Page 1 MELSEC-L LD75P/LD75D Positioning Module User's Manual -LD75P1 -LD75P2 -LD75P4 -LD75D1 -LD75D2 -LD75D4...
Page 3: Safety Precautions
SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. For the safety precautions of the programmable controller system, refer to the user's manual for the CPU module used.
Page 4 [Design Precautions] WARNING ● Do not write any data to the "system area" of the buffer memory in the intelligent function module. Also, do not use any "use prohibited" signals as an output signal from the CPU module to the intelligent function module.
Page 5 [Wiring Precautions] CAUTION ● Use applicable solderless terminals. Failure to do so may result in malfunction or damage to the module or cables. ● Tighten the connector screws within the specified torque range. Undertightening can cause short circuit, fire, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or malfunction.
Page 6 [Startup and Maintenance Precautions] WARNING ● Shut off the external power supply (all phases) used in the system before cleaning the module or retightening the connector screws. Failure to do so may result in electric shock. [Startup and Maintenance Precautions] CAUTION ●...
Page 7: Conditions Of Use For The Product
CONDITIONS OF USE FOR THE PRODUCT (1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions; i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.
Page 8: Introduction
INTRODUCTION Thank you for purchasing the Mitsubishi Electric MELSEC-L series programmable controllers. This manual describes the functions and programming of the positioning module. Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC-L series programmable controller to handle the product correctly.
Page 9: Compliance With Emc And Low Voltage Directives
COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES (1) For programmable controller system To ensure that Mitsubishi Electric programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment, certain measures may be necessary. Please refer to one of the following manuals.
Page 10: Relevant Manuals
RELEVANT MANUALS (1) CPU module user's manual Manual name Description <manual number (model code)> Specifications of the CPU modules, power supply modules, display unit, MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and branch module, extension module, SD memory cards, and batteries, Inspection) information on how to establish a system, maintenance and inspection, and <SH-080890ENG, 13JZ36>...
Page 11 Memo...
Page 12: Table Of Contents
CONTENTS CONTENTS SAFETY PRECAUTIONS ............. 1 CONDITIONS OF USE FOR THE PRODUCT .
Page 13 3.4.1 Electrical specifications of input/output signals ........69 3.4.2 Signal layout for external device connection connector .
Page 14 5.7.2 Axis control data............213 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL Precautions for Creating Program .
Page 15 CHAPTER 9 MAJOR POSITIONING CONTROL Outline of Major Positioning Controls ......... . . 339 9.1.1 Data required for major positioning control .
Page 16 10.3.6 Repeated start (FOR loop)...........467 10.3.7 Repeated start (FOR condition) .
Page 17 12.4.3 Software stroke limit function ..........535 12.4.4 Hardware stroke limit function .
Page 18 MITSUBISHI Electric Corporation ........725...
Page 19: Manual Page Organization
MANUAL PAGE ORGANIZATION The following manuals are also related to this product. The following symbols represent the buffer memories supported for axis 1 to 4. (A serial No. is inserted in the "*" mark.) Symbol Description Reference [Pr. *] Symbol indicating positioning parameter and OPR parameter item. [Da.
Page 20: Terms
TERMS Unless otherwise specified, this manual uses the following terms. For the unique terms of the positioning module, refer to  Page 769, Appendix 8. Term Description CPU module The abbreviation for the MELSEC-L series CPU module GX Configurator-QP A setting and monitoring tool (for positioning modules) GX Developer The product name of the software package for the MELSEC programmable controllers GX Works2...
Page 21: Packing List
PACKING LIST The following items are included in the package of this product. Before use, check that all the items are included. (1) LD75P1 LD75P1 Before Using the Product (2) LD75P2 LD75P2 Before Using the Product (3) LD75P4 LD75P4 Before Using the Product...
Page 22 (4) LD75D1 LD75D1 Before Using the Product (5) LD75D2 LD75D2 Before Using the Product (6) LD75D4 LD75D4 Before Using the Product...
Page 23 PART 1 PRODUCT SPECIFICATIONS AND HANDLING Part 1 consists of the following chapters. CHAPTER 1 PRODUCT OUTLINE......... . 22 CHAPTER 2 SYSTEM CONFIGURATION .
Page 24: Chapter 1 Product Outline
CHAPTER 1 PRODUCT OUTLINE Positioning Control 1.1.1 Features of LD75 The LD75 has the following features. (1) Selection of modules The pulse output types of the available modules are either the open collector output system or the differential driver output system. A module can be selected from the following depending on the drive unit type and the number of axes.
Page 25 CHAPTER 1 PRODUCT OUTLINE (c) Large amount of data Up to 600 positioning data (combinations of data, such as control system, positioning address, and command speed) per axis can be set. (d) Continuous processing of multiple positioning data Multiple positioning data can be processed continuously within one positioning operation. Continuous positioning control can be executed over multiple blocks, where each block consists of multiple positioning data.
Page 26: Purpose And Applications Of Positioning Control
1.1.2 Purpose and applications of positioning control "Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece") at a designated speed, and accurately stopping it at the target position. The main application examples are shown below. (1) Punch press (X, Y feed positioning) Gear and ball screw 15m/min...
Page 27 CHAPTER 1 PRODUCT OUTLINE (3) Compact machining center (ATC magazine positioning) Servomotor Coupling Reduction gears ATC tool magazine Servo amplifier Positioning pin Tool (12 pcs., 20 pcs.) Rotation direction Rotation direction for calling for calling 11, 12, 1, 2 or 3 17 to 20, 1 to 5 Current Current...
Page 28 (5) Index table (High-accuracy indexing of angle) LD75 Digital switch Servo amplifier Index table Detector Worm gears Servomotor • The index table is positioned at a high accuracy using the 1-axis servo. (6) Inner surface grinder Servomotor Motor Workpiece Grinding stone Inverter Motor Servo...
Page 29: Mechanism Of Positioning Control
CHAPTER 1 PRODUCT OUTLINE 1.1.3 Mechanism of positioning control Positioning control using the LD75 is carried out with "pulse signals". (The LD75 is a module that generates pulses). In the positioning system using the LD75, various software and devices are used for the following roles. The LD75 realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the CPU module.
Page 30 The principle of "position control" and "speed control" operation is shown below. (1) Position control The total No. of pulses required to move the designated distance is obtained in the following manner. Designated distance No. of pulses Total No. of pulses required for motor to required to move Movement amount of machine (load)
Page 31: Outline Design Of Positioning System
CHAPTER 1 PRODUCT OUTLINE 1.1.4 Outline design of positioning system The outline of the positioning system operation and design, using the LD75, is shown below. (1) Positioning system using LD75 CPU module Positioning module Drive unit Servomotor LD75 Forward run Speed pulse train command...
Page 32 (b) Pulse train output from the LD75 As shown in the figure below, the pulse frequency increases as the motor accelerates. The pulses are sparse when the motor starts and more frequent when the motor speed comes close to the target speed.
Page 33 CHAPTER 1 PRODUCT OUTLINE (a) Calculations of the movement amount per pulse, command pulse frequency, and the deviation counter droop pulse amount The movement amount per pulse, command pulse frequency, and the deviation counter droop pulse amount are determined as follows: ...
Page 34: Communicating Signals Between Ld75 And Each Module
1.1.5 Communicating signals between LD75 and each module The outline of the signal communication between the LD75 and CPU module, GX Works2 and drive unit, etc., is shown below. (GX Works2 communicates with the LD75 via the CPU module to which it is connected.) PLC CPU LD75 PLC READY signal...
Page 35 CHAPTER 1 PRODUCT OUTLINE (1) LD75  CPU module The LD75 and CPU module communicate the following data. Direction Communication LD75  CPU module CPU module  LD75 Signals related to commands Signal indicating LD75 state • PLC READY signal •...
Page 36 (4) LD75  Manual pulse generator The LD75 and manual pulse generator communicate the following data via the external device connection connector. (The manual pulse generator should be connected to an external device connection connector for axis 1 or for axes 1 and 2.) Direction Communication...
Page 37: Flow Of System Operation
CHAPTER 1 PRODUCT OUTLINE Flow of System Operation 1.2.1 Flow of all processes The positioning control processes, using the LD75, are shown below. GX Works2 GX Works2 LD75 Servo, etc. CPU module (GX Configurator-QP) (GX Developer) Design Understand the functions and performance, and determine the positioning operation method (system design) Preparation Installation, wiring...
Page 38 Details Reference • Page 22, CHAPTER 1 Understand the product functions and usage methods, the configuration devices and • Page 44, CHAPTER 2 specifications required for positioning control, and design the system. • Page 49, CHAPTER 3 • Page 316, CHAPTER 8 to Page 609, CHAPTER 13 Connect the LD75 to the CPU module, wire the LD75 and external connection devices (drive •...
Page 39: Outline Of Starting
CHAPTER 1 PRODUCT OUTLINE 1.2.2 Outline of starting 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 Installation and connection of module Preparation Setting of hardware...
Page 40 Setting method : Indicates programs that must be created. <GX Works2> Write Set with GX Works2 Set the parameter and data for executing main function, and the sub functions that need to be set beforehand. LD75 <GX Works2> Write Create a program for setting data Write module When set with "GX Works2",...
Page 41: Outline Of Stopping
CHAPTER 1 PRODUCT OUTLINE 1.2.3 Outline of stopping Each control is stopped in the following cases. • When each control is completed normally. • When the drive unit READY signal is turned OFF. • When a CPU module error occurs •...
Page 42 (2) Positioning control Stop process Axis operation M code ON Stop cause Stop axis status ([Md.26]) Major positioning High-level positioning signal after stop after stopping control control Drive unit READY signal Forced stop Each axis No change Error Immediate stop Hardware stroke limit Deceleration stop/sudden stop Fatal stop...
Page 43 CHAPTER 1 PRODUCT OUTLINE (3) Manual control Stop process Axis operation M code ON Stop cause Stop axis status ([Md.26]) JOG operation Manual pulse signal after stop after stopping Inching operation generator operation Drive unit READY signal Forced stop Each axis No change Error Immediate stop...
Page 44: Outline Of Restarting
1.2.4 Outline of restarting 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.6] Restart command". If issued during a continuous positioning or continuous path control operation, the restart command will cause the positioning to be re-executed using the current position (pointed by the positioning data No.
Page 45: Restrictions On Using A Stepping Motor
CHAPTER 1 PRODUCT OUTLINE Restrictions on Using a Stepping Motor Note the following restrictions on using a stepping motor: • For an axis where a stepping motor is connected, executing the S-curve acceleration/deceleration may cause step-out. Before using the S-curve acceleration/deceleration, confirm that step-out does not occur. •...
Page 46: Chapter 2 System Configuration
CHAPTER 2 SYSTEM CONFIGURATION General Image of System The general image of the system, including the LD75, CPU module and peripheral devices is shown below. (Refer to  Page 47, Section 2.2 and Page 48, Section 2.3 for the devices in the illustration.)
Page 47 CHAPTER 2 SYSTEM CONFIGURATION (1) When connected to a CPU module...
Page 48 (2) When connected to a head module Power supply module Head module LD75P4 END cover Drive unit GX Works2 Manual pulse generator Machine system inputs (switches) Near-point dog Limit switch External command signal Stop signal...
Page 49: Configuration List
An Ethernet cable is needed for connecting the CPU module with a personal computer.  Drive unit (Prepared by user) (Prepared by user) Manual pulse generator  Recommended: MR-HDP01 (Mitsubishi Electric) (1) Specifications of recommended manual pulse generator Item Specifications Model name MR-HDP01 Pulse resolution...
Page 50: Applicable System
Applicable System (1) Connectable module (a) Number of connectable modules The LD75 is regarded as two modules by the CPU module or head module. Therefore, the number of connectable modules is the half of that of other modules. For the number of connectable modules, refer to the following. •...
Page 51: Chapter 3 Specifications And Functions
CHAPTER 3 SPECIFICATIONS AND FUNCTIONS CHAPTER 3 SPECIFICATIONS AND FUNCTIONS Performance Specifications Model Item LD75P1/LD75D1 LD75P2/LD75D2 LD75P4/LD75D4 No. of control axes 1 axis 2 axes 4 axes 2-, 3-, or 4-axis linear interpolation 2-axis linear interpolation Interpolation function None 2-axis circular interpolation 2-axis circular interpolation 3-axis helical interpolation PTP (Point To Point) control, path control (all of linear, circular, and helical can be set), speed control, speed-position...
Page 52 Model Item LD75P1/LD75D1 LD75P2/LD75D2 LD75P4/LD75D4 1-axis linear control: 1.5ms 1-axis speed control: 1.5ms 2-axis linear interpolation control (Composite speed): 1.5ms 2-axis linear interpolation control (Reference axis speed): 1.5ms 2-axis circular interpolation control: 2.0ms 2-axis speed control: 1.5ms 3-axis linear interpolation control (Composite speed): 1.7ms 3-axis linear interpolation control (Reference axis speed): 1.7ms 3-axis helical interpolation control: 2.6ms Starting time...
Page 53: List Of Functions
CHAPTER 3 SPECIFICATIONS AND FUNCTIONS List of Functions 3.2.1 LD75 control functions The LD75 has several functions. In this manual, the LD75 functions are categorized and explained as follows. (1) Main functions (a) OPR control "OPR control" is a function that established the start point for carrying out positioning control, and carries out positioning toward that start point.
Page 54 (3) Common functions Common control using the LD75 for "parameter initialization" or "backup of execution data" can be carried out. ( Page 609, CHAPTER 13) Main functions Sub functions OPR control Control registered in LD75 (Functions characteristic to machine OPR) [Positioning start No.] OPR retry function Machine OPR...
Page 55: Ld75 Main Functions
CHAPTER 3 SPECIFICATIONS AND FUNCTIONS 3.2.2 LD75 main functions The outline of the main functions for positioning control with the LD75 is described below. (Refer to PART 2 for details on each function.) Main functions Details Reference Mechanically establishes the positioning start point using a near- Machine OPR control point dog or stopper.
Page 56 Main functions Details Reference With one start, executes the positioning data in a random block Block start (Normal start) Page 462, Section 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 "block start data".
Page 57: Ld75 Sub Functions And Common Functions
CHAPTER 3 SPECIFICATIONS AND FUNCTIONS 3.2.3 LD75 sub functions and common functions (1) Sub functions The functions that assist positioning control using the LD75 are described below. (Refer to PART 2 for details on each function.) Sub function Details Reference This function retries the machine OPR with the upper/lower limit switches during machine OPR.
Page 58 An I/O module (or general-purpose I/O function of LCPU) with arbitrary number of points and "the drive unit capable of configuring an absolute position detection system, which is a Mitsubishi Electric General-Purpose AC Servo and has an absolute position detection function (absolute position data transference protocol) equivalent to that of MR-J3-A," are...
Page 59 CHAPTER 3 SPECIFICATIONS AND FUNCTIONS (2) Common functions The outline of the functions executed as necessary are described below. (Refer to PART 2 for details on each function.) Common functions Details Reference This function returns the "parameters" stored in the LD75 buffer memory and flash ROM to the default values.
Page 60: Combination Of Ld75 Main Functions And Operation Pattern
3.2.4 Combination of LD75 main functions and operation pattern With positioning control using the LD75, the main functions and operation pattern can be combined and used as necessary. A list of the main function and operation pattern combinations is given below. : Combination possible, : Combination limited, : Combination not possible Main functions Combination with operation pattern...
Page 61: Combination Of Ld75 Main Functions And Sub Functions
CHAPTER 3 SPECIFICATIONS AND FUNCTIONS 3.2.5 Combination of LD75 main functions and sub functions With positioning control using the LD75, the main functions and sub functions can be combined and used as necessary. A list of the main function and sub function combinations is given below. (1) Combination with OPR retry function : Combination possible, : Combination not possible OPR retry function...
Page 62 (2) Combination with functions that compensate control : Combination possible, : Combination not possible Functions that compensate control Backlash Output timing Main functions Electronic gear Near pass compensation selection of near function function function pass control Machine OPR control  ...
Page 63 CHAPTER 3 SPECIFICATIONS AND FUNCTIONS (3) Combination with functions to limit the control : Always combine, : Combination possible, : Combination not possible Functions that limit control Main functions Speed limit Torque limit Software stroke Hardware stroke function function limit function limit function Machine OPR control ...
Page 64 (4) Combination with functions to change the restrictions : Combination possible, : Combination limited, : Combination not possible Functions that change control details Acceleration/dece Main functions Speed change Torque change Override function leration time function function change function  Machine OPR control ...
Page 65 CHAPTER 3 SPECIFICATIONS AND FUNCTIONS (5) Combination with functions to change other functions (a) For step, skip, M code output, and teaching function : Combination possible, : Combination limited, : Combination not possible Other Functions Main functions M code output Step function Skip function Teaching function...
Page 66 (b) For target position change, command in-position, acceleration/deceleration processing, and pre-reading start function : Combination possible, : Combination limited, : Combination not possible Other Functions Acceleration/dece Main functions Target position Command in- Pre-reading start leration process change function position function function function Machine OPR control...
Page 67 CHAPTER 3 SPECIFICATIONS AND FUNCTIONS (c) For deceleration start flag and stop command processing for deceleration stop function : Combination possible, : Combination limited, : Combination not possible Other Functions Main functions Stop command processing for Deceleration start flag function deceleration stop function Machine OPR control ...
Page 68: Specifications Of Input/Output Signals With Cpu Module
Specifications of Input/Output Signals with CPU Module 3.3.1 List of input/output signals with CPU module The LD75 uses 32 input points and 32 output points for exchanging data with the CPU module. The input/output signals when theLD75 is mounted to the CPU module and is assigned to the I/O numbers X/Y00 to X/Y1F are shown below.
Page 69: Details Of Input Signals (Ld75 To Cpu Module)
CHAPTER 3 SPECIFICATIONS AND FUNCTIONS 3.3.2 Details of input signals (LD75 to CPU module) The ON/OFF timing and conditions of the input signals are shown below. Device Signal name Details • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting range is checked.
Page 70: Details Of Output Signals (Cpu Module To Ld75)
The BUSY signal turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the program. "Positioning complete" of the LD75 refers to the point when the pulse output from LD75 is completed. Thus, even if the LD75's positioning complete signal turns ON, the system may continue operation.
Page 71: Specifications Of Input/Output Interfaces With External Devices
CHAPTER 3 SPECIFICATIONS AND FUNCTIONS Specifications of Input/Output Interfaces with External Devices 3.4.1 Electrical specifications of input/output signals (1) Input specifications Rated input Working voltage Signal name Input resistance Response time voltage/current range voltage/current voltage/current Drive unit READY (READY) 17.5VDC or 7VDC or Stop signal (STOP) 24VDC/5mA...
Page 72 (2) Output specifications Leakage Rated load Operating load Max. load Max. voltage Response Signal name current at voltage voltage range current/inrush current drop at ON time 2ms or less 0.1A/1 point/0.4A 10ms 1VDC (TYP) 0.1mA or Deviation counter clear (CLEAR) 5 to 24VDC 4.75 to 30VDC (resistance...
Page 73 CHAPTER 3 SPECIFICATIONS AND FUNCTIONS The relation of the pulse output with the "[Pr.5] Pulse output mode" and "[Pr.23] Output signal logic selection" is shown below: • Open collector connection (LD75P) The voltage of a terminal having the PULSE COM terminal as a reference is shown. ( Page 78, Section 3.4.4 (2)) (The transistor output becomes OFF to High and ON to Low.) "[Pr.23] Output signal logic selection"...
