................................................. 6-37 for starting high-speed zero point return ...6-26
Sudden stop deceleration time ( Pr.37 ) ...... 5-40 for starting machine zero point return........6-25
System control data .................................... 5-104 for starting main positioning control...........6-27
System monitor data ..................................... 5-80
Index - 10
for starting speed/position changeover control ZERO POINT RETURN METHOD
................................................................... 6-27 (explanation of terms) .......................Appendix-45
for starting with external start signal ......... 6-30 ZERO POINT RETURN PARAMETER
Torque change function .............................. 12-48 (explanation of terms) .......................Appendix-45
Torque change program ............................... 6-17 ZERO POINT RETURN REQUEST
Torque limit function.................................... 12-24 (explanation of terms) .......................Appendix-45
Torque limit setting value ( Pr.18 )............... 5-31 ZERO POINT SHIFT FUNCTION
Torque limit stored value ( Md.45 ) ............... 5-98 (explanation of terms) .......................Appendix-45
Types and roles of control data .................... 5-14 ZERO POINT SIGNAL (explanation of terms)
Types and roles of monitor data ................... 5-11 ...........................................................Appendix-45
Types of data................................................... 5-2 Zero point absolute position ( Md.43 ) ...........5-98
Types of errors .............................................. 14-2 Zero point absolute position overflow/underflow
Types of stop processes ............................... 6-37 flag..................................................................5-96
Types of warnings ......................................... 14-3 Zero point address ( Pr.47 )..........................5-49
Zero point return acceleration time selection
[U] ( Pr.53 )..........................................................5-53
UNIT SETTING (explanation of terms) Zero point return basic parameters ...............5-45
.......................................................... Appendix-44 Zero point return complete flag .....................5-96
Unconditional JUMP...................................... 9-59 Zero point return deceleration time selection
Unit magnification ( Pr.4 )........................... 5-20 ( Pr.54 )..........................................................5-53
Unit setting ( Pr.1 ) ..................................... 5-18 Zero point return detailed parameters...........5-52
Upper limit...................................................... 3-19 Zero point return direction ( Pr.46 ) ..............5-48
Zero point return dwell time ( Pr.51 )............5-52
[V] Zero point return method (1): Near-point dog
Valid M code ( Md.32 )................................... 5-90 method .............................................................8-6
Zero point return method (2): Stopper stop
[W] method 1) .........................................................8-8
WARNING (explanation of terms) ... Appendix-44 Zero point return method (3): Stopper stop
WITH MODE (explanation of terms) method 2) .......................................................8-11
.......................................................... Appendix-44 Zero point return method (4): Stopper stop
WITH mode ................................................. 12-58 method 3) .......................................................8-14
WORM GEAR (explanation of terms) Zero point return method (5): Count method 1)
.......................................................... Appendix-44 ........................................................................8-16
Wait start...................................................... 10-11 Zero point return method (6): Count method 2)
Warning history pointer ( Md.28 ).................. 5-88 ........................................................................8-18
Wiring the connector pins ............................. 4-13 Zero point return method ( Pr.45 )................5-45
Wiring the pins............................................... 4-13 Zero point return request .................................8-2
Workpiece...................................................... A-16 Zero point return request OFF program........6-13
Write pattern ( Cd.6 )................................. 5-106 Zero point return request flag ........................5-96
Writing to the flash ROM............................... 13-6 Zero point return request flag OFF request
( Cd.24 )........................................................5-116
[X] Zero point return retry ( Pr.50 ).....................5-51
XY TABLE (explanation of terms).... Appendix-44 Zero point return retry function ......................12-4
Zero point return speed ( Pr.48 ) ..................5-49
[Z] Zero point return torque limit value ( Pr.56 )
Z PHASE (explanation of terms) ..... Appendix-44 ........................................................................5-55
ZERO POINT (explanation of terms) Zero point shift amount ( Pr.55 )...................5-54
.......................................................... Appendix-44 Zero point shift function .................................12-8
Index - 11
MEMO
Index - 12
WARRANTY
Please confirm the following product warranty details before starting use.
3. Overseas service
Overseas, repairs shall be accepted by Mitsubishi's local overseas FA Center. Note that the repair conditions at each FA
Center may differ.
6. Product application
(1) In using the Mitsubishi MELSEC programmable logic controller, the usage conditions shall be that the application will
not lead to a major accident even if any problem or fault should occur in the programmable logic controller device, and
that backup and fail-safe functions are systematically provided outside of the device for any problem or fault.
(2) The Mitsubishi general-purpose programmable logic controller has been designed and manufactured for applications
in general industries, etc. Thus, applications in which the public could be affected such as in nuclear power plants and
other power plants operated by respective power companies, and applications in which a special quality assurance
system is required, such as for each Japan Railways company or the Department of Defense shall be excluded from
the programmable logic controller applications.
Note that even with these applications, if the user approves that the application is to be limited and a special quality is
not required, application shall be possible.
When considering use in aircraft, medical applications, railways, incineration and fuel devices, manned transport
devices, equipment for recreation and amusement, and safety devices, in which human life or assets could be greatly
affected and for which a particularly high reliability is required fin terms of safety and control system, please consult
with Mitsubishi and discuss the required specifications.
Microsoft Windows, Windows NT are registered trademarks of Microsoft Corporation in the United States
and other countries.
Other company and product names herein may be either trademarks or registered trademarks of their
respective owners.
U
A1SD75P1-S3/P2-S3/P3-S3 A1SD75P1-S3/P2-S3/P3-S3
AD75P1-S3/P2-S3/P3-S3 Positioning Module AD75P1-S3/P2-S3/P3-S3 Positioning Module
, ,
User s Manual User s Manual
MODEL 13J871
CODE
IB(NA)-66716-F(0305)MEE
When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.