Page 74 Set the parameters, "[Pr.5] Pulse output mode" and "[Pr.23] Output signal logic selection", in accordance with the specifications of a connected servo amplifier. If not, the motor may rotate in the opposite direction or may not rotate at all. Connection examples with a MELSERVO-J3 series servo amplifier are shown below. ●...
Page 75: Signal Layout For External Device Connection Connector
CHAPTER 3 SPECIFICATIONS AND FUNCTIONS 3.4.2 Signal layout for external device connection connector The specifications of the connector section, which is the input/output interface for the LD75 and external device, are shown below. The signal layout for the LD75 external device connection connector is shown. LD75P4 LD75D4 Axis 4 (AX4)
Page 76: List Of Input/Output Signal Details
3.4.3 List of input/output signal details The details of each LD75 external device connection connector are shown below: Pin No. Signal name Signal details (Negative logic is selected by external I/O signal logic selection) Manual pulse generator A- • Input the pulse signal from the manual pulse generator A phase and B phase. phase •...
Page 77 CHAPTER 3 SPECIFICATIONS AND FUNCTIONS Pin No. Signal name Signal details (Negative logic is selected by external I/O signal logic selection) • This signal turns ON when the drive unit is normal and can accept the feed pulse. • The LD75 checks the drive unit READY signal, and outputs the OPR request if the system is not in the READY state.
Page 78: Input/Output Interface Internal Circuit
3.4.4 Input/output interface internal circuit LD75P1/LD75D1 external device connection interface are shown below. (1) Input (Common to LD75P1 and LD75D1) Need for wiring External wiring Pin No. Internal circuit Signal name Near-point dog signal i l r Lower limit signal External command signal Common...
Page 79 CHAPTER 3 SPECIFICATIONS AND FUNCTIONS (a) Input signal ON/OFF status The input signal ON/OFF status is defied by the external wiring and logic setting. This is explained below with the example of near-point dog signal (DOG). (The other input signals also perform the same operations as the near-point dog signal (DOG).) ON/OFF status of near-point dog signal (DOG) as *1*2 Logic setting...
Page 80 (2) Output (For LD75P1) External wiring Pin No. Internal circuit Signal name Need for wiring Load Deviation 1A13 CLEAR counter clear 5 to 24VDC 1A14 Common CLEAR COM Load 1A15 PULSE F A phase 1A16 PULSE PULSE COM Load 1A17 PULSE R 5 to 24VDC B phase...
Page 81: Chapter 4 Installation, Wiring, And Maintenance Of Product
CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT Outline of Installation, Wiring, and Maintenance 4.1.1 Installation, wiring and, maintenance procedures The outline and procedures for LD75 installation, wiring and maintenance are shown below. Start Module mounting Mount the LD75 to CPU module.
Page 82: Names Of Each Part
4.1.2 Names of each part (1) Names of each part The part names of the LD75 are shown below: LD75P4 LD75D4 Name Description RUN indicator LED, ERR. indicator LED Refer to  Page 81, Section 4.1.2 (2). Axis display LED (AX1 to AX4) Connector for connection with the drive unit, mechanical system input or manual pulse generator.
Page 83 CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT (2) LED display and axis operation status The LED display indicates the following operation statuses of the LD75 and axes. The symbols in the Display column indicate the following statuses: : Turns OFF. : Illuminates. : Flashes. Display Attention point Description...
Page 84: Handling Precautions
4.1.3 Handling precautions Pay full attention to the following precautions to handle the LD75 and cables correctly. (1) Handling precautions CAUTION ● Use the programmable controller in an environment that meets the general specifications in the manual "Safety Guidelines", the manual supplied with the CPU module or head module. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product.
Page 85: Installation
CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT Installation 4.2.1 Installation precautions The precautions for installing the LD75 are given below. Refer to this section as well as  Page 82, Section 4.1.3 when carrying out the work. (1) Installation precautions WARNING ●...
Page 86: Wiring
Wiring The precautions for wiring the LD75 are given below. Refer to this section as well as  Page 82, Section 4.1.3 when carrying out the work. 4.3.1 Wiring precautions (1) Check the terminal layout before wiring to the LD75, and connect the cables correctly.
Page 87 LD75 side. [Applicable connectors] The table below shows applicable connectors for external devices. When wiring, use applicable wires and an appropriate tightening torque. Mitsubishi Electric 40-pin connector Wire Model Tightening torque Wire diameter...
Page 88 [Processing example of shielded cables] Connect a cable with the FG wire and bind all shielded cables as shown below. Remove the covering from all shielded cables and bind the appeared shield with a conductive tape. Coat the wire with insulaing tape.
Page 89 • LD75P: 2m or shorter • LD75P: 10m or shorter Use shielded twisted pair cables and an AD75CK type cable clamp (manufactured by Mitsubishi Electric) to ground the cables to the control box. Even when compliance with the EMC Directive is not required, attaching an AD75CK type cable clamp to the cable connected to the LD75 may reduce the influence of external noise.
Page 90 [Wiring examples using duct (incorrect example and corrected example)] Wiring duct Relay Relay Drive Drive Relay unit unit Control panel The drive units are placed Programmable near the noise source. controller The connection cable Noise source between the LD75 and drive units is too long.
Page 91: Wiring Of The Differential Driver Common Terminal
The following table shows the recommended applicable solderless terminals and crimp-contact tools. Product name Model Manufacturer Remarks Bar solderless terminal FA-VTC125T9 Terminal for 0.3 to 1.65 Mitsubishi Electric Engineering Co., Ltd. Tool dedicated for bar  FA-NH65A solderless terminal AI0.5-10WH Terminal for 0.5 Bar solderless terminal AI0.75-10GY...
Page 92 (2) Connecting and disconnecting cables (a) When a bar solderless terminal is used • Connection A flathead screwdriver is not required. Directly insert a cable with a bar solderless terminal into the slot so that the crimp side faces to the external device connector (faces to the left when viewed from the insertion direction).
Page 93: Checking Installation And Wiring
CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT Checking Installation and Wiring 4.4.1 Items to check when installation and wiring are completed Check the following points when completed with the LD75 installation and wiring. • Is the module correctly wired? With GX Works2, the following three points are confirmed using the positioning test function.
Page 94: Maintenance
Maintenance 4.5.1 Maintenance precautions The precautions for servicing the LD75 are given below. Refer to this section as well as  Page 82, Section 4.1.3 when carrying out the work. WARNING ● Shut off the external power supply for the system in all phases before cleaning the module or retightening the connector screws.
Page 95: Chapter 5 Data Used For Positioning Control
CHAPTER 5 DATA USED FOR POSITIONING CONTROL CHAPTER 5 DATA USED FOR POSITIONING CONTROL Types of Data 5.1.1 Parameters and data required for control The parameters and data required to carry out control with the LD75 include the "setting data", "monitor data" and "control data"...
Page 96 (a) Data setting method The following methods are available for data setting: • Create the program for data setting using GX Works2 and execute it. • Set using GX Works2. In this manual, the method using GX Works2 will be explained. ●...
Page 97 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (2) Monitor data Monitor data (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.) Md.1 Md.48 , Md.50 Md.52 Monitors the LD75 specifications and the operation history. System monitor data Md.1 Md.19...
Page 98: Setting Items For Positioning Parameters
5.1.2 Setting items for positioning parameters The table below lists items set to the positioning parameters. Setting of positioning parameters is similarly done for individual axes for all controls achieved by the LD75. For details on each control, refer to CONTROL DETAILS AND SETTING (PART 2). For details on each setting item, refer to List of Parameters (...
Page 99 CHAPTER 5 DATA USED FOR POSITIONING CONTROL Positioning parameter OPR control  [Pr.25] Acceleration time 1  [Pr.26] Acceleration time 2 [Pr.27] Acceleration time 3   [Pr.28] Deceleration time 1 [Pr.29] Deceleration time 2   [Pr.30] Deceleration time 3 [Pr.31] JOG speed limit value ...
Page 100 (2) Major positioning control (a) Position control : Setting always required, : Set according to requirements, : Setting restrictions exist, : Setting not required Position control 1-axis linear control 2-axis linear interpolation 1-axis fixed-feed control 2-axis circular control Positioning parameter 2-axis fixed-feed control interpolation control 3-axis linear interpolation...
Page 101 CHAPTER 5 DATA USED FOR POSITIONING CONTROL Position control 1-axis linear control 2-axis linear interpolation 1-axis fixed-feed control 2-axis circular control Positioning parameter 2-axis fixed-feed control interpolation control 3-axis linear interpolation 3-axis fixed-feed control 3-axis helical interpolation control 4-axis fixed-feed control control 4-axis linear interpolation control...
Page 102 (b) Speed control, speed-position switching control, position-speed switching control : Setting always required, : Set according to requirements, : Setting restrictions exist, : Setting not required Speed-position switching control Positioning parameter 1- to 4-axis speed control Position-speed switching control  ...
Page 103 CHAPTER 5 DATA USED FOR POSITIONING CONTROL Speed-position switching control Positioning parameter 1- to 4-axis speed control Position-speed switching control   [Pr.25] Acceleration time 1 [Pr.26] Acceleration time 2     [Pr.27] Acceleration time 3   [Pr.28] Deceleration time 1 [Pr.29]...
Page 104 (c) Other control : Setting always required, : Set according to requirements, : Setting restrictions exist, : Setting not required JUMP instruction Positioning parameter Current value changing NOP instruction LOOP to LEND   [Pr.1] Unit setting No. of pulses per rotation (Ap) (Unit: ...
Page 105 CHAPTER 5 DATA USED FOR POSITIONING CONTROL JUMP instruction Positioning parameter Current value changing NOP instruction LOOP to LEND   [Pr.25] Acceleration time 1   [Pr.26] Acceleration time 2   [Pr.27] Acceleration time 3   [Pr.28] Deceleration time 1 ...
Page 106 (3) Manual control : Setting always required, : Set according to requirements, : Setting restrictions exist, : Setting not required JOG operation Positioning parameter Manual pulse generator operation Inching operation   [Pr.1] Unit setting No. of pulses per rotation (Ap) (Unit: [Pr.2] ...
Page 107 CHAPTER 5 DATA USED FOR POSITIONING CONTROL JOG operation Positioning parameter Manual pulse generator operation Inching operation   [Pr.25] Acceleration time 1 [Pr.26] Acceleration time 2     [Pr.27] Acceleration time 3   [Pr.28] Deceleration time 1 [Pr.29] Deceleration time 2 ...
Page 108 (4) Related sub function Positioning parameter Related sub function [Pr.1] Unit setting  [Pr.2] No. of pulses per rotation (Ap) (Unit: pulse) Page 520, Section 12.3.2 [Pr.3] Movement amount per rotation (Al) Basic parameters 1 [Pr.4] Unit magnification (Am)  [Pr.5] Pulse output mode ...
Page 109 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (a) Checking the positioning parameters [Pr.1] to [Pr.42] are checked with the following timings. • When the "PLC READY signal [Y0]" output from the CPU module to the LD75 changes from OFF to ON •...
Page 110: Setting Items For Opr Parameters
5.1.3 Setting items for OPR parameters When carrying out "OPR control", the "OPR parameters" must be set. The setting items for the "OPR parameters" are shown below. The "OPR parameters" are set commonly for each axis. For details on the "OPR control", refer to OPR CONTROL ( Page 316, CHAPTER 8). For details on each setting item, refer to List of Parameters (...
Page 111: Setting Items For Positioning Data
CHAPTER 5 DATA USED FOR POSITIONING CONTROL 5.1.4 Setting items for positioning data Positioning data must be set for carrying out any "major positioning control". The table below lists the items to be set for producing the positioning data. One to 600 positioning data items can be set for each axis. For details on the "major positioning control", refer to MAJOR POSITIONING CONTROL (...
Page 112 (2) Speed control, speed-position switching control, position-speed switching control : Setting always required, : Set according to requirements, : Setting not possible, : Setting not required Speed-position switching Position-speed switching Positioning data 1- to 4-axis speed control control control Independent ...
Page 113 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (3) Other control : Setting always required, : Set according to requirements, : Setting not possible, : Setting not required Other control Positioning data Current value JUMP NOP instruction LOOP LEND changing instruction Independent ...
Page 114: Setting Items For Block Start Data
5.1.5 Setting items for block start data The "block start data" must be set when carrying out "high-level positioning control". The setting items for the "block start data" are shown below. Up to 50 points of "block start data" can be set for each axis. For details on the "high-level positioning control", refer to HIGH-LEVEL POSITIONING CONTROL (...
Page 115: Setting Items For Condition Data
CHAPTER 5 DATA USED FOR POSITIONING CONTROL 5.1.6 Setting items for condition data When carrying out "high-level positioning control" or using the JUMP instruction in the "major 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"...
Page 116: Types And Roles Of Monitor Data
5.1.7 Types and roles of monitor data The monitor data area in the buffer memory stores data relating to the operating state of the positioning system, which are monitored as required while the positioning system is operating. The following data are available for monitoring. •...
Page 117 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (2) Monitoring the axis operation state (a) Monitoring the position Monitoring details Corresponding item Monitor the current machine feed value [Md.21] Machine feed value Monitor the current "current feed value" [Md.20] Current feed value Monitor the current target value [Md.32] Target value (b) Monitoring the speed...
Page 118: Types And Roles Of Control Data
5.1.8 Types and roles of control data Operation of the positioning system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the program.) Controls are performed over system data or machine operation.
Page 119 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (c) Controlling the speed Control details Corresponding item Set new speed when changing speed during operation [Cd.14] New speed value Issue instruction to change speed in operation to [Cd.14] value [Cd.15] Speed change request (Only during positioning operation and JOG operation) Change positioning operation speed between 1 and 300% range [Cd.13] Positioning operation speed override...
Page 120: List Of Parameters
List of Parameters 5.2.1 Basic parameters 1 Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 0: mm 1: inch [Pr.1] Unit setting 2: degree 3: pulse...
Page 121 (3) [Pr.2] No. of pulses per rotation (Ap) Set the number of pulses required for a complete rotation of the motor shaft. If you are using the Mitsubishi Electric servo amplifier, set the value given as the "resolution per servomotor rotation" in the speed/position detector specifications.
Page 122 (4) [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 •...
Page 123 CHAPTER 5 DATA USED FOR POSITIONING CONTROL Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 PULSE/SIGN mode CW/CCW mode [Pr.5] Pulse output mode A phase/B phase (multiple of 4)
Page 124 (b) CW/CCW mode During forward run, the forward run feed pulse (PULSE F) will be output. During reverse run, the reverse run feed pulse (PULSE R) will be output. Positive logic Negative logic Forward Reverse Forward Reverse (c) A phase/B phase mode Forward run and reverse run are controlled with the phase difference of the A phase (A) and B phase (B).
Page 125 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (6) [Pr.6] Rotation direction setting Set the relation of the positioning direction ([Md.20] Current feed value increment direction/decrement direction) and the pulse output. For the relation of "Forward run pulse output, Reverse run pulse output" and "CW/A phase/PULSE signal, CCW/B phase/SIGN signal", refer to "[Pr.5] Pulse output mode".
Page 126 Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 [Pr.7] Bias speed at The setting range differs depending on the "[Pr.1] Unit setting". start (...
Page 127: Basic Parameters 2
CHAPTER 5 DATA USED FOR POSITIONING CONTROL 5.2.2 Basic parameters 2 Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 The setting range differs depending on the "[Pr.1] Unit setting".
Page 128: Detailed Parameters 1
5.2.3 Detailed parameters 1 Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 [Pr.11] Backlash The setting value range differs depending on the "[Pr.1] Unit setting". compensation amount (...
Page 129 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (a) Setting range [Pr.1] setting value Value set with GX Works2 (unit) Value set with program (unit) 0: mm 0 to 6553.5 (m) m) 0 to 65535 (10 1: inch 0 to 0.65535 (inch) 0 to 65535 (10 inch) 2: degree...
Page 130 Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 [Pr.16] Command in- The setting range differs depending on the "[Pr.1] Unit setting". position width (...
Page 131 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (8) [Pr.18] M code ON signal output timing This parameter sets the M code ON signal output timing. Choose either WITH mode or AFTER mode as the M code ON signal output timing. WITH mode AFTER mode An M code is output and the M code ON signal is turned ON when a...
Page 132 Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 0: Standard speed switching mode [Pr.19] Speed switching mode 1: Front-loading speed switching mode [Pr.20] 0: Composite speed Interpolation...
Page 133 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (9) [Pr.19] Speed switching mode Set whether to switch the speed switching mode with the standard switching or front-loading switching mode. 0: Standard switching  Switch the speed when executing the next positioning data. 1: Front-loading switching ...
Page 134 (11)[Pr.21] Current feed value during speed control Specify whether you wish to enable or disable the update of "[Md.20] Current feed value" while operations are performed under the speed control (including the speed-position and position-speed switching control). 0: Do not update current feed value  The current feed value will not change. (The value at the beginning of the speed control will be kept.) 1: Update current feed value ...
Page 135: Detailed Parameters 2
CHAPTER 5 DATA USED FOR POSITIONING CONTROL 5.2.4 Detailed parameters 2 Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 [Pr.25] Acceleration time 1 [Pr.26] Acceleration...
Page 136 (4) [Pr.32] JOG operation acceleration time selection Set which of "acceleration time 0 to 3" to use for the acceleration time during JOG operation. 0: Use the value set in "[Pr.9] Acceleration time 0". 1: Use the value set in "[Pr.25] Acceleration time 1". 2: Use the value set in "[Pr.26] Acceleration time 2".
Page 137 CHAPTER 5 DATA USED FOR POSITIONING CONTROL Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 Trapezoidal acceleration/deceleration [Pr.34] processing Acceleration/deceleration S-curve process selection...
Page 138 (7) [Pr.35] S-curve ratio Set the S-curve ratio (1 to 100%) for carrying out the S-curve acceleration/deceleration process. The S-curve ratio indicates where to draw the acceleration/deceleration curve using the sine curve as shown below. (Example) Positioning speed When S-curve ratio is 100% Positioning speed sine curve...
Page 139 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (8) [Pr.36] Sudden stop deceleration time Set the time to reach speed 0 from "[Pr.8] Speed limit value" (When in the JOG operation control, from the "[Pr.31] JOG speed limit value".) during the sudden stop. The illustration below shows the relationships with other parameters.
Page 140 Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 [Pr.40] Positioning complete signal output 0 to 65535 (ms) 0 to 65535 (ms) time [Pr.41] Allowable The setting range differs depending on the "[Pr.1] Unit setting".
Page 141 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (11)[Pr.41] Allowable circular interpolation error width With the "allowable circular interpolation error width", the allowable error range of the calculated arc path and end point address is set. If the error of the calculated arc path and end point address is within the set range, circular interpolation will be carried out to the set end point address while compensating the error with spiral interpolation.
Page 142: Opr Basic Parameters
5.2.5 OPR basic parameters Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 0: Near-point dog method 1: Stopper method 1) 2: Stopper method 2) [Pr.43] OPR method 3: Stopper method 3)
Page 143 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (b) 1: Stopper method 1) Pr.46 OPR speed Pr.47 Creep speed 3. 4. Range to forcibly stop the servomotor rotation with the stopper. Near-point dog Dwell time up Dwell time counting Start machine OPR. (Start movement at the "[Pr.46] OPR speed" in the "[Pr.44] OPR direction".) The machine begins decelerating when the near-point dog ON is detected.
Page 144 (d) 3: Stopper method 3) Pr.47 Creep speed Stop with stopper Zero signal Start machine OPR. (Start movement at the "[Pr.47] Creep speed" in the "[Pr.44] OPR direction". At this time "[Pr.54] OPR torque limit value" is required. If the torque is not limited, the servomotor could be damaged in step 2.) The machine contacts against the stopper at "[Pr.47] Creep speed", and then stops.
Page 145 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (f) 5: Count method 2) OPR speed Pr.46 Pr.50 Setting for the movement amount after near-poing dog ON Creep speed Pr.47 Movement amount after near-point dog ON Md.34 Near-point dog Start machine OPR. (Start movement at the "[Pr.46] OPR speed" in the "[Pr.44] OPR direction".) The machine begins decelerating when the near-point dog ON is detected.
Page 146 Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 Positive direction (address increment direction) [Pr.44] OPR direction Negative direction (address decrement direction) The setting range differs depending on the "[Pr.1] Unit setting".
Page 147 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (4) [Pr.45] OP address Set the address used as the reference point for positioning control (ABS system). (When the machine OPR is completed, the stop position address is changed to the address set in "[Pr.45] OP address".
Page 148 Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 The setting range differs depending on the "[Pr.1] Unit setting". [Pr.47] Creep speed (...
Page 149 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (7) [Pr.48] OPR retry Set whether to carry out OPR retry. When the OPR retry function is validated and the machine OPR is started, first the axis will move in the OPR direction (1)). If the upper/lower limit signal turns OFF before the near-point dog signal ON is detected (2)), the axis will decelerate to a stop, and then will move in the direction opposite to the specified OPR direction (3)).
Page 150: Opr Detailed Parameters
5.2.6 OPR detailed parameters Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 [Pr.49] OPR dwell time 0 to 65535 (ms) 0 to 65535 (ms) [Pr.50] Setting for the movement amount...
Page 151 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (2) [Pr.50] Setting for the movement amount after near-point dog ON When using the count method 1) or 2), set the movement amount to the OP after the near-point dog signal turns (The movement amount after near-point dog ON should be equal to or greater than the sum of the "distance covered by the deceleration from the OPR speed to the creep speed"...
Page 152 Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 The setting range differs depending on the "[Pr.1] Unit setting". [Pr.53] OP shift amount (...
Page 153 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (6) [Pr.54] OPR torque limit value Set the value to limit the servomotor torque after reaching the creep speed during machine OPR. Refer to  Page 532, Section 12.4.2 for details on the torque limits. (7) [Pr.55] Deviation counter clear signal output time Set the duration of the deviation counter clear signal output during a machine OPR operation using any of the following methods: the near-point dog method, stopper methods 1) to 3), and count method 1).
Page 154: List Of Positioning Data
List of Positioning Data Before the explanation on the positioning data setting items [Da.1] to [Da.10] and [Da.27] to [Da.29], the configuration of the positioning data will be shown below. The positioning data stored in the LD75 buffer memory has the following type of configuration. •...
Page 155 CHAPTER 5 DATA USED FOR POSITIONING CONTROL 19990 19980 Positioning data No. Positioning identifier 14020 14010 19991 14000 19981 Da.1 to Da.5 14021 Da.10 14011 19992 14001 19982 M code 14022 Da.9 14012 19983 19993 14002 Dwell time Positioning option 19994 14023 14003 14013...
Page 156 (1) Positioning identifier configuration The positioning identifier consists of "[Da.1] Operation pattern" to "[Da.5] Axis to be interpolated". The set values of those data are stored in one buffer memory address. Consider the positioning identifier configuration in the figure below when setting "[Da.1] Operation pattern" to "[Da.5] Axis to be interpolated". Positioning identifier configuration Assignment (1) [Da.1] Operation pattern...
Page 157 CHAPTER 5 DATA USED FOR POSITIONING CONTROL The following table lists the setting range and default value of each buffer memory area of the positioning identifier. Setting value buffer memory Value Setting value Default address Item set with value program Value set with GX Works2 Axis 1 Axis 2...
Page 158 Setting value buffer memory Value Setting value Default address Item set with value program Value set with GX Works2 Axis 1 Axis 2 Axis 3 Axis 4 VR4: 4-axis speed control (reverse run) NOP: NOP instruction [Da.2] POS: Current value changing Control JUMP: JUMP instruction system...
Page 159 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (2) [Da.1] Operation pattern The operation pattern designates whether positioning of a certain data No. is to be ended with just that data, or whether the positioning for the next data No. is to be carried out in succession. [Operation pattern] ................
Page 160 (6) [Da.5] Axis to be interpolated Set the target axis (partner axis) for operations under the 2-axis interpolation control, and the circular interpolation axis for operations under the 3-axis helical interpolation control. 0: Selects the axis 1 as the target axis (partner axis). 1: Selects the axis 2 as the target axis (partner axis).
Page 161 CHAPTER 5 DATA USED FOR POSITIONING CONTROL Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 [Da.6] Positioning The setting value range differs according to the "[Da.2] Control system". 2006 8006 14006...
Page 162 (c) Speed-position switching control • INC mode: Set the amount of movement after the switching from speed control to position control. • ABS mode: Set the absolute address which will be the target value after speed control is switched to position control.
Page 163 CHAPTER 5 DATA USED FOR POSITIONING CONTROL • The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges when "[Pr.1] Unit setting" is "degree". (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) [Da.2] setting value Value set with GX Works2 (degree)
Page 164 • The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges when "[Pr.1] Unit setting" is "pulse". (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) [Da.2] setting value Value set with GX Works2 (pulse) Value set with program (pulse)
Page 165 CHAPTER 5 DATA USED FOR POSITIONING CONTROL • The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges when "[Pr.1] Unit setting" is "inch". (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) [Da.2] setting value Value set with GX Works2 (inch)
Page 166 Setting value buffer memory Setting value, setting range address Item Default value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 The setting value range differs according to the "[Da.2] Control system". 2008 8008 14008...
Page 167 CHAPTER 5 DATA USED FOR POSITIONING CONTROL • No control system requires the setting of the arc address when "[Pr.1] Unit setting" is "degree". • The table below lists the control systems that require the setting of the arc address and the associated setting ranges when "[Pr.1] Unit setting"...
Page 168 • The table below lists the control systems that require the setting of the arc address and the associated setting ranges when "[Pr.1] Unit setting" is "inch". (With any control system excluded from the table below, the arc address does not need to be set.) [Da.2] setting value Value set with GX Works2 (inch) Value set with program...
Page 169 CHAPTER 5 DATA USED FOR POSITIONING CONTROL Setting value buffer memory Setting value, setting range Default address Item value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 The setting range differs depending on the "[Pr.1] Unit setting".
Page 170 (10)[Da.9] Dwell time (JUMP destination positioning data No.) Set the "dwell time" or "positioning data No." corresponding to the "[Da.2] Control system". • When a method other than "JUMP instruction " is set for "[Da.2] Control system": Set the "dwell time". •...
Page 171 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (11)[Da.10] M code (or condition data No./No. of LOOP to LEND repetitions) Set an "M code", a "condition data No.", or the "number of LOOP to LEND repetitions" depending on how the "[Da.2] Control system" is set. •...
Page 172 Setting value buffer memory Setting value, setting range Default address Item value Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 0: Use the set value in "[Pr.18] M code ON signal [Da.27] M code output timing".
Page 173: List Of Block Start Data
CHAPTER 5 DATA USED FOR POSITIONING CONTROL List of Block Start Data The illustrations below show the organization of the block start data stored in the LD75 buffer memory. The block start data setting items [Da.11] to [Da.14] are explained in the pages that follow. 50th point Buffer memory Setting item...
Page 174 50th point Buffer memory Setting item address 2nd point 1st point Buffer memory Setting item address 28049 Buffer memory Setting item address œ ˆ Ê u ’ Œ ˆ ß ‚ Ž n “ ® ƒ f [ ƒ ^ 28001 28000 Da.12 Start data No.
Page 175 CHAPTER 5 DATA USED FOR POSITIONING CONTROL Remark To perform an high-level positioning control using block start data, set a number between 7000 and 7004 to the "[Cd.3] Positioning start No." and use the "[Cd.4] Positioning starting point No." to specify a point number between 1 and 50, a position counted from the beginning of the block.
Page 177 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (1) [Da.11] Shape Set whether to carry out only the local "block start data" and then end control, or to execute the "block start data" set in the next point. Setting value Setting details 0: End Execute the designated point's "block start data", and then complete the control.
Page 178: List Of Condition Data
List of Condition Data The illustrations below show the organization of the condition data stored in the LD75 buffer memory. The condition data setting items [Da.15] to [Da.19] are explained in the pages that follow. No.10 Buffer memory Setting item address No.2 Up to 10 block start data points can be set (stored)
Page 179 CHAPTER 5 DATA USED FOR POSITIONING CONTROL No.10 Buffer memory Setting item address No.2 No.1 Buffer memory Setting item address 28190 Buffer memory Setting item address 28110 28191 28192 28100 28193 Da.16 Condition Da.15 Condition 28194 target 28111 operator 28195 28112 28101 Empty...
Page 180 Remark To perform an high-level positioning control using block start data, set a number between 7000 and 7004 to the "[Cd.3] Positioning start No." and use the "[Da.4] Positioning starting point No." to specify a point number between 1 and 50, a position counted from the beginning of the block.
Page 181 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (1) [Da.15] Condition target Set the condition target as required for each control. Setting value Setting details 01H: Device X Set the input/output signal ON/OFF of the LD75 as the conditions. 02H: Device Y 03H: Buffer memory (1-word) Set the value stored in the buffer memory as the condition.
Page 182 (2) [Da.16] Condition operator Set the condition operator as required for the "[Da.15] Condition target". [Da.15] Condition target Setting value Setting details 07H: DEV=ON 01H: Device X The state (ON/OFF) of an I/O signal is defined as the condition. 02H: Device Y Select ON or OFF as the trigger.
Page 183 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (4) [Da.18] Parameter 1 Set the parameters as required for the "[Da.16] Condition operator". [Da.16] Condition operator Setting value Setting details 01H: ** = P1 02H: **P1 The value of P1 should be equal to or smaller than the value of P2. 03H: **P1 (P1 ...
Page 184: List Of Monitor Data
List of Monitor Data 5.6.1 System monitor data Unless noted in particular, the monitor value is saved as binary data. (1) [Md.1] In test mode flag Item Description Whether the test mode is used from GX Works2 or not is stored. Storage details •...
Page 185 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (2) Starting history configuration Information related to the start are stored in Starting history with pointers 0 to 15. Starting history is configured as shown below. Md.8 1292 Start history pointer Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing starting history records.
Page 186 (a) [Md.3] Start information Item Description This area stores the start information (restart flag, start origin, and start axis). • Restart flag: Indicates whether the operation has or has not been halted and restarted. Storage details • Start origin: Indicates the source of the start signal. •...
Page 187 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (c) [Md.50] Start (Year:month) Item Description Storage details The starting time (Year:month) is stored. ■Monitoring is carried out with a hexadecimal display. Buffer memory (stored with BCD code) Reading the monitor Monitor value value 0 to 9 0 to 9 0 to 1 0 to 9 00 to 99 (year) 01 to 12 (month)
Page 188 (f) [Md.7] Error judgment Item Description This area stores the following results of the error judgment performed upon starting: • BUSY start warning flag Storage details • Error flag • Error No. ■Monitoring is carried out with a hexadecimal display. Monitor value Buffer memory...
Page 189 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (3) Error history configuration Information related to an error are stored in Error history with pointers 0 to 15. Error history is configured as shown below. Md.13 1357 Error history pointer Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing error history records.
Page 190 (b) [Md.10] Axis error No. Item Description Storage details Stores an axis error No. ■Monitoring is carried out with a decimal display. Monitor Error No. Reading the monitor value value For details on error No. (error codes), refer to the following. Page 650, Section 15.5 Default value Storage buffer memory...
Page 191 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (e) [Md.12] Axis error occurrence (Minute:second) Item Description Storage details Stores the time (Minute:second) at which an axis error was detected. ■Monitoring is carried out with a hexadecimal display. Buffer memory (stored with BCD code) Reading the monitor Monitor value value...
Page 192 (4) Warning history Information related to an warning are stored in Warning history with pointers 0 to 15. Warning history is configured as shown below. Md.18 1422 Warning history pointer Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing warning history records.
Page 193 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (b) [Md.15] Axis warning No. Item Description Storage details Stores an axis warning No. ■Monitoring is carried out with a decimal display. Monitor Warning No. Reading the monitor value value For details on warning No. (warning codes), refer to the following. Page 676, Section 15.6 Default value Storage buffer memory...
Page 194 (e) [Md.17] Axis warning occurrence (Minute:second) Item Description Storage details Stores the time at which an axis warning was detected. ■Monitoring is carried out with a hexadecimal display. Buffer memory (stored with BCD code) Reading the monitor Monitor value value 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 0 to 5 0 to 9...
Page 195: Axis Monitor Data
CHAPTER 5 DATA USED FOR POSITIONING CONTROL 5.6.2 Axis monitor data (1) [Md.20] Current feed value Item Description The currently commanded address is stored. (Different from the actual motor position during operation) The current position address is stored. If "degree" is selected as the unit, the addresses will have a ring structure for values between 0 and 359.99999 degrees. Storage details •...
Page 196 (2) [Md.21] Machine feed value Item Description The address of the current position according to the machine coordinates will be stored. (Different from the actual motor position during operation) Note that the current value changing function will not change the machine feed value. Under the speed control mode, the machine feed value is constantly updated always, irrespective of the parameter setting.
Page 197 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (3) [Md.22] Feedrate Item Description The command output speed of the operating workpiece is stored. (May be different from the actual motor speed during operation) During interpolation operation, the speed is stored in the following manner. Storage details •...
Page 198 (4) [Md.23] Axis error No. Item Description When an axis error is detected, the error code corresponding to the error details is stored. Storage details • The latest error code is always stored. (When a new axis error occurs, the error code is overwritten.) •...
Page 199 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (7) [Md.26] Axis operation status Item Description Storage details This area stores the axis operation status. ■Monitoring is carried out with a decimal display. Monitor value Axis operation status -2: Step standby -1: Error 0: Standby 1: Stopped 2: Interpolation...
Page 200 (9) [Md.28] Axis feedrate Item Description • The speed which is actually output as a command at that time in each axis is stored. (May be different from the actual motor speed) Storage details • "0" is stored when the axis is at a stop. •...
Page 201 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (10)[Md.29] Speed-position switching control positioning amount Item Description • The movement amount for the position control to end after changing to position control with the speed-position switching control Storage details is stored. • When the control method is "Reverse run: position/speed", the negative value is stored. ■Monitoring is carried out with a hexadecimal display.
Page 202 (11)[Md.30] External input/output signal Item Description The ON/OFF state of the external input/output signal is stored. The following items are stored. • Lower limit signal • Upper limit signal • Drive unit READY Storage details • Stop signal • External command signal •...
Page 203 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (12)[Md.31] Status Item Description This area stores the states (ON/OFF) of various flags. Information on the following flags is stored. ■In speed control flag This signal that comes ON under the speed control can be used to judge whether the operation is performed under the speed control or position control.
Page 204 (13)[Md.32] Target value Item Description This area stores the target value ([Da.6] Positioning address/movement amount) for a positioning operation. • At the beginning of position control and current value changing: Stores the value of "[Da.6] Positioning address/movement Storage details amount". •...
Page 205 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (14)[Md.33] Target speed Item Description • 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 of position control: The composite speed or reference axis speed is stored in the reference axis address, and "0"...
Page 206 (15)[Md.34] Movement amount after near-point dog ON Item Description • "0" is stored when machine OPR starts. • After machine OPR starts, the movement amount from the near-point dog ON to the machine OPR completion is stored. Storage details (Movement amount: Movement amount to machine OPR completion using near-point dog ON as "0".) •...
Page 207 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (16)[Md.35] Torque limit stored value Item Description • The "[Pr.17] Torque limit setting value" or "[Cd.22] New torque value" is stored. • During positioning start, JOG operation start, manual pulse generator operation...The "[Pr.17] Torque limit setting value" is Storage details stored.
Page 208 (18)[Md.37] Special start data instruction parameter setting value Item Description • The " instruction parameter" used with special start and indicated by the start data pointer currently being executed is stored. Storage details • The stored value differs according to the value set for [Md.36]. ■Monitoring is carried out with a decimal display.
Page 209 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (21)[Md.40] In speed change processing flag Item Description • The speed change process flag turns ON when the speed is changed during positioning control. Storage details • After the speed change process is completed or when deceleration starts with the stop signal during the speed change process, the in speed change process flag turns OFF.
Page 210 (24)[Md.43] Start data pointer being executed Item Description • This area stores a point No. (1 to 50) attached to the start data currently being executed. Storage details • This area stores "0" after completion of a positioning operation. ■Monitoring is carried out with a decimal display. Reading the monitor Storage value value...
Page 211 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (27)[Md.46] Last executed positioning data No. Item Description • This area stores the positioning data No. attached to the positioning data that was executed last time. Storage details • The value is retained until a new positioning operation is executed. •...
Page 212 (29)[Md.48] Deceleration start flag Item Description • "1" is stored when the constant speed status or acceleration status switches to the deceleration status during position control Storage details whose operation pattern is "Positioning complete". • "0" is stored at the next operation start or manual pulse generator operation enable. ■Monitoring is carried out with a decimal display.
Page 213: List Of Control Data
CHAPTER 5 DATA USED FOR POSITIONING CONTROL List of Control Data 5.7.1 System control data (1) [Cd.1] Flash ROM write request Item Description Setting details Requests writing of data from the buffer memory to the flash ROM. (Parameters, positioning data, and block start data) ■Set with a decimal.
Page 214 (3) [Cd.41] Deceleration start flag valid Item Description Storage details Set whether "[Md.48] Deceleration start flag" is made valid or invalid. ■Set with a decimal. Setting value Setting value Deceleration start flag valid 0: Deceleration start flag invalid 1: Deceleration start flag valid Default value Storage buffer memory address...
Page 215: Axis Control Data
CHAPTER 5 DATA USED FOR POSITIONING CONTROL 5.7.2 Axis control data (1) [Cd.3] Positioning start No. Item Description Setting details Set the positioning start No. (Only 1 to 600 for the Pre-reading start function. ( Page 598, Section 12.7.7)) ■Set with a decimal. Setting value Setting value...
Page 216 (3) [Cd.5] Axis error reset Item Description • Clears the axis error detection, axis error No., axis warning detection and axis warning No. Setting details • When the LD75 axis operation state is "Error", the error is cleared and the LD75 is returned to the "Standby" state. ■Set with a decimal.
Page 217 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (5) [Cd.7] M code OFF request Item Description Setting details The M code ON signal turns OFF. ■Set with a decimal. Setting value Setting value M code OFF request 1: M code ON signal turns OFF After the M code ON signal turns OFF, "0"...
Page 218 (7) [Cd.9] New current value Item Description When changing the "current feed value" using the start No. "9003", use this data item to specify a new feed value. ( Page 216, Setting details Section 5.7.2 (7) (a)) ■Set with a decimal. Actual value Cd.9 New current value Conversion into an integer value...
Page 219 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (9) [Cd.11] New deceleration time value Item Description • When changing the deceleration time during a speed change, use this data item to specify a new deceleration time. Setting details • [Cd.11] setting range (unit): 0 to 8388608 (ms) ■Set with a decimal.
Page 220 (11)[Cd.13] Positioning operation speed override Item Description • To use the positioning operation speed override function, use this data item to specify an "override" value. • For details on "override", refer to  Page 550, Section 12.5.2. Setting details • If the speed becomes lower than the minimum unit due to override 1% or others, it is raised to the minimum unit. At this time, the warning "Less than minimum speed"...
Page 221 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (a) Setting range [Pr.1] Unit setting Setting range 0: mm 0 to 2000000000 (10 mm/min) 1: inch 0 to 2000000000 (10 inch/min) 2: degree 0 to 2000000000 (10 degree/min) 3: pulse 0 to 4000000 (pulse/s) (13)[Cd.15] Speed change request Item Description...
Page 222 (14)[Cd.16] Inching movement amount Item Description • Use this data item to set the amount of movement by inching. ( Page 220, Section 5.7.2 (14) (a)) Setting details • The machine performs a JOG operation if "0" is set. ■Set with a decimal. Actual value Cd.16 Inching movement amount Conversion into an integer value...
Page 223 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (15)[Cd.17] JOG speed Item Description Setting details Use this data item to set the JOG speed. ( Page 221, Section 5.7.2 (15) (a)) ■Set with a decimal. Actual value Cd.17 JOG speed Conversion into an integer value Unit conversion table ( Cd.17 ) Unit mm/min...
Page 224 (16)[Cd.18] Continuous operation interrupt request Item Description • To interrupt a continuous operation, set "1" to this data item. Setting details • After processing the interruption request ("1"), the LD75 automatically resets the value to "0". ■Set with a decimal. Setting value Interruption request continuous operation...
Page 225 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (18)[Cd.20] Manual pulse generator 1 pulse input magnification Item Description This data item determines the factor by which the number of pulses from the manual pulse generator is magnified. Setting details • Value "0": read as "1". •...
Page 226 (21)[Cd.23] Speed-position switching control movement amount change register Item Description • During the speed control stage of the speed-position switching control (INC mode), it is possible to change the specification of the movement amount during the position control stage. For that, use this data item to specify a new movement amount. ( Setting details Page 224, Section 5.7.2 (21) (a)) •...
Page 227 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (22)[Cd.24] Speed-position switching enable flag Item Description Set whether the external control signal (external command signal [CHG]: "speed-position, position-speed switching request" is Setting details selected) is enabled or not. ■Set with a decimal. Setting value Setting value...
Page 228 (a) Setting range [Pr.1] Unit setting Setting range 0: mm 0 to 2000000000 (10 mm/min) 1: inch 0 to 2000000000 (10 inch/min) 2: degree 0 to 2000000000 (10 degree/min) 3: pulse 0 to 4000000 (pulse/s) (24)[Cd.26] Position-speed switching enable flag Item Description Set whether the external control signal (external command signal [CHG]: "speed-position, position-speed switching request"...
Page 229 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (25)[Cd.27] Target position change value (new address) Item Description When changing the target position during a positioning operation, use this data item to specify a new positioning address. ( Setting details Page 227, Section 5.7.2 (25) (a)) ■Set with a decimal.
Page 230 (26)[Cd.28] Target position change value (new speed) Item Description • When changing the target position during a positioning operation, use this data item to specify a new speed. ( Page 228, Setting details Section 5.7.2 (26) (a)) • The speed will not change if "0" is set. ■Set with a decimal.
Page 231 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (27)[Cd.29] Target position change request flag Item Description Setting details Requests the target position change during a positioning operation. ■Set with a decimal. Setting value Target position change request flag Setting value 1: Requests a target position change The LD75 resets the value to "0"...
Page 232 (29)[Cd.31] Simultaneous starting axis start data No. (axis 2 start data No.) Item Description • Use these data items to specify a start data No. for each axis that has to start simultaneously. Setting details • Set "0" to any axis that should not start simultaneously. ■Set with a decimal.
Page 233 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (31)[Cd.33] Simultaneous starting axis start data No. (axis 4 start data No.) Item Description • Use these data items to specify a start data No. for each axis that has to start simultaneously. Setting details •...
Page 234 (34)[Cd.36] Step start information Item Description Setting details To continue the step operation when the step function is used, set "1" in this data item. ■Set with a decimal. Setting value Setting value Step start information 1: Continues step opration The LD75 resets the value to "0"...
Page 235 CHAPTER 5 DATA USED FOR POSITIONING CONTROL (36)[Cd.38] Teaching data selection Item Description • This data item specifies the teaching result write destination. Setting details • Data are cleared to "0" when the teaching ends. ■Set with a decimal. Setting value Setting value Teaching data selection...
Page 236 (38)[Cd.40] ABS direction in degrees Item Description Setting details This data item specifies the ABS moving direction carrying out the position control when "degree" is selected as the unit. ■Set with a decimal. Setting value Setting value ABS direction in degrees 0: Shortcut (direction setting ignored) 1: ABS clockwise 2: ABS counterclockwise...
Page 237: Chapter 6 Program Used For Positioning Control
CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL Precautions for Creating Program The common precautions to be taken when writing data from the CPU module to the LD75 buffer memory are described below. When diverting any of the program examples introduced in this manual to the actual system, fully verify that there are no problems in the controllability of the target system.
Page 238 (a) When using the LD75 in a standard system configuration Module name and model of modules used Power supply module (L61P) Input module (LX41C4, LX40C6) CPU module (L26CPU-BT) Output module (LY41NT1P) Positioning module (LD75P4) END cover (L6EC) LX41C4(20 to 3F) LD75P4(00 to 1F) LX40C6(40 to 4F) L26CPU-BT(FD0 to FFF)
Page 239 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL (5) Communication with LD75 There are two methods for communication with LD75 using the program: a method using an "intelligent function device" and a method using a FROM/TO instruction. In the program in this chapter and subsequent, the program example using the "intelligent function device" is shown without using an FROM/TO instruction for communication with LD75.
Page 240 Remark Refer to  MELSEC-L CPU Module User's Manual (Function Explanation, Program Fundamentals) for the intelligent function devices. Refer to  MELSEC-Q/L Programming Manual (Common Instruction) for detail instructions used in those programs shown in this chapter and subsequent.
Page 241: List Of Devices Used
CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL List of Devices Used In the program examples shown in this chapter and subsequent, the application of the devices used are as follows. (1) When using the LD75 in a standard system configuration (a) Inputs/outputs, external inputs/external outputs, and internal relays of LD75 Device Device name...
Page 242 Device Device name Application Details when ON Axis 1 Axis 2 Axis 3 Axis 4 OPR request OFF command Commanding OPR request OFF Commanding external command valid External command valid command setting Commanding external command External command invalid command invalid Machine OPR command Commanding machine OPR Fast OPR command...
Page 243 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL Device Device name Application Details when ON Axis 1 Axis 2 Axis 3 Axis 4 Error reset command Commanding error reset Stop command Commanding stop Position-speed switching operation Commanding position-speed switching command operation Position-speed switching enable Commanding position-speed switching command...
Page 244 Device Device name Application Details when ON Axis 1 Axis 2 Axis 3 Axis 4 Flash ROM write command storage Flash ROM write command held Error reset Error reset completed Stop command pulse Stop commanded Target position change command Target position change commanded pulse Target position change command Target position change command held...
Page 245 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL (b) Data registers and timers Device Device name Application Details of storage Axis 1 Axis 2 Axis 3 Axis 4 OPR request flag ([Md.31] Status (bit 3)) Speed (low-order 16 bits) ([Cd.25] Position-speed switching control speed change register) Speed (high-order 16 bits) Movement amount (low-order 16 bits)
Page 246 Device Device name Application Details of storage Axis 1 Axis 2 Axis 3 Axis 4 Z.ABRST1 control data  Completion status  Signals received from servo  Signals transmitted to servo   Status  System area  System area ...
Page 247 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL Device Device name Application Details of storage Axis 1 Axis 2 Axis 3 Axis 4 ([Da.1] Operation pattern) ([Da.2] Control system) Positioning identifier ([Da.3] Acceleration time No.) ([Da.4] Deceleration time No.) ([Da.5] Axis to be interpolated) M code ([Da.10] M code) Dwell time...
Page 248 (2) When the LD75 is connected to head module (a) Inputs/outputs, external inputs/external outputs, and internal relays of LD75 Device Device name Application Details when ON Axis 1 Axis 2 Axis 3 Axis 4 X1000 LD75 READY signal Preparation completed X1001 Synchronization flag LD75 buffer memory accessible...
Page 249 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL Device Device name Application Details when ON Axis 1 Axis 2 Axis 3 Axis 4 OPR request OFF command Commanding OPR request OFF Commanding external command valid External command valid command setting Commanding external command External command invalid command invalid Machine OPR command...
Page 250 Device Device name Application Details when ON Axis 1 Axis 2 Axis 3 Axis 4 Error reset command Commanding error reset Stop command Commanding stop Position-speed switching operation Commanding position-speed switching command operation Position-speed switching enable Commanding position-speed switching command enable Position-speed switching prohibit Commanding position-speed switching...
Page 251 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL Device Device name Application Details when ON Axis 1 Axis 2 Axis 3 Axis 4 Error reset Error reset completed Stop command pulse Stop commanded Target position change command Target position change commanded pulse Target position change command Target position change command held...
Page 252 Device Device name Application Details when ON Axis 1 Axis 2 Axis 3 Axis 4 M5041 Block start data failure device Block start data failed Block start (special start) complete M5050 Block start (special start) completed device M5051 Block start (special start) failure device Block start (special start) failed M5100 Status reading complete device...
Page 253 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL Device Device name Application Details when ON Axis 1 Axis 2 Axis 3 Axis 4 M5261 Override failure device Override failed Acceleration/deceleration time setting Acceleration/deceleration time setting M5270 complete device completed Acceleration/deceleration time setting Acceleration/deceleration time setting M5271 failure device...
Page 254 (b) Data registers, timers, and nesting Device Device name Application Details of storage Axis 1 Axis 2 Axis 3 Axis 4 OPR request flag ([Md.31] Status (bit 3)) Speed (low-order 16 bits) ([Cd.25] Position-speed switching control speed Speed (high-order 16 bits) change register) Movement amount (low-order 16 bits) ([Cd.23] Speed-position...
Page 255 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL Device Device name Application Details of storage Axis 1 Axis 2 Axis 3 Axis 4 ([Pr.2] No. of pulses per No. of pulses per rotation rotation) ([Pr.3] Movement amount Movement amount per rotation per rotation) Unit magnification ([Pr.4] Unit magnification)
Page 256 Device Device name Application Details of storage Axis 1 Axis 2 Axis 3 Axis 4 Point 1 (shape, start No.) Point 2 (shape, start No.) Point 3 (shape, start No.) Point 4 (shape, start No.) Point 5 (shape, start No.) ([Da.11] Shape) Point 1 (special start ([Da.12] Start data No.)
Page 257 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL (c) Link special relays and link special registers of master/local module Device Device name Application Details when ON Axis 1 Axis 2 Axis 3 Axis 4 Baton pass status (own station) SB0047 Baton pass status (own station) failed ...
Page 258: Creating A Program
Creating a Program The "positioning control operation program" actually used is explained in this chapter. The functions and programs explained in PART 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  Page 182, Section 5.6 for details on the monitor items.)
Page 259: General Configuration Of Program
CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 6.3.1 General configuration of program The general configuration of the "positioning control operation program" is shown below. Start of program creation Set using program Parameter and data are... Set using GX Works2 Parameter and data setting program Program for carrying out initialization Initialization program Program required to carry out "OPR control",...
Page 260: Positioning Control Operation Program
6.3.2 Positioning control operation program 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 positioning program examples ( Page 261, Section 6.4), and create an operation program that matches the positioning system. (Numbers are assigned to the following programs.
Page 261 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL Program required to carry out Start details setting program "OPR control" "Major positioning control" "High-level positioning control" No.7 Positioning start No. setting program Start program No.8 Positioning start program No.9 Program to turn the M code OFF program M code ON signal OFF JOG operation program...
Page 262 Sub program Program added according to control details. No.14 (Create as required.) Speed change program No.15 Override program Acceleration/deceleration time No.16 (10) change program No.17 Step operation program (11) No.18 Skip program (12) No.19 Teaching program (13) Continuous operation interrupt No.20 (14) program...
Page 263: Positioning Program Examples
CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL Positioning Program Examples 6.4.1 When using the LD75 in a standard system configuration (1) Program example An example of the "Axis 1" positioning program is given in this section. [No.1] to [No.3] parameter and data setting program •...
Page 265 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL Positioning option enable/disable parameter setting program (The program is not required when positioning option is not used.) Positioning option enable setting No. 2 Positioning data setting program (For using positioning option) (For positioning data No. 1 <axis 1>) <Positioning identifier>...
Page 267 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL...
Page 269 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL...
Page 271 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL...
Page 272 <Z.ABRST1 instruction execution>...
Page 273 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL...
Page 274: When The Ld75 Is Connected To Head Module
6.4.2 When the LD75 is connected to head module When the LD75 is connected to head module, settings described in (1) and (2) is required. (1) Setting on master station (a) Create a project on GX Works2. Select "QCPU (Q mode)" for "PLC Series" and select "Q10UDH" for "PLC Type". Project window ...
Page 275 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL (c) Display the Network Configuration Setting screen and configure the setting as follows. Project window  [Parameter]  [Network Parameter]  [Ethernet/CC IE/MELSECNET]  [Network Configuration Setting] button (d) Display the Refresh Parameter setting screen and configure the setting as follows. Project window ...
Page 276 (2) Setting on intelligent device station (a) Create a project on GX Works2. Select "LCPU" for "PLC Series" and select "LJ72GF15-T2" for "PLC Type". [Project]  [New Project] (b) Display the PLC Parameter setting screen and configure the setting as follows. Project window ...
Page 277 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL (3) Program example An example of the "Axis 1" positioning program is given in this section. [No.1] to [No.3] parameter and data setting program • When setting the parameters or data with the program, set them in the LD75 using the TO instruction from the CPU module. (Carry out the settings while the PLC READY signal [Y0] is OFF.) •...
Page 279 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL...
Page 281 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL...
Page 283 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL...
Page 285 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL...
Page 287 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL...
Page 288: Program Details
Program Details 6.5.1 Initialization program (1) OPR request OFF program This program forcibly turns OFF the "OPR request flag" ([Md.31] Status: b3) which is ON. When using a system that does not require OPR, assemble the program to cancel the "OPR request" made by the LD75 when the power is turned ON, etc.
Page 289: Start Details Setting Program
CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 6.5.2 Start details setting program This program sets which control, out of "OPR", "major positioning control" or "high-level positioning control" to execute. For "high-level positioning control", "fast OPR", "speed-position switching control" and "position-speed switching control", add the respectively required program.
Page 290: Start Program
6.5.3 Start program This program is used to start the control with start commands. The control can be started with the following two methods. • Starting by inputting positioning start signal [Y10, Y11, Y12, Y13] • Starting by inputting external command signal Buffer memory Drive unit Control with...
Page 291 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL (1) Starting by inputting positioning start signal (a) Operation when starting • When the positioning start signal turns ON, the start complete signal and BUSY signal turn ON, and the positioning operation starts. It can be seen that the axis is operating when the BUSY signal is ON. •...
Page 292 (b) Starting time chart The time chart for starting each control is shown below. • Time chart for starting "machine OPR" Near-point dog Zero signal Positioning start signal [Y10] PLC READY signal [Y0] LD75 READY signal [X0] [X10] Start complete signal BUSY signal [XC] Error detection signal...
Page 293 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL • Time chart for starting "fast OPR" Positioning start signal [Y10] PLC READY signal [Y0] LD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC] Error detection signal [X8] 9002 Cd.3 Positioning start No. •...
Page 294 • Time chart for starting "speed-position switching control" Operation pattern(00) Dwell time Speed control Position control Positioning data No.(1) Positioning start signal [Y10] PLC READY signal [Y0] LD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC] Positioning complete [X14] signal Error detection signal...
Page 295 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL (c) Machine OPR operation timing and process time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] Start complete signal [X10, X11, X12, X13] Standby Standby Md. 26 Axis operation status Output pulse to external source (PULSE) Positioning operation...
Page 296 (d) Position control operation timing and process time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal (WITH mode) [X4, X5, X6, X7] M code OFF request Cd. 7 Start complete signal [X10, X11, X12, X13] Md.
Page 297 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL (2) Starting by inputting external command signal When starting positioning control by inputting the external command signal, the start command can be directly input into the LD75. This allows the variation time equivalent to one scan time of the CPU module to be eliminated.
Page 298: Continuous Operation Interrupt Program
6.5.4 Continuous operation interrupt program 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"...
Page 299 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL (c) If the operation cannot be decelerated to a stop because the remaining distance is insufficient when "continuous operation interrupt request" is executed with continuous path control, the interruption of the continuous operation will be postponed until the positioning data shown below.
Page 300: Restart Program
6.5.5 Restart program 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.6] Restart command). ("Restarting" is not possible when "continuous operation is interrupted.") This instruction is efficient when performing the remaining positioning from the stopped position during position control of incremental system such as the INC Linear 1.
Page 301 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL (3) Control data requiring settings Set the following data to execute restart. Buffer memory address Setting Setting item Setting details value Axis 1 Axis 2 Axis 3 Axis 4 [Cd.6] Restart command Set "1: Restarts". 1503 1603 1703...
Page 302 (5) Time chart for restarting Dwell time Positioning start signal [Y10] Axis stop signal [Y4] PLC READY signal [Y0] LD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC] Positioning complete [X14] signal Error detection signal [X8] Axis operation Md.26 status Restart...
Page 303: Stop Program
CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 6.5.6 Stop program The axis stop signal [Y4, Y5, Y6, Y7] or a stop signal from an external source is used to stop the control. Create a program to turn ON the axis stop signal [Y4, Y5, Y6, Y7] as the stop program. The process for stopping control is explained below.
Page 304 (b) Positioning control Stop process Axis operation M code ON Stop cause Stop axis status ([Md.26]) Major positioning High-level positioning signal after stop after stopping control control Drive unit READY signal Forced stop Each axis No change Error Immediate stop Hardware stroke limit Deceleration stop/sudden stop Fatal stop...
Page 305 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL (2) Types of stop processes The operation can be stopped with deceleration stop, sudden stop or immediate stop. (a) Deceleration stop The operation stops with "deceleration time 0 to 3" ([Pr.10], [Pr.28], [Pr.29], [Pr.30]). Which time from "deceleration time 0 to 3"...
Page 306 (3) Order of priority for stop process The order of priority for the LD75 stop process is as follows. Deceleration stop < Sudden stop < Immediate stop If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0 (including automatic deceleration), operation changes depending on the setting of "[Cd.42] Stop command processing for deceleration stop selection".
Page 307: Chapter 7 Memory Configuration And Data Process
CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS Configuration and Roles of LD75 Memory 7.1.1 Configuration and roles of LD75 memory The LD75 is configured of the following two memories. • Buffer memory: Area that can be directly accessed with program from CPU module •...
Page 308 (1) Details of areas • Parameter area: Area where parameters, such as positioning parameters and OPR parameters, required for positioning control are set and stored. (Set the items indicated with [Pr.1] to [Pr.57], [Pr.70], and [Pr.150] for each axis.) • Monitor data area: Area where positioning system or LD75 operation state is stored. (Set the items indicated with [Md.1] to [Md.48], [Md.50] to [Md.52].) •...
Page 309: Buffer Memory Area Configuration
CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS 7.1.2 Buffer memory area configuration The LD75 buffer memory is configured of the following types of areas. Buffer memory address Writing Buffer memory area configuration possibility Axis 1 Axis 2 Axis 3 Axis 4 Basic parameter 0 to 15 150 to 165...
Page 310: Data Transmission Process
Data Transmission Process The data is transmitted between the LD75 memories with steps (1) to (8) shown below. The data transmission patterns numbered (1) to (8) of the descriptions correspond to the numbers (1) to (8) of the illustration. CPU module (4) FROM instruction (2) TO instruction LD75...
Page 311 CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS (1) Transmitting data when power is turned ON or CPU module is reset ( When the power is turned ON or the CPU module is reset, the "parameters", "positioning data" and "block start data"...
Page 312 (4) Accessing with FROM instruction from CPU module ( The data is read from the buffer memory to the CPU module using the FROM instruction. GX Works2 (6) Flash ROM write request CPU module (5) Flash ROM write (6) Flash ROM write request (Set "1"...
Page 313 CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS (5) Flash ROM write ( The following transmission process is carried out by setting "1" in "[Cd.1] Flash ROM write request" (buffer memory [1900]). • The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)" in the buffer memory area are transmitted to the flash ROM.
Page 314 LD75 Buffer memory Parameter area (a) Pr.1 to Pr.7 Parameter area (a) Pr.11 Pr.24 Parameter area (b) Pr.43 Pr.57 Pr.70 Pr.70 Pr.150 Pr.150 Positioning data area (No.1 to 600) Parameter area (b) Block start data area Pr.10 Pr.8 (No.7000 to 7004) Pr.25 to Pr.42 Monitor data area...
Page 315 CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS (7) Reading data from buffer memory to GX Works2 ( The following transmission processes are carried out with the [Read from PLC] from GX Works2. • The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)" in the buffer memory area are transmitted to GX Works2 via the CPU module.
Page 316 Memo...
Page 317 PART 2 CONTROL DETAILS AND SETTING Part 2 consists of the following chapters. CHAPTER 8 OPR CONTROL..........316 CHAPTER 9 MAJOR POSITIONING CONTROL .
Page 318: Chapter 8 Opr Control
CHAPTER 8 OPR CONTROL Outline of OPR Control 8.1.1 Two types of OPR control In "OPR control" a position is established as the starting point (or "OP") 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 OP to the OP when the LD75 issues a "OPR request"...
Page 319 CHAPTER 8 OPR CONTROL (1) OPR sub functions Refer to  Page 59, Section 3.2.5 for details on "sub functions" that can be combined with OPR control. Also refer to  Page 507, CHAPTER 12 for details on each sub function. [Reference] The following two sub functions are only related to machine OPR.
Page 320: Machine Opr
Machine OPR 8.2.1 Outline of the machine OPR operation Use the OPR retry function when the OP position is not always in the same direction from the workpiece operation area (when the OP is not set near the upper or lower limit of the machine). The machine OPR may not complete unless the OPR retry function is used.
Page 321: Machine Opr Method
CHAPTER 8 OPR CONTROL 8.2.2 Machine OPR method The method by which the machine OP is established (method for judging the OP position and machine OPR completion) is designated in the machine OPR according to the configuration and application of the positioning method.
Page 322 Remark ● Creep speed The stopping accuracy is poor when the machine suddenly stops from fast speeds. To improve the machine's stopping accuracy, its must change over to a slow speed before stopping. This speed is set in the "[Pr.47] Creep speed".
Page 323: Opr Method (1): Near-Point Dog Method
CHAPTER 8 OPR CONTROL 8.2.3 OPR method (1): Near-point dog method The following shows an operation outline of the "near-point dog method" OPR method. (1) Operation chart The machine OPR is started. (The machine begins the acceleration designated in "[Pr.51] OPR acceleration time selection", in the direction designated in "[Pr.44] OPR direction".
Page 324 (2) Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal. (3) Precautions during operation • An error "Start at OP (error code: 201)" will occur if another machine OPR is attempted after a machine OPR completion when the OPR retry function is not set ("0"...
Page 325: Opr Method (2): Stopper Method 1)
CHAPTER 8 OPR CONTROL 8.2.4 OPR method (2): Stopper method 1) The following shows an operation outline of the "stopper method 1)" OPR method. (1) Operation chart The machine OPR is started. (The machine begins the acceleration designated in "[Pr.51] OPR acceleration time selection", in the direction designated in "[Pr.44] OPR direction".
Page 326 OPR speed Pr.46 Creep speed Pr.47 5. 6. Range in which the servomotor rotation is forcibly stopped by the stopper Valid torque limit range Torque limit Near-point dog Dwell time Time out of dwell time measurement Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13] OPR request flag Status : b3...
Page 327 CHAPTER 8 OPR CONTROL (3) Precautions during operation • Set a value in the "[Pr.49] OPR dwell time" that is equal to or higher than the movement time from the near- point dog ON to the time the machine presses against the stopper. •...
Page 328 • If the "[Pr.49] OPR dwell time" elapses before the stop at the stopper, the workpiece will stop at that position, and that position will be regarded as the OP. At this time, an error will not occur. OPR speed Pr.46 Creep speed Pr.47...
Page 329: Opr Method (3): Stopper Method 2)
CHAPTER 8 OPR CONTROL 8.2.5 OPR method (3): Stopper method 2) The following shows an operation outline of the "stopper method 2)" OPR method. (1) Operation chart The machine OPR is started. (The machine begins the acceleration designated in "[Pr.51] OPR acceleration time selection", in the direction designated in "[Pr.44] OPR direction".
Page 330 (2) Restrictions • Always limit the servomotor torque after the "[Pr.47] Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (For details, refer to Torque limit function ( Page 532, Section 12.4.2).) •...
Page 331 CHAPTER 8 OPR CONTROL • If the zero signal is input before the workpiece stops at the stopper, the workpiece will stop at that position, and that position will become the OP. At this time, an error will not occur. Pr.46 OPR speed Creep speed...
Page 332: Opr Method (4): Stopper Method 3)
8.2.6 OPR method (4): Stopper method 3) The following shows an operation outline of the "stopper method 3)" OPR method. The "stopper method 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.47] Creep speed", so it will take some time until the machine OPR completion.) (1) Operation chart The machine OPR is started.
Page 333 CHAPTER 8 OPR CONTROL (2) Restrictions • Always limit the servomotor torque after the "[Pr.47] Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (For details, refer to Torque limit function (...
Page 334: Opr Method (5): Count Method 1)
8.2.7 OPR method (5): Count method 1) The following shows an operation outline of the "count method 1)" OPR method. In the "count method 1)", machine OPR can be performed even in the following situations: • when near-point dog is ON •...
Page 335 CHAPTER 8 OPR CONTROL (2) Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal. (3) Precautions during operation • An error "Count method movement amount fault (error code: 206)" will occur and the operation will not start if the "[Pr.50] Setting for the movement amount after near-point dog ON"...
Page 336 [Operation when a machine OPR is started at the near-point dog ON position] A machine OPR is started. The machine moves at the OPR speed in the opposite direction of an OPR. Deceleration processing is carried out by "[Pr.39] Stop group 3 sudden stop selection" when the near-point dog OFF is detected.
Page 337: Opr Method (6): Count Method 2)
CHAPTER 8 OPR CONTROL 8.2.8 OPR method (6): Count method 2) The following shows an operation outline of the "count method 2)" OPR method. The "count method 2)" method is effective when a "zero signal" cannot be received. (Note that compared to the "count method 1)"...
Page 338 (2) Restrictions When this method is used, a deviation will occur in the stop position (OP) compared to other OPR methods because an error of about 1ms occurs in taking in the near-point dog ON. (3) Precautions during operation • An error "Count method movement amount fault (error code: 206)" will occur and the operation will not start if the "[Pr.50] Setting for the movement amount after near-point dog ON"...
Page 339: Fast Opr
CHAPTER 8 OPR CONTROL Fast OPR 8.3.1 Outline of the fast OPR operation (1) Fast OPR operation After establishing OP position by a machine OPR, positioning control to the OP position is executed without using a near-point dog or a zero signal. The following shows the operation during a fast OPR start.
Page 340 (2) Operation timing and processing time of fast OPR The following shows details about the operation timing and time during fast OPR. Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] Start complete signal [X10,X11,X12,X13] Standby Position control Standby Axis operation status Md.26 Output pulse to external source (PULSE)
Page 341: Chapter 9 Major Positioning Control
CHAPTER 9 MAJOR POSITIONING CONTROL CHAPTER 9 MAJOR POSITIONING CONTROL Outline of Major Positioning Controls "Major positioning controls" are carried out using the "positioning data" stored in the LD75. 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.
Page 342 [Da.2] Control MAJOR POSITIONING CONTROL Description system Forward run speed 1 1-axis speed control The speed control of the designated 1 axis is carried out. Reverse run speed 1 Forward run speed 2 The speed control of the designated 2 axis is carried out. 2-axis speed control Reverse run speed 2 Speed control...
Page 343: Data Required For Major Positioning Control
CHAPTER 9 MAJOR POSITIONING CONTROL 9.1.1 Data required for major positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "major positioning controls". Setting item Setting details Set the method by which the continuous positioning data (Ex: positioning data No. 1, No. 2, No. [Da.1] Operation pattern 3 ) will be controlled.
Page 344: Operation Patterns Of Major Positioning Controls
9.1.2 Operation patterns of major positioning controls In "major positioning control" (high-level positioning control), "[Da.1] Operation pattern" can be set to designate whether to continue executing positioning data after the started positioning data. The "operation pattern" includes the following 3 types ((1) to (3)). •...
Page 345 CHAPTER 9 MAJOR POSITIONING CONTROL (1) Independent positioning control (Positioning complete) This control is set when executing only one designated data item of positioning. If a dwell time is designated, the positioning will complete after the designated time elapses. This data (operation pattern [00] data) becomes the end of block data when carrying out block positioning. (The positioning stops after this data is executed.) Positioning complete (00) Dwell time...
Page 346 (2) Continuous positioning control • The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the LD75 command speed reaches 0 to carry out the next positioning data operation. If a dwell time is designated, the acceleration is carried out after the designated time elapses. •...
Page 347 CHAPTER 9 MAJOR POSITIONING CONTROL (3) Continuous path control (a) Continuous path control • The speed is changed without deceleration stop between the command speed of the positioning data currently being run and the speed of the positioning data that will be run next. The speed is not changed if the current speed and the next speed are equal.
Page 348 • In continuous path control, the positioning may be completed before the set address/movement amount by the distance l, and the data may switch to the "positioning data that will run next". The value of the distance l is as follows: 0 ...
Page 349 CHAPTER 9 MAJOR POSITIONING CONTROL (b) Deceleration stop conditions during continuous path control Deceleration stops are basically not carried out in continuous path control, but the machine will carry out a deceleration stop to speed "0" in the following cases (a) to (c). •...
Page 350 ● The movement direction is not checked during interpolation operations. Thus, automatic deceleration to a stop will not be carried out even if the movement direction is changed. ( Figures below) 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"...
Page 351 CHAPTER 9 MAJOR POSITIONING CONTROL (c) Speed handling • Continuous path control command speeds are set with each positioning data. The LD75 then carries out the positioning at the speed designated with each positioning data. • The command speed can be set to "-1" in continuous path control. The control will be carried out at the speed used in the previous positioning data No.
Page 352 (d) Changing the speed ( Page 131, Section 5.2.3 (9)) The two modes for changing the speed are shown below. • Standard switching  Switch the speed when executing the next positioning data. • Front-loading switching  The speed switches at the end of the positioning data currently being executed. [Standard speed switching mode] •...
Page 353 CHAPTER 9 MAJOR POSITIONING CONTROL [Front-loading speed switching mode] • If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the speed will change over to the speed set in the "positioning data to carry out the next operation"...
Page 354: Designating The Positioning Address
9.1.3 Designating the positioning address The following shows the two methods for commanding the position in control using positioning data. (1) Absolute system Positioning is carried out to a designated position (absolute address) having the OP as a reference. This address is regarded as the positioning address.
Page 355: Confirming The Current Value
CHAPTER 9 MAJOR POSITIONING CONTROL 9.1.4 Confirming the current value (1) Values showing the current value The following two types of addresses are used as values to show the position in the LD75. These addresses ("current feed value" and "machine feed value") are stored in the monitor data area, and used in monitoring the current value display, etc.
Page 356 (3) Monitoring the current value The "current feed value" and "machine feed value" are stored in the following buffer memory addresses, and can be read using a "DFRO (P) instruction" or "DMOV (P) instruction" from the CPU module. Buffer memory address Axis 1 Axis 2 Axis 3...
Page 357: Control Unit "Degree" Handling
CHAPTER 9 MAJOR POSITIONING CONTROL 9.1.5 Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. (1) Current feed value and machine feed value addresses The "[Md.20] Current feed value" address is a ring address between 0 and 359.99999. But the address of "[Md.21] Machine feed value"...
Page 358 (3) Positioning control method when the control unit is set to "degree" (a) When the software stroke limit is invalid in absolute system Positioning is carried out in the nearest direction to the designated address, using the current value as a reference.
Page 359 CHAPTER 9 MAJOR POSITIONING CONTROL • To specify the rotation direction in degrees for each positioning data when multiple positioning data is processed continuously within one positioning operation in continuous positioning control or continuous path control, use "[Da.28] ABS direction in degrees". •...
Page 360 (b) When the software stroke limit is valid in absolute system The positioning is carried out in a clockwise/counterclockwise direction depending on the software stroke limit range setting method. Because of this, positioning with "shortcut control" may not be possible. 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...
Page 361: Interpolation Control
CHAPTER 9 MAJOR POSITIONING CONTROL 9.1.6 Interpolation control (1) Meaning of interpolation control In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2- axis fixed-feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", "2-axis speed control", "3-axis speed control", "4-axis speed control", "2-axis circular interpolation control", and "3-axis helical interpolation control", control is carried out so that specified paths (linear, arc, and helical paths) are drawn using a motor set in two to four axis directions.
Page 362 (2) Setting the positioning data during interpolation control When carrying out interpolation control, the same positioning data Nos. are set for the "reference axis" and the "interpolation axis". The following table shows the "positioning data" setting items for the reference axis and interpolation axis.
Page 363 CHAPTER 9 MAJOR POSITIONING CONTROL (3) Starting the interpolation control The positioning data Nos. of the reference axis (axis in which interpolation control was set in "[Da.2] Control system") are started when starting the interpolation control. (Starting of the interpolation axis is not required.) The following errors or warnings will occur and the positioning will not start if both reference axis and the interpolation axis are started.
Page 364 When the "reference axis speed" is set during interpolation control, 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.8] Speed limit value". (7) Interpolation speed designation method To perform interpolation control, set the composite speed or reference axis speed in "[Pr.20] Interpolation speed designation method"...
Page 365 CHAPTER 9 MAJOR POSITIONING CONTROL (8) Limits to interpolation control There are limits to the interpolation control that can be executed and speed ([Pr.20] Interpolation speed designation method) that can be set, depending on the "[Pr.1] Unit setting" of the reference axis and interpolation axis.
Page 366: Setting The Positioning Data
Setting the Positioning Data 9.2.1 Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be set differ according to the "[Da.2] Control system". 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 Page 366, Section 9.2.2 and subsequent sections.
Page 367 CHAPTER 9 MAJOR POSITIONING CONTROL If the item is set, the error "Continuous path control not possible" (error code: 516) or "New current value not possible" (error code: 515) will occur at a start. Setting value invalid Use the initial value or a value within the setting range. Two control systems are available: the absolute (ABS) system and incremental (INC) system.
Page 368: 1-Axis Linear Control
9.2.2 1-axis linear control In "1-axis linear control" ("[Da.2] Control system" = ABS linear 1, INC linear 1), one motor is used to carry out position control in a set axis direction. (1) 1-axis linear control (ABS linear 1) (a) Operation chart In absolute system 1-axis linear control, positioning is carried out from the current stop position (start point address) to the address (end point address) set in "[Da.6] Positioning address/movement amount".
Page 369 CHAPTER 9 MAJOR POSITIONING CONTROL (2) 1-axis linear control (INC linear 1) (a) Operation chart In incremental system 1-axis linear control, positioning of movement amount set in "[Da.6] Positioning address/movement amount" is carried out from the current stop position (start point address). The movement direction is determined by the sign of the movement amount.
Page 370: 2-Axis Linear Interpolation Control
9.2.3 2-axis linear interpolation control In "2-axis linear interpolation control" ("[Da.2] Control system" = 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 ...
Page 371 CHAPTER 9 MAJOR POSITIONING CONTROL (b) 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 positioning control. • If the movement amount of each axis exceeds "1073741824 (=2 )"...
Page 372 (2) 2-axis linear interpolation control (INC linear 2) (a) Operation chart In incremental system 2-axis linear interpolation control, designated 2 axes are used. Linear interpolation positioning of movement amount set in "[Da.6] Positioning address/movement amount" is carried out from the current stop position (start point address).
Page 373 CHAPTER 9 MAJOR POSITIONING CONTROL (c) Positioning data setting example (Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.) The following table shows setting examples when "2-axis linear interpolation control (INC linear 2)" is set in positioning data No.
Page 374: 3-Axis Linear Interpolation Control
9.2.4 3-axis linear interpolation control In "3-axis linear interpolation control" ("[Da.2] Control system" = ABS linear 3, INC linear 3), three 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 ...
Page 375 CHAPTER 9 MAJOR POSITIONING CONTROL (b) 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 positioning control. • If the movement amount of each axis exceeds "1073741824 (=2 )"...
Page 376 (2) 3-axis linear interpolation control (INC linear 3) (a) Operation chart In incremental system 3-axis linear interpolation control, designated 3 axes are used. Linear interpolation positioning of movement amount set in "[Da.6] Positioning address/movement amount" is carried out from the current stop position (start point address).
Page 377 CHAPTER 9 MAJOR POSITIONING CONTROL (b) 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 positioning control. • If the movement amount of each axis exceeds "1073741824 (=2 )"...
Page 378: 4-Axis Linear Interpolation Control
9.2.5 4-axis linear interpolation control In "4-axis linear interpolation control" ("[Da.2] Control system" = ABS linear 4, INC linear 4), four 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 ...
Page 379 CHAPTER 9 MAJOR POSITIONING CONTROL ● When the "reference axis speed" is set during 4-axis linear interpolation control, 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.8] Speed limit value".
Page 380 ● When the "reference axis speed" is set during 4-axis linear interpolation control, 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.8] Speed limit value".
Page 381: 1-Axis Fixed-Feed Control
CHAPTER 9 MAJOR POSITIONING CONTROL 9.2.6 1-axis fixed-feed control In "1-axis fixed-feed control" ("[Da.2] Control system" = fixed-feed 1), one motor is used to carry out fixed-feed control in a set axis direction. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
Page 382 ● When the movement amount is converted to the actual number of output pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the LD75 and reflected at the next positioning.
Page 383: 2-Axis Fixed-Feed Control (Interpolation)
CHAPTER 9 MAJOR POSITIONING CONTROL 9.2.7 2-axis fixed-feed control (interpolation) In "2-axis fixed-feed control" ("[Da.2] Control system" = fixed-feed 2), two motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
Page 384 (3) Positioning data setting example (Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.) The following table shows setting examples when "2-axis fixed-feed control (fixed-feed 2)" is set in positioning data No. 4 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis 1 (reference Axis 2 Setting item...
Page 385 CHAPTER 9 MAJOR POSITIONING CONTROL ● When the movement amount is converted to the actual number of output pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the LD75 and reflected at the next positioning.
Page 386: 3-Axis Fixed-Feed Control (Interpolation)
9.2.8 3-axis fixed-feed control (interpolation) In "3-axis fixed-feed control" ("[Da.2] Control system" = fixed-feed 3), three motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
Page 387 CHAPTER 9 MAJOR POSITIONING CONTROL (1) Operation chart In incremental system 3-axis fixed-feed control, the addresses ([Md.20] Current feed value) of the current stop position (start addresses) of every 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.6] Positioning address/movement amount".
Page 388 (2) Restrictions • The axis 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-feed control.) •...
Page 389 CHAPTER 9 MAJOR POSITIONING CONTROL ● When the movement amount is converted to the actual number of output pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the LD75 and reflected at the next positioning.
Page 390: 4-Axis Fixed-Feed Control (Interpolation)
9.2.9 4-axis fixed-feed control (interpolation) In "4-axis fixed-feed control" ("[Da.2] Control system" = fixed-feed 4), four motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
Page 391 CHAPTER 9 MAJOR POSITIONING CONTROL (3) Positioning data setting example (Reference axis is designated as axis 1.) The following table shows setting examples when "4-axis fixed-feed control (fixed-feed 4)" is set in positioning data No. 4 of axis 1. (The required values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.) Axis 1 Axis 2 Axis 3...
Page 392 ● When the movement amount is converted to the actual number of output pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the LD75 and reflected at the next positioning.
Page 393: 2-Axis Circular Interpolation Control With Sub Point Designation
CHAPTER 9 MAJOR POSITIONING CONTROL 9.2.10 2-axis circular interpolation control with sub point designation In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular sub, INC circular sub), two motors are used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis directions set in each axis.
Page 394 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 positioning control. • When the radius exceeds "536870912 (=2 )". (The maximum radius for which circular interpolation )"...
Page 395 CHAPTER 9 MAJOR POSITIONING CONTROL (2) 2-axis circular interpolation control with sub point designation (INC circular sub) (a) Operation chart In the incremental system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount"...
Page 396 • When the start point address is the same as the sub point address  The error "Sub point setting error" (error code: 525) will occur. • When the end point address is the same as the sub point address  The error "Sub point setting error" (error code: 525) will occur.
Page 397: 2-Axis Circular Interpolation Control With Center Point Designation
CHAPTER 9 MAJOR POSITIONING CONTROL 9.2.11 2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular right, INC circular right, ABS circular left, INC circular left), two motors are used to carry out position control in an arc path having an arc address as a center point, while carrying out interpolation for the axis directions set in each axis.
Page 398 (1) Circular interpolation error compensation In circular interpolation control with center point designation, the arc path calculated from the start point address and center point address may deviate from the position of the end point address set in " Da.6 Positioning address/movement amount".
Page 399 CHAPTER 9 MAJOR POSITIONING CONTROL (2) 2-axis circular interpolation control with center point designation (ABS circular right, ABS circular left) (a) Operation chart In the absolute system, 2-axis circular interpolation control with center point designation, positioning is carried out from the current stop position (start point address) to the address (end point address) set in " Da.6 Positioning address/movement amount"...
Page 400 (b) Restrictions 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"...
Page 401 CHAPTER 9 MAJOR POSITIONING CONTROL Set a value in "[Da.8] Command speed" so that the speed of each axis does not exceed the "[Pr.8] Speed limit value". (The speed limit does not function for the speed calculated by the LD75 during interpolation control.) (3) 2-axis circular interpolation control with center point designation (INC circular right, INC circular left) (a) Operation chart...
Page 402 • 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.
Page 403 CHAPTER 9 MAJOR POSITIONING CONTROL (c) Positioning data setting example (Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.) The following table shows setting examples when "2-axis circular interpolation control with center point designation (INC circular right, INC circular left)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No.
Page 404: 3-Axis Helical Interpolation Control With Sub Point Designation
9.2.12 3-axis helical interpolation control with sub point designation In the 3-axis helical interpolation control, circular interpolation control is carried out with two of the three axes. The other axis tracks the movement of the circular interpolation control to carry out "helical control "or "tangential control". (Refer to ...
Page 405 CHAPTER 9 MAJOR POSITIONING CONTROL When "0: Composite speed" is set in "[Pr.20] Interpolation speed designation method", the command speed of ABS3/INC3 is the same as the composite speed of the 3 axes (x axis - y axis - z axis). The command speed of 3-axis helical interpolation control is the same as the composite speed of the circular interpolation axis (x axis - y axis).
Page 406 (4) 3-axis helical interpolation control with sub point designation (ABS helical sub) (a) Operation chart In this control, positioning is carried out from the current stop position (X0, Y0, Z0) to the circular end address (X1, Y1) and linear axis end address (Z1) set in "[Da.6] Positioning address/movement amount". Circular interpolation where the arc path passes through the address of the sub point (sub point address) set in "[Da.7] Arc address"...
Page 407 CHAPTER 9 MAJOR POSITIONING CONTROL (c) Positioning data setting example • Reference axis, circular interpolation axis, and linear interpolation axis are specified as axis 1, axis 2, and axis 3, respectively. The following table shows setting examples when "helical interpolation control with sub point designation (ABS)"...
Page 408 (5) 3-axis helical interpolation control with sub point designation (INC helical sub) (a) Operation chart In this control, positioning is carried out from the current stop position (X0, Y0, Z0) to the movement amount position (X1, Y1, Z1) set in "[Da.6] Positioning address/movement amount". Circular interpolation where the arc path passes through the address of the sub point (sub point address) set in "[Da.7] Arc address"...
Page 409 CHAPTER 9 MAJOR POSITIONING CONTROL (c) Positioning data setting example • Reference axis, circular interpolation axis, and linear interpolation axis are specified as axis 1, axis 2, and axis 3, respectively. The following table shows setting examples when "helical interpolation control with sub point designation (INC)"...
Page 410: 3-Axis Helical Interpolation Control With Center Point Designation
9.2.13 3-axis helical interpolation control with center point designation In the 3-axis helical interpolation control, circular interpolation control is carried out with two of the three axes. The other axis tracks the movement of the circular interpolation control to carry out "helical control "or "tangential control". Refer to Interpolation control (...
Page 411 CHAPTER 9 MAJOR POSITIONING CONTROL (1) Helical interpolation control speed The command speed of the 3-axis helical interpolation control is the same as the speed of circular interpolation control (composite speed of reference axis and circular interpolation axis). End point A linear interpolation axis tracks the movement of circular interpolation control.
Page 412 When "degree" is set for the unit setting in the absolute system, the positioning range is 0 to 359.99999. When the axis rotates 360 or more in circular interpolation control (x axis - y axis), the tangential/normal control cannot be carried out because a degree of 360...
Page 413 CHAPTER 9 MAJOR POSITIONING CONTROL Positioning of a true circle with a radius of the distance from the start point address to the arc center point can be carried out by setting the end point address (positioning address) of the circular interpolation axis to the same address as the start point address.
Page 414 (c) Positioning data setting example • Reference axis, circular interpolation axis, and linear interpolation axis are specified as axis 1, axis 2, and axis 3, respectively. The following table shows setting examples when "helical interpolation control with center point designation (ABS helical right, ABS helical left)"...
Page 415 CHAPTER 9 MAJOR POSITIONING CONTROL (6) 3-axis helical interpolation control with center point designation (INC helical right, INC helical left) (a) Operation chart In this control, positioning is carried out from the current stop position (X0, Y0, Z0) to the movement amount position (X1, Y1, Z1) set in "[Da.6] Positioning address/movement amount".
Page 416 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 positioning control. Error cause Error code When the radius exceeds "536870912 (= 2 )". (The maximum radius for An error "Outside radius range"...
Page 417 CHAPTER 9 MAJOR POSITIONING CONTROL Set a value in "[Da.8] Command speed" so that the speed of each axis does not exceed the "[Pr.8] Speed limit value". (The speed limit does not function for the speed calculated by the LD75 during interpolation control.)
Page 418: 1-Axis Speed Control
9.2.14 1-axis speed control In "1-axis speed control" ("[Da.2] Control system" = Forward run: speed 1, Reverse run: speed 1), control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed"...
Page 419 CHAPTER 9 MAJOR POSITIONING CONTROL (2) Current feed value during 1-axis speed control The following table shows the "[Md.20] Current feed value" during 1-axis speed control corresponding to the "[Pr.21] Current feed value during speed control" settings. "[Pr.21] Current feed value during speed control" setting [Md.20] Current feed value 0: Do not update current feed value The current feed value at speed control start is maintained.
Page 420 (4) Positioning data setting example The following table shows the setting examples when "1-axis speed control (forward run: speed 1)" is set in the positioning data No. 1 of axis 1. Setting item Setting example Setting details Setting other than "Positioning complete" is not possible in speed [Da.1] Operation pattern Positioning complete...
Page 421: 2-Axis Speed Control
CHAPTER 9 MAJOR POSITIONING CONTROL 9.2.15 2-axis speed control In "2-axis speed control" ("[Da.2] Control system" = Forward run: speed 2, Reverse run: speed 2), control is carried out in the 2-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed"...
Page 422 (2) Current feed value during 2-axis speed control The following table shows the "[Md.20] Current feed value" during 2-axis speed control corresponding to the "[Pr.21] Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) "[Pr.21] Current feed value during speed control"...
Page 423 CHAPTER 9 MAJOR POSITIONING CONTROL (4) Positioning data setting example The following table shows the setting examples when "2-axis speed control (forward run: speed 2)" is set in the positioning data No. 1 of axis 1 (reference axis). Axis 1 (reference Axis 2 Setting item axis) setting...
Page 424: 3-Axis Speed Control
9.2.16 3-axis speed control In "3-axis speed control" ("[Da.2] Control system" = Forward run: speed 3, Reverse run: speed 3), control is carried out in the 3-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed"...
Page 425 CHAPTER 9 MAJOR POSITIONING CONTROL (2) Current feed value during 3-axis speed control The following table shows the "[Md.20] Current feed value" during 3-axis speed control corresponding to the "[Pr.21] Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) "[Pr.21] Current feed value during speed control"...
Page 426 (4) Positioning data setting example The following table shows the setting examples when "3-axis speed control (forward run: speed 3)" is set in the positioning data No. 1 of axis 1 (reference axis). Axis 1 (reference Axis 2 Axis 3 Setting item axis) setting (interpolation axis)
Page 427: 4-Axis Speed Control
CHAPTER 9 MAJOR POSITIONING CONTROL 9.2.17 4-axis speed control In "4-axis speed control" ("[Da.2] Control system" = Forward run: speed 4, Reverse run: speed 4), control is carried out in the 4-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed"...
Page 428 (2) Current feed value during 4-axis speed control The following table shows the "[Md.20] Current feed value" during 4-axis speed control corresponding to the "[Pr.21] Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) "[Pr.21] Current feed value during speed control"...
Page 429 CHAPTER 9 MAJOR POSITIONING CONTROL (4) Positioning data setting example The following table shows the setting examples when "4-axis speed control (forward run: speed 4)" is set in the positioning data No. 1 of axis 1 (reference axis). Axis 1 Axis 2 Axis 3 Axis 4...
Page 430: Speed-Position Switching Control (Inc Mode)
9.2.18 Speed-position switching control (INC mode) In "speed-position switching control (INC mode)" ("[Da.2] Control system" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output on the axial direction set to the positioning data.
Page 431 CHAPTER 9 MAJOR POSITIONING CONTROL (3) Operation chart The following chart shows the operation timing for speed-position switching control (INC mode). The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (INC mode). Da.
Page 432 (4) Operation timing and processing time during speed-position switching control (INC mode) Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] M code ON signal [X4,X5,X6,X7] (WITH mode) M code OFF request Cd.7 Start complete signal [X10,X11,X12,X13] Axis operation status Standby Speed control Position control Standby Md.26...
Page 433 CHAPTER 9 MAJOR POSITIONING CONTROL (5) Current feed value during speed-position switching control (INC mode) The following table shows the "[Md.20] Current feed value" during speed-position switching control (INC mode) corresponding to the "[Pr.21] Current feed value during speed control" settings. "[Pr.21] Current feed value during speed control"...
Page 434 (7) Changing the position control movement amount In "speed-position switching control (INC mode)", the position control movement amount can be changed during the speed control section. • The "new movement amount" is stored in "[Cd.23] Speed-position switching control movement amount change register"...
Page 435 CHAPTER 9 MAJOR POSITIONING CONTROL (8) Restrictions (a) The axis 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". (b) "Speed-position switching control" cannot be set in "[Da.2] Control system" of the positioning data when "continuous path control"...
Page 436 (9) Positioning data setting example The following table shows setting examples when "speed-position switching control (INC mode) by forward run" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Set "Positioning complete" assuming that the next positioning data will [Da.1] Operation pattern Positioning complete...
Page 437: Speed-Position Switching Control (Abs Mode)
CHAPTER 9 MAJOR POSITIONING CONTROL 9.2.19 Speed-position switching control (ABS mode) In case of "speed-position switching control (ABS mode)" ("[Da.2] Control system" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output in the axial direction set to the positioning data.
Page 438 (2) Speed-position switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as speed- position switching signals. Buffer memory address Setting Setting item Setting details value Axis 1 Axis 2 Axis 3 Axis 4 External command function...
Page 439 CHAPTER 9 MAJOR POSITIONING CONTROL (a) Operation example The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 90.00000 [degree] during execution of "[Da.2] Control system" "Forward run: speed/position" at "[Pr.1] Unit setting"...
Page 440 Normal timing time 0.2 to 1.1ms 0 to 0.9ms 0 to 0.9ms 0.4 to 1.3ms 0 to 0.9ms 1.0ms Follows parameters • The t1 timing time could be delayed by the operating status of other axes. (5) Current feed value during speed-position switching control (ABS mode) The following table shows the "[Md.20] Current feed value"...
Page 441 CHAPTER 9 MAJOR POSITIONING CONTROL (7) Restrictions (a) The axis error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". (b) "Speed-position switching control"...
Page 442 (h) If the axis reaches the positioning address midway through deceleration after automatic deceleration started at the input of the speed-position switching signal, the axis will not stop immediately at the positioning address. The axis will stop at the positioning address after N revolutions so that automatic deceleration can always be made.
Page 443: Position-Speed Switching Control
CHAPTER 9 MAJOR POSITIONING CONTROL 9.2.20 Position-speed switching control In "position-speed switching control" ("[Da.2] Control system" = Forward run: position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in "[Da.6] Positioning address/movement amount" in the axis direction in which the positioning data has been set.
Page 444 (3) Operation chart The following chart shows the operation timing for position-speed switching control. The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control of position-speed switching control. Command speed Da. 8 Position Speed control control Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal...
Page 445 CHAPTER 9 MAJOR POSITIONING CONTROL (4) Operation timing and processing time during position-speed switching control Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] M code ON signal [X4,X5,X6,X7] (WITH mode) M code OFF request Cd. 7 Start complete signal [X10,X11,X12,X13] Standing by In position control In speed control Stopped...
Page 446 (5) Current feed value during position-speed switching control The following table shows the "[Md.20] Current feed value" during position-speed switching control corresponding to the "[Pr.21] Current feed value during speed control" settings. "[Pr.21] Current feed value during speed control" setting [Md.20] Current feed value The current feed value is updated during position control, and the 0: Do not update current feed value...
Page 447 CHAPTER 9 MAJOR POSITIONING CONTROL (7) Changing the speed control command speed In "position-speed switching control", the speed control command speed can be changed during the position control. • The speed control command speed can be changed during the position control of position-speed switching control.
Page 448 (8) Restrictions • The axis error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". • "Position-speed switching control" cannot be set in "[Da.2] Control system" of the positioning data when "continuous path control"...
Page 449: Current Value Changing
CHAPTER 9 MAJOR POSITIONING CONTROL 9.2.21 Current value changing When the current value is changed to a new value, control is carried out in which the "[Md.20] Current feed value" of the stopped axis is changed to a random address set by the user. (The "[Md.21] Machine feed value" is not changed when the current value is changed.) The two methods for changing the current value are shown below.
Page 450 (c) Positioning data setting example The following table shows the setting examples when " current value changing" is set in the positioning data No. 1 of axis 1. Setting item Setting example Setting details Set "Positioning complete" assuming that the next positioning data will Positioning [Da.1] Operation pattern...
Page 451 CHAPTER 9 MAJOR POSITIONING CONTROL (3) Current value changing procedure The following shows the procedure for changing the current value to a new value. Write the current value to " Cd. 9 Current value changing" Write "9003" in " Cd. 3 Positioning start No." Turn ON the positioning start signal.
Page 452 (c) Add the following program to the control program, and write it to the CPU module. Example Current value changing Store new current feed value in D106 and D107 <Pulsate current value changing command> <Write current value changing to the LD75> <Write the current value changing (9003)>...
Page 453: Nop Instruction
CHAPTER 9 MAJOR POSITIONING CONTROL 9.2.22 NOP instruction The NOP instruction is used for the nonexecutable control system. (1) Operation The positioning data No. to which the NOP instruction is set transfers, without any processing, to the operation for the next positioning data No. (2) Positioning data setting example The following table shows the setting examples when "NOP instruction"...
Page 454: Jump Instruction
9.2.23 JUMP instruction The JUMP instruction is used to control the operation so it jumps to a positioning data No. set in the positioning data during "continuous positioning control" or "continuous path control". JUMP instruction include the following two types of JUMP. Unconditional JUMP When no execution conditions are set for the JUMP instruction (When "0"...
Page 455 CHAPTER 9 MAJOR POSITIONING CONTROL (3) Positioning data setting example The following table shows setting examples when "JUMP instruction" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details  [Da.1] Operation pattern Setting not required. (Setting value will be ignored.) [Da.2] Control system JUMP instruction...
Page 456: Loop
9.2.24 LOOP The LOOP is used for loop control by the repetition of LOOP to LEND. (1) Operation The LOOP to LEND loop is repeated by set repeat cycles. (2) Positioning data setting example The following table shows the setting examples when "LOOP" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details...
Page 457: Lend
CHAPTER 9 MAJOR POSITIONING CONTROL 9.2.25 LEND The LEND is used to return the operation to the top of the repeat (LOOP to LEND) loop. (1) Operation When the repeat cycle designated by the LOOP becomes 0, the loop is terminated, and the next positioning data No.
Page 458: Chapter 10 High-Level Positioning Control
CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL 10.1 Outline of High-Level Positioning Control In "high-level 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 "block start data" and "condition data".) The following applied positioning controls can be carried out with "high-level positioning control".
Page 459: Data Required For High-Level Positioning Control
CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL 10.1.1 Data required for high-level positioning control "High-level positioning control" is executed by setting the required items in the "block start data" and "condition data", then starting that "block start data". Judgment about whether execution is possible, etc., is carried out at execution using the "condition data"...
Page 460: Block Start Data" And "Condition Data" Configuration
10.1.2 "Block start data" and "condition data" configuration The "block start 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...
Page 461 CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL Set in LD75 the " block start data" and "condition data" corresponding to the following "block Nos. 7001 to 7004" using GX Works2. (The following drawing shows an example for axis 1.)
Page 462: High-Level Positioning Control Execution Procedure
10.2 High-Level Positioning Control Execution Procedure High-level positioning control is carried out using the following procedure. STEP 1 "High-level positioning control" executes Preparation Carry out the "major positioning control" setting. each control ("major positioning control") set in the positioning data with the designated conditions, so first carry out preparations so that "major positioning control"...
Page 463: Setting The Block Start Data
CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL 10.3 Setting the Block Start Data 10.3.1 Relation between various controls and block start data The "block start data" must be set to carry out "high-level positioning control". The setting requirements and details of each "block start data" item to be set differ according to the "[Da.13] Special start instruction"...
Page 464: Block Start (Normal Start)
10.3.2 Block start (Normal start) 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.12] Start data No." by one start. Section (2) shows a control example where the " block start data" and "positioning data" are set as shown in section (1).
Page 465 CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL (2) Control examples The following shows the control executed when the "block start data" of the 1st point of axis 1 is set as shown in section (1) and started. The positioning data is executed in the following order before stopping. Axis 1 positioning data No. 1  2 ...
Page 466: Condition Start
10.3.3 Condition start In a "condition start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the " block start data" set in "1: condition start"...
Page 467: Wait Start
CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL 10.3.4 Wait start In a "wait start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the " block start data" is executed.
Page 468: Simultaneous Start
10.3.5 Simultaneous start In a "simultaneous start", the positioning data set in the "[Da.12] 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.14] Parameter".) Section (2) shows a control example where the "...
Page 469: Repeated Start (For Loop)
CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL 10.3.6 Repeated start (FOR loop) In a "repeated start (FOR loop)", the data between the " block start data" in which "4: FOR loop" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT start" is set in "[Da.13] Special start instruction " is repeatedly executed for the No.
Page 470: Repeated Start (For Condition)
10.3.7 Repeated start (FOR condition) In a "repeated start (FOR condition)", the data between the " block start data" in which "5: FOR condition" is set in "[Da.13] Special start instruction" and the " block start data" in which "6: NEXT start" is set in "[Da.13] Special start instruction"...
Page 471: Restrictions When Using The Next Start
CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL 10.3.8 Restrictions when using the NEXT start The "NEXT start" is a instruction indicating the end of the repetitions when executing repeated start (FOR loop) ( Page 467, Section 10.3.6) and repeated start (FOR condition) ( Page 468, Section 10.3.7). The following shows the restrictions when setting "6: NEXT start"...
Page 472: Setting The Condition Data
10.4 Setting the Condition Data 10.4.1 Relation between various controls and the condition data "Condition data" is set in the following cases. • When setting conditions during execution of JUMP instruction ( Page 452, Section 9.2.23) (major positioning control) • When setting conditions during execution of "high-level positioning control" The "condition data"...
Page 473 CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL The setting requirements and details of the following "condition data"[Da.16] to [Da.19] setting items differ according to the "[Da.15] Condition target" setting. The following shows the [Da.16] to [Da.19] setting items corresponding to the "[Da.15] Condition target". : Setting not required , **: Value stored in buffer memory designated in [Da.17] [Da.15] Setting item...
Page 474: Condition Data Setting Examples
10.4.2 Condition data setting examples The following shows setting examples for "condition data". (1) Setting the device ON/OFF as a condition [Condition] Device "XC" (= Axis 1 BUSY signal) is OFF [Da.15] [Da.16] [Da.17] [Da.18] [Da.19] Condition target Condition operator Address Parameter 1 Parameter 2...
Page 475: Multiple Axes Simultaneous Start Control
CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL 10.5 Multiple Axes Simultaneous Start Control The "multiple axes simultaneous start control" starts and controls the multiple axes simultaneously by outputting pulses to the axis to be started at the same timing as the start axis. The maximum of four axes can be started simultaneously. (1) Control details Multiple axes simultaneous start control is executed as follows.
Page 476 (4) Multiple axes simultaneous start control function setting method The following shows the setting of the data used to execute the multiple axes simultaneous start control with positioning start signals. (The axis control data on the start axis is set.) Buffer memory address Setting Setting item...
Page 477: Start Program For High-Level Positioning Control
CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL 10.6 Start Program for High-Level Positioning Control 10.6.1 Starting high-level positioning control To execute high-level positioning control, a program must be created to start the control in the same method as for major positioning control. The following shows the procedure for starting the "1st point block start data"...
Page 478: Example Of A Start Program For High-Level Positioning Control
10.6.2 Example of a start program for high-level positioning control The following shows an example of a start program for high-level positioning control in which the 1st point " block start data" of axis 1 is started. (The block No. is regarded as "7000".) (1) Control data that require setting The following control data must be set to execute high-level positioning control.
Page 479 CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL (3) Start time chart The following chart shows a time chart in which the positioning data No. 1, 2, 10, 11, and 12 of axis 1 are continuously executed as an example. (a) Block start data setting example [Da.11] [Da.12] [Da.13]...
Page 480 (4) Creating the program Example Set the block start data beforehand. Positioning start command <Pulse the positioning start command.> M104 M104 <Write the positioning data No. 7000 K1500 K7000 for block positioning.> K1501 <Write the positioning start point No.> <Turn ON the positioning start signal.> Y10: Positioning start signal X10: Start complete signal M104: Positioning start command pulse...
Page 481: Chapter 11 Manual Control
CHAPTER 11 MANUAL CONTROL CHAPTER 11 MANUAL CONTROL 11.1 Outline of Manual Control 11.1.1 Three manual control methods "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 three types of this "manual control"...
Page 482 (c) Manual pulse generator operation "Manual pulse generator operation" is a control method in which positioning is carried out in response to the No. of pulses input from a manual pulse generator (the No. of input pulses is output). This operation is used for manual fine adjustment, etc., when carrying out accurate positioning to obtain the positioning address.
Page 483: Jog Operation
CHAPTER 11 MANUAL CONTROL 11.2 JOG Operation 11.2.1 Outline of JOG operation Use the hardware stroke limit function when carrying out JOG operation near the upper or lower limits. ( Page 541, Section 12.4.4) If the hardware stroke limit function is not used, the workpiece may exceed the movement range, and an accident may result.
Page 484 (2) Precautions during operation • For safety, first set "[Cd.17] JOG speed" to a smaller value and check the movement. Then gradually increase the value. • The axis error "Outside JOG speed range" (error code: 300) will occur and the operation will not start if the "JOG speed"...
Page 485 CHAPTER 11 MANUAL CONTROL (4) JOG operation timing and processing time The following drawing shows details of the JOG operation timing and processing time. Forward run JOG start signal [Y8, YA, YC, YE] Reverse run JOG start signal [Y9, YB, YD, YF] BUSY signal [XC, XD, XE, XF] Md.
Page 486: Jog Operation Execution Procedure
11.2.2 JOG operation execution procedure The JOG operation is carried out by the following procedure. STEP 1 One of the following two methods can be used. Preparation Set the parameters. ( Pr.1 Pr.39 <Method 1> Directly set (write) the parameters in the LD75 using GX Works2.
Page 487: Setting The Required Parameters For Jog Operation
CHAPTER 11 MANUAL CONTROL 11.2.3 Setting the required parameters for JOG operation The "Parameters" must be set to carry out JOG operation. The following table shows the setting items of the required parameters for carrying out JOG operation. When only JOG operation will be carried out, no parameters other than those shown below need to be set.
Page 488: Creating Start Programs For Jog Operation
Remark ● Parameter settings work in common for all control using the LD75. When carrying out other controls ("major positioning control", "high-level positioning control", and "OPR positioning control"), the respective setting items must also be set. ● Parameters are set for each axis. ●...
Page 489 CHAPTER 11 MANUAL CONTROL (3) Start time chart Forward JOG operation Reverse JOG operation Forward run JOG start [Y8] signal Reverse run JOG start [Y9] signal PLC READY signal [Y0] LD75 READY signal [X0] BUSY signal [XC] Error detection signal [X8] (4) Creating the program —...
Page 490: Jog Operation Example
11.2.5 JOG operation example (1) When the "stop signal" is turned ON during JOG operation When the "stop signal" is turned ON during JOG operation, the JOG operation will stop by the "deceleration stop" method. The error "Stop signal ON at start" (error code: 106) will occur if the JOG start signal is turned ON while the stop signal is ON.
Page 491 CHAPTER 11 MANUAL CONTROL (2) 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"...
Page 492 (3) 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"...
Page 493: Inching Operation
CHAPTER 11 MANUAL CONTROL 11.3 Inching Operation 11.3.1 Outline of inching operation When the inching operation is carried out near the upper or lower limit, use the hardware stroke limit function. ( Page 541, Section 12.4.4) If the hardware stroke limit function is not used, the workpiece may exceed the movement range, and an accident may result.
Page 494 (2) Precautions during operation (a) Acceleration/deceleration processing during inching operation Acceleration/deceleration processing is not carried out during inching operation. (Pulses corresponding to the designated inching movement amount are output at 1.8ms. The movement direction of inching operation is reversed and, when backlash compensation is carried out, first pulses corresponding to the backlash amount are output at 1.8ms and then pulses corresponding to the designated inching movement amount are output in the next 1.8ms.) The "[Cd.17] JOG speed"...
Page 495 CHAPTER 11 MANUAL CONTROL (4) Inching operation timing and processing times The following drawing shows the details of the inching operation timing and processing time. Forward run JOG start signal [Y8,YA,YC,YE] Reverse run JOG start signal [Y9,YB,YD,YF] BUSY signal [XC,XD,XE,XF] Standing by Axis operation Standing by...
Page 496: Inching Operation Execution Procedure
11.3.2 Inching operation execution procedure The inching operation is carried out by the following procedure. STEP 1 One of the following two methods can be used. Preparation Set the parameters. ( Pr.1 Pr.31 <Method 1> Directly set (write) the parameters in the LD75 using GX Works2.
Page 497: Setting The Required Parameters For Inching Operation
CHAPTER 11 MANUAL CONTROL 11.3.3 Setting the required parameters for inching operation The "Parameters" must be set to carry out inching operation. The following table shows the setting items of the required parameters for carrying out inching operation. When only inching operation will be carried out, no parameters other than those shown below need to be set.
Page 498: Creating A Program To Enable/Disable The Inching Operation
11.3.4 Creating a program to enable/disable the inching operation A program must be created to execute an inching operation. Consider the "required control data setting", "start conditions", and "start time chart" when creating the program. The following shows an example when an inching operation is started for axis 1. (The example shows the inching operation when a "10.0m"...
Page 499 CHAPTER 11 MANUAL CONTROL (3) Start time chart Forward run inching operation Reverse run inching operation Forward run JOG start [Y8] signal Reverse run JOG start [Y9] signal PLC READY signal [Y0] LD75 READY signal [X0] BUSY signal [XC] Error detection signal [X8] Positioning complete [X14]...
Page 500: Inching Operation Example
11.3.5 Inching operation example (1) When executing inching operation while stop signal is turned ON: The error "Stop signal ON at start" (error code: 106) will occur if the JOG start signal is turned ON while the stop signal is ON. The operation can be started by turning the stop signal OFF, and turning the JOG start signal from OFF to ON again.
Page 501: Manual Pulse Generator Operation
CHAPTER 11 MANUAL CONTROL 11.4 Manual Pulse Generator Operation 11.4.1 Outline of manual pulse generator operation Create the program so that "[Cd.21] 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"...
Page 502 (3) Precautions during operation The following details must be understood before carrying out manual pulse generator operation. • The speed during manual pulse generator operation is not limited by the "[Pr.8] Speed limit value". • If the "[Cd.21] Manual pulse generator enable flag" is turned ON while the LD75 is BUSY (BUSY signal ON), the warning "Start during operation"...
Page 503 CHAPTER 11 MANUAL CONTROL (5) Manual pulse generator operation timing and processing time The following drawing shows details of the manual pulse generator operation timing and processing time. Cd. 21 Manual pulse generator enable flag Manual pulse generator input pulses BUSY signal [XC,XD,XE,XF] Start complete signal...
Page 504 (7) Speed control by manual pulse generation operation The speed during positioning control by manual pulse generator operation is a speed corresponding to the No. of input pulses per unit time, and can be obtained using the following equation. Output command frequency = Input frequency  [Cd.20] Manual pulse generator 1 pulse input magnification...
Page 505: Manual Pulse Generator Operation Execution Procedure
CHAPTER 11 MANUAL CONTROL 11.4.2 Manual pulse generator operation execution procedure The manual pulse generator operation is carried out by the following procedure. One of the following two methods can be used. STEP 1 Preparation Set the parameters ( Pr.1 Pr.24 <Method 1>...
Page 506: Setting The Required Parameters For Manual Pulse Generator Operation
11.4.3 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.
Page 507: Creating A Program To Enable/Disable The Manual Pulse Generator Operation
CHAPTER 11 MANUAL CONTROL 11.4.4 Creating a program to enable/disable the manual pulse generator operation A program must be created to execute a manual pulse generator operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a manual pulse generator operation is started for axis 1.
Page 508 (3) Start time chart (4) Creating the program — á Example No.13 Manual pulse generator operation program <Pulsate manual pulse generator operation command> <Set manual pulse generator input scale per pulse> <Write manual pulse generator operation enable> <Write data for manual pulse generator> <Turn ON manual pulse generator operating flag>...
Page 509: Chapter 12 Control Sub Functions
CHAPTER 12 CONTROL SUB FUNCTIONS CHAPTER 12 CONTROL SUB FUNCTIONS 12.1 Outline of Sub Functions "Sub functions" are functions that compensate, limit, add functions, etc., to the control when the main functions are executed. These sub functions are executed by parameter settings, commands from GX Works2, sub function programs, etc.
Page 510: Outline Of Sub Functions
12.1.1 Outline of sub functions The following table shows the types of sub functions available. Sub function Details This function retries the machine OPR with the upper/lower limit switches during machine OPR. OPR retry function This allows machine OPR to be carried out even if the axis is not returned to before the near- Sub functions point dog with JOG operation, etc.
Page 511 An I/O module (or general-purpose I/O function of LCPU) with arbitrary number of points and "the drive unit capable of configuring an absolute position detection system, which is a Mitsubishi Electric General-Purpose AC Servo and has an absolute position detection function (absolute position data transference protocol) equivalent to that of MR-J3-A," are...
Page 512: Sub Functions Specifically For Machine Opr
12.2 Sub Functions Specifically for Machine OPR The sub functions specifically for machine OPR include the "OPR retry function" and "OP shift function". Each function is executed by parameter setting. 12.2.1 OPR retry function When the workpiece goes past the OP without stopping during positioning control, it may not move back in the direction of the OP although a machine OPR is commanded, depending on the workpiece position.
Page 513 CHAPTER 12 CONTROL SUB FUNCTIONS Machine OPR completion Limit signal OFF Near-point dog Zero signal...
Page 514 (b) OPR retry operation when the workpiece is outside the range between the upper/lower limits. The OPR retry operations below are examples where "[Pr.44] OPR direction" is set to "0: Positive direction". • When the direction from the workpiece to the OP is the same as the "[Pr.44] OPR direction", a normal machine OPR is carried out.
Page 515 CHAPTER 12 CONTROL SUB FUNCTIONS (c) Setting the dwell time during an OPR retry The OPR retry function can perform such function as the dwell time using "[Pr.57] Dwell time at OPR retry" when the reverse run operation is carried out due to detection by the limit signal for upper/lower limits and when the machine OPR is executed after the near point dog is turned OFF to stop the operation.
Page 516 (3) Setting method To use the "OPR retry function", set the required details in the parameters shown in the following table, and write them to the LD75. When the parameters are set, the OPR retry function will be added to the machine OPR control. The set data is made valid on the rising edge (OFF to ON) of the PLC READY signal [Y0].
Page 517: Op Shift Function
CHAPTER 12 CONTROL SUB FUNCTIONS 12.2.2 OP shift function When a machine OPR is carried out, the OP is normally established using the near-point dog, stopper, and zero signal. However, by using the OP shift function, the machine can be moved a designated movement amount from the position where the zero signal was detected.
Page 518 (3) Movement speed during OP shift When using the OP shift function, the movement speed during the OP shift is set in "[Pr.56] Speed designation during OP shift". The movement speed during the OP shift is selected from either the "[Pr.46] OPR speed" or the "[Pr.47] Creep speed".
Page 519 CHAPTER 12 CONTROL SUB FUNCTIONS (4) Control precautions (a) The following data are set after the OP shift amount is complete. • OPR complete flag ("[Md.31] Status: b4) • [Md.20] Current feed value • [Md.21] Machine feed value • [Md.26] Axis operation status OPR request flag ([Md.31] Status: b3) is reset after completion of the OP shift.
Page 520: Functions For Compensating The Control
12.3 Functions for Compensating the Control The sub functions for compensating the control include the "backlash compensation function", "electronic gear function", "near pass function" and "Output timing selection of near pass control". Each function is executed by parameter setting or program creation and writing. 12.3.1 Backlash compensation function The "backlash compensation function"...
Page 521 CHAPTER 12 CONTROL SUB FUNCTIONS (3) Setting method To use the "backlash compensation function", set the "backlash compensation amount" in the parameter shown in the following table, and write it to the LD75. The set data is made valid on the rising edge (OFF to ON) of the PLC READY signal [Y0]. Setting Factory-set initial Setting item...
Page 522: Electronic Gear Function
12.3.2 Electronic gear function The "electronic gear function" adjusts the pulses calculated and output according to the parameters set in the LD75 with the actual machine movement amount. The "electronic gear function" has the following four functions. The function converts the command value (speed, movement amount from the start point to the end point), which is set in mm units, to pulse units, and determines the pulse frequency and number of the command pulse.
Page 523 CHAPTER 12 CONTROL SUB FUNCTIONS (1) Movement amount per pulse "[Pr.2] No. of pulses per rotation (Ap)", "[Pr.3] Movement amount per rotation (Al)", and "[Pr.4] Unit magnification (Am)" are the items for determining how many rotations (equivalent to how many pulses) a motor should operate to move a machine for movement amount set in a program.
Page 524 (a) Setting range of Ap, Al, Am Determined setting ranges are available for Ap, Al, and Am. The following shows the setting ranges. Setting item Setting range [Pr.2] No. of pulses per rotation (Ap) 1 to 65535 10 m 10 inch [Pr.3] Movement amount per rotation (Al)
Page 525 CHAPTER 12 CONTROL SUB FUNCTIONS (b) Procedure Set the "command movement amount (L)", and carry out positioning. (Set the "movement amount per pulse (A)" according to List of Parameters ( Page 118, Section 5.2).) After positioning, measure the "actual movement amount (L')". Calculate the "error compensation amount".
Page 526 (3) Control precautions If values less than one pulse are generated by converting the movement amount from the start point to the end point to pulse units with the electronic gear function, the values are not output and the machine stops at the front side of the positioning direction.
Page 527: Near Pass Function
CHAPTER 12 CONTROL SUB FUNCTIONS 12.3.3 Near pass function When continuous pass control is carried out using interpolation control, the near pass function is carried out. The "near pass function" is a function to suppress the mechanical vibration occurring at the time of switching the positioning data when continuous pass control is carried out using interpolation control.
Page 528 (2) Control precautions • If the movement amount designated by the positioning data is small when the continuous path control is executed, the output speed may not reach the designated speed. • The movement direction is not checked during interpolation operation. Therefore, a deceleration stops are not carried out even the movement direction changes.
Page 529: Output Timing Selection Of Near Pass Control
CHAPTER 12 CONTROL SUB FUNCTIONS 12.3.4 Output timing selection of near pass control The function "output timing selection of near pass control" allows the user to select the timing to output the difference (l) between the actual and the set positioning end addresses in continuous path control, in which the difference (l) is output during the execution of the next positioning data.
Page 530 The following drawing shows the operation of the function "output timing selection of near pass control". [Acceleration and deceleration as in a setting] Positioning data Positioning data Speed No.1 No.2 Distance Time Less than 0.9ms [Actual acceleration and deceleration through the near pass function] Speed Positioning data Positioning data...
Page 531 CHAPTER 12 CONTROL SUB FUNCTIONS (2) Control precautions When command speed V1 and V2 are in the condition 1) or 2) below, the command output is that of "At constant speed" even though "At deceleration" was selected. 1) When "V1  V2" 2) When "(Speed value converted from distance l) ...
Page 532: Functions To Limit The Control
12.4 Functions to Limit the Control 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 program creation and writing. 12.4.1 Speed limit function The "speed limit function"...
Page 533 CHAPTER 12 CONTROL SUB FUNCTIONS (2) Control precautions • If any axis exceeds "[Pr.8] Speed limit value" during 2- to 4-axis speed control, the axis in excess of the speed limit value is controlled at the speed limit value. For the other axes which perform interpolation, the speed can be suppressed by the ratio of a command speed.
Page 534: Torque Limit Function
12.4.2 Torque limit function 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.
Page 535 CHAPTER 12 CONTROL SUB FUNCTIONS (2) Relation between the torque limit function and various controls The following table shows the relation of the "torque limit function" and various controls. : Set according to requirements, : Setting not required Torque limit Control type Torque limit value function...
Page 536 (4) Control precautions • When limiting the torque at the "[Pr.17] Torque limit setting value", confirm that "[Cd.22] New torque value" is set to "0". If this parameter is set to a value besides "0", the "[Cd.22] New torque value" will be validated, and the torque will be limited at that value.
Page 537: Software Stroke Limit Function
CHAPTER 12 CONTROL SUB FUNCTIONS 12.4.3 Software stroke limit function In the "software stroke limit function" the address established by a machine OPR is used to set the upper/lower limits of the moveable range of the workpiece. Movement commands issued to addresses outside that setting range will not be executed.
Page 538 [Current value changing] When the current value is changed by a new current value command from 2000 to 1000, the current value will change to 1000, but the machine feed value will stay the same at 2000. • When the machine feed value is set at the limit, the machine feed value of 5000 (current feed value: 4000) becomes the upper stroke limit.
Page 539 CHAPTER 12 CONTROL SUB FUNCTIONS (3) Relation between the software stroke limit function and various controls : Check valid, : Limited during speed control , : Valid only when a certain setting is configured , : Check not carried out Control type Limit check Processing at check...
Page 540 (4) Precautions during software stroke limit check • A machine OPR must be executed beforehand for the "software stroke limit function" to function properly. • During interpolation control, a stroke limit check is carried out for the every current value of both the reference axis and the interpolation axis.
Page 541 CHAPTER 12 CONTROL SUB FUNCTIONS • If an error is detected during continuous path control, the axis stops immediately on completion of execution of the positioning data located right before the positioning data in error. 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.
Page 542 (6) Invalidating the software stroke limit To invalidate the software stroke limit, set the following parameters as shown, and write them to the LD75. (Set the value within the setting range.) [Pr.12] Software stroke limit upper limit value = [Pr.13] Software stroke limit lower limit value To invalidate only the manual operation, set "0: software stroke limit invalid"...
Page 543: Hardware Stroke Limit Function
CHAPTER 12 CONTROL SUB FUNCTIONS 12.4.4 Hardware stroke limit function WARNING ● When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic using b- contact. If it is set in positive logic using a-contact, a serious accident may occur. 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.
Page 544 (2) Wiring the hardware stroke limit When using the hardware stroke limit function, wire the terminals of the LD75 upper/lower limit stroke limit as shown in the following drawing. (When "[Pr.22] Input signal logic selection" is set to the initial value) LD75 24VDC Connect the upper/lower limit switches to the directions of increasing and decreasing current feed values respectively.
Page 545: Functions To Change The Control Details
CHAPTER 12 CONTROL SUB FUNCTIONS 12.5 Functions to Change the Control Details 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 program creation and writing. Both the "speed change function"...
Page 546 (2) Control precautions (a) Control is carried out as follows at the speed change during continuous path control. • When no speed designation (current speed) is provided in the next positioning data [a], the next positioning data is controlled at the "[Cd.14] New speed value". •...
Page 547 CHAPTER 12 CONTROL SUB FUNCTIONS (d) A warning "Deceleration/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.8] Speed limit value"...
Page 548 (3) Setting the speed change function from the CPU module The following shows the data settings and program example for changing the control speed of axis 1 from the CPU module. (In this example, the control speed is changed to "20.00mm/min".) (a) Set the following data.
Page 549 CHAPTER 12 CONTROL SUB FUNCTIONS (c) Add the following program to the control program, and write it to the CPU module. — Example No.14 Speed change program <Pulsate speed change command> <Hold speed change command> <Set speed change value (20.00mm/min)> <Set speed change request>...
Page 550 (4) Setting the speed change function using an external command signal The speed can also be changed using an "external command signal". The following shows the data settings and program example for changing the control speed of axis 1 using an "external command signal".
Page 551 CHAPTER 12 CONTROL SUB FUNCTIONS (c) Add the following program to the control program, and write it to the CPU module. Example Write 1000000 to D108 and D109. External command valid signal [Speed change processing] DTOP K1514 D108 Write the new speed. Set the external command function selection to external speed change request.
Page 552: Override Function
12.5.2 Override function The "override function" changes the command speed by a designated percentage (1 to 300%) for all control to be executed. The speed can be changed by setting the percentage (%) by which the speed is changed in "[Cd.13] Positioning operation speed override".
Page 553 CHAPTER 12 CONTROL SUB FUNCTIONS (2) Control precautions • When changing the speed by the "override function" during continuous path control, the speed change will be ignored if there is not enough distance remaining to carry out the change. • A warning "Deceleration/stop speed change (warning code: 500)" occurs and the speed cannot be changed by the "override function"...
Page 554 (b) The following shows a time chart for changing the speed using the override function. Dwell time Positioning start signal [Y10] PLC READY signal [Y0] LD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC] Positioning complete [X14] signal Error detection signal [X8] Cd.13...
Page 555: Acceleration/Deceleration Time Change Function
CHAPTER 12 CONTROL SUB FUNCTIONS 12.5.3 Acceleration/deceleration time change function The "acceleration/deceleration time change function" is used to change the acceleration/deceleration time during a speed change to a random value when carrying out the speed change by the "speed change function" and "override function".
Page 556 (2) Control precautions • When "0" is set in "[Cd.10] New acceleration time value" and "[Cd.11] New deceleration time value", the acceleration/deceleration time will not be changed even if the speed is changed. In this case, the operation will be controlled at the acceleration/deceleration time previously set in the parameters. •...
Page 557 CHAPTER 12 CONTROL SUB FUNCTIONS • 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.
Page 558 Example No.16 Acceleration/deceleration time change program <Pulsate acceleration/deceleration time change command> <Set 2000ms for acceleration time> <Set 0 (not change) for deceleration time> <Acceleration/deceleration time change enable setting> <Write acceleration/deceleration time change enable> <Write acceleration/deceleration time change disable>...
Page 559: Torque Change Function
CHAPTER 12 CONTROL SUB FUNCTIONS 12.5.4 Torque change function 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.17 Torque limit setting value" that was previously set in the parameters.
Page 560 (2) Control precautions • If a value besides "0" is set in the "[Cd.22] 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.17 Torque limit setting value", set the "[Cd.22] New torque value"...
Page 561: Target Position Change Function
CHAPTER 12 CONTROL SUB FUNCTIONS 12.5.5 Target position change function The "target position change function" is a function to change a target position during the position control (1-axis linear control) to a newly designated target position at any timing. A command speed can also be changed simultaneously. The target position and command speed changed are set directly in the buffer memory, and the target position change is executed by turning ON "[Cd.29] Target position change request flag".
Page 562 (2) Control precautions (a) If the positioning movement direction from the stop position to a new target position is reversed, stop the operation once and then position to the new target position. (b) If a command speed exceeding the speed limit value is set to change the command speed, the warning "Speed limit value over"...
Page 563 CHAPTER 12 CONTROL SUB FUNCTIONS (3) Setting method The following table and chart show the example of a data setting and program used to change the target position of the axis 1 by the command from CPU module, respectively." (Example in which the target position value and command speed are changed to a new target position of "300.0m"...
Page 564 (c) The following program is added to the control program, and written to the CPU module. Example No.21 Target position change program <Pulsate target position change command> <Hold target position change command> <Set target position change value 300.0 m (address)> <Set target speed 10000.00mm/min>...
Page 565: Absolute Position Restoration Function
CHAPTER 12 CONTROL SUB FUNCTIONS 12.6 Absolute Position Restoration Function CAUTION ● An absolute position restoration by the positioning function may turn off the servo-on signal (servo off) for approximately 60ms + scan time, and the motor may run unexpectedly. If this causes a problem, provide an electromagnetic brake to lock the motor during absolute position restoration.
Page 566 Prepare the absolute position detection system taking care of the following. Component Details • Use a Mitsubishi Electric General-Purpose AC Servo which has an absolute position detection function (absolute position data transference protocol) equivalent to that of MR-J3-A). 1) Servo amplifier •...
Page 567 CHAPTER 12 CONTROL SUB FUNCTIONS (3) Absolute position signal transmission procedure • The figure below shows the outline of the absolute position signal transmission procedure between the servo amplifier and the programmable controller system (CPU module, LD75, I/O module). Refer to the operation manual of the servo amplifier for details on the communication between the servo amplifier and the programmable controller system.
Page 568 • Connection example The following diagram shows the example of connection between the programmable controller system and the Mitsubishi Electric servo amplifier (MR-J3-A). <Servo amplifier> <Programmable controller system> LCPU MR-J3-A LD75 ABS transmission data bit 0 0(X47) 16 points input module...
Page 569 CHAPTER 12 CONTROL SUB FUNCTIONS • The following drawing shows an operation when data is transferred to the servo amplifier. "ABRST " is executed continuously until "S+4" becomes 0. ABRST Values other than 0 (the phase numbers of absolute position restoration) is S+4 (Status) stored after the process starts.
Page 570 The servo amplifier turns ON the ABS transmission data ready (ABST) and prepares for the next transmission. After that, procedures 3. to 6. are repeated until the data corresponding to 32bits and the checksum corresponding to 6bits are sent. After the sum check, the LD75 turns OFF the ABS transfer mode (ABSM). If the ABS transfer mode (ABSM) is turned OFF during the data transmission, the ABS transfer mode will be interrupted.
Page 571 CHAPTER 12 CONTROL SUB FUNCTIONS (c) Calculation of positioning address and concept of absolute position detection system Use the following expression to calculate the positioning address. (Positioning address) = (Movement amount per pulse)  (Number of output pulses) + (OP address)  Expression 1 (d) Concept for the unit of mm, inch or pulse The range which satisfies Conditions 1 and 2 can be used as the positioning address of the absolute position...
Page 572 • Using Expression 1, calculate the positioning address which can be specified in the system where the OP address in Example 1 is 214740000.0 (m). Lower limit value of positioning address  (Positioning address) = 0.1  (-268435456) + 214740000.0 = 187896454.4 (m) Upper limit value of positioning address ...
Page 573 CHAPTER 12 CONTROL SUB FUNCTIONS • There are the following conditions to calculate the positioning address: Movement amount per pulse: 0.9 (m)  OP address: 0.0 (m)  Feedback pulses = 8192 (pulse)  • Calculate the positioning address from the output pulse count using range in Condition 1 and the positioning address calculation expression (Expression 1).
Page 574: Other Functions
12.7 Other Functions Other functions include the "step function", "skip function", "M code output function", "teaching function", "command in- position function", "acceleration/deceleration processing function", "pre-reading start function", "deceleration start flag function" and "stop command processing for deceleration stop function". Each function is executed by parameter setting or program creation and writing.
Page 575 CHAPTER 12 CONTROL SUB FUNCTIONS (2) Step mode In step operations, the timing for stopping the control can be set. This is called the "step mode". (The "step mode" is set in the control data "[Cd.34] Step mode".) The following shows the two types of "step mode" functions. (a) Deceleration unit step The operation stops at positioning data requiring automatic deceleration.
Page 576 (4) Using the step operation The following shows the procedure for checking positioning data using the step operation. Start Turn ON the step valid flag. Write "1" (carry out step operation) in " Cd.35 Step valid flag". Set the step mode. Set in "...
Page 577 CHAPTER 12 CONTROL SUB FUNCTIONS (5) Control details • The following drawing shows a step operation during a "deceleration unit step". Step valid flag Cd.35 Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] Positioning complete signal [X14,X15,X16,X17] Dwell time Positioning No.10 No.11 Positioning data No.
Page 578 (7) Setting method To use the "step function", write the data shown in the following table to the LD75 using the program. Refer to  Page 574, Section 12.7.1 (4) for the timing of the settings. The set details are validated when written to the LD75. Buffer memory address Setting item Setting value...
Page 579: Skip Function
CHAPTER 12 CONTROL SUB FUNCTIONS 12.7.2 Skip function 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.37] Skip command) or external command signal. The "skip function"...
Page 580 (3) Setting the skip function from the CPU module The following shows the settings and program example for skipping the control being executed in axis 1 with a command from the CPU module. Set the following data. (The setting is carried out using the program shown below in section 2.). Buffer memory address Setting item Setting value...
Page 581 CHAPTER 12 CONTROL SUB FUNCTIONS (4) Setting the skip function using an external command signal The skip function can also be executed using an "external command signal". The following shows the settings and program example for skipping the control being executed in axis 1 using an "external command signal".
Page 582: M Code Output Function
12.7.3 M code output function The "M code output function" is used to command sub work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal [X4, X5, X6, X7] is turned ON during positioning execution, a No. called the M code is stored in "[Md.25] Valid M code".
Page 583 CHAPTER 12 CONTROL SUB FUNCTIONS (b) AFTER mode The M code ON signal [X4, X5, X6, X7] is turned ON at the positioning completion, and the M code is stored in "[Md.25] Valid M code". Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal...
Page 584 (2) M code OFF request When the M code ON signal [X4, X5, X6, X7] is ON, it must be turned OFF by the program. To turn OFF the M code ON signal, set "1" (turn OFF the M code signal) in "[Cd.7] M code OFF request". Buffer memory address Setting item Setting value...
Page 585 CHAPTER 12 CONTROL SUB FUNCTIONS (3) Control precautions • During interpolation control, the reference axis M code ON signal is turned ON. • The M code ON signal will not turn ON if "0" is set in "[Da.10] M code". (The M code will not be output, and the previously output value will be held in "[Md.25] Valid M code".) •...
Page 586 (4) Setting method (a) To specify the M code ON signal output timing for each positioning data Use "[Da.27] M code ON signal output timing". The following shows the settings to use "[Da.27] M code ON signal output timing". • Set the M code No. in the positioning data "[Da.10] M code". •...
Page 587 CHAPTER 12 CONTROL SUB FUNCTIONS (5) Reading M codes "M codes" are stored in the following buffer memory when the M code ON signal turns ON. Buffer memory address Monitor Monitor item Storage details value Axis 1 Axis 2 Axis 3 Axis 4 The M code No.
Page 588: Teaching Function
12.7.4 Teaching function The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation, and manual pulse generator operation) in the positioning data addresses ("[Da.6] Positioning address/movement amount", "[Da.7] Arc address"). The details shown below explain about the "teaching function". •...
Page 589 CHAPTER 12 CONTROL SUB FUNCTIONS (3) Data used in teaching The following control data is used in teaching. Buffer memory address Setting Setting item Setting details value Axis 1 Axis 2 Axis 3 Axis 4 Flash ROM write Write the set details to the flash ROM (backup the changed [Cd.1] 1900 request...
Page 590 (4) Teaching procedure The following shows the procedure for a teaching operation. (a) Example of the teaching on axis 1 When teaching to the "[Da.6] Positioning address/movement amount" Start Perform machine OPR on axis 1 Move the workpiece to the target position using a manual Using a JOG operation, inching operation, or manual pulse generator.
Page 591 CHAPTER 12 CONTROL SUB FUNCTIONS (b) Example of the teaching for 2-axis circular interpolation control with sub point designation on axes 1 and 2 The following procedure is for entering teaching data into "[Da.7] Arc address" and then into "[Da.6] Positioning address/movement amount".
Page 592 Teaching arc end point address on Entering teaching data to buffer memory address [1648] and [1649], axis 2. in the same fashion as for axis 1. End teaching? Turn OFF the PLC READY signal [Y0]. Carry out a writing request to the flash Set 1 in buffer memory address [1900].
Page 593 CHAPTER 12 CONTROL SUB FUNCTIONS (5) Teaching program example The following shows a program example for setting (writing) the positioning data obtained with the teaching function to the LD75. (a) Setting conditions • When setting the current feed value as the positioning address, write it when the BUSY signal is OFF. (b) Program example •...
Page 594 Carry out the teaching operation with the following program. Example No.19 Teaching program Position to the target position with manual operation. Pulsate teaching command Hold teaching command Set teaching data Set positioning data No. Execute teaching Turn OFF teaching command memory ●...
Page 595: Command In-Position Function
CHAPTER 12 CONTROL SUB FUNCTIONS 12.7.5 Command in-position function The "command in-position function" checks the remaining distance to the stop position during the automatic deceleration of positioning control, and set a flag to 1. 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.
Page 596 (2) Control precautions (a) A command in-position width check will not be carried out in the following cases. • During speed control • During speed control in speed-position switching control • During speed control in position-speed switching control Command in-position width setting value Speed to position switching Speed-position...
Page 597 CHAPTER 12 CONTROL SUB FUNCTIONS (3) Setting method To use the "command in-position function", set the required value in the parameter shown in the following table, and write it to the LD75. The set data is made valid on the rising edge (OFF to ON) of the PLC READY signal [Y0]. Setting item Setting value Setting details...
Page 598: Acceleration/Deceleration Processing Function
12.7.6 Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration of each control to the acceleration/deceleration curve suitable for devices. Setting the acceleration/deceleration time changes the slope of the acceleration/deceleration curve. The following two methods can be selected for the acceleration/deceleration curve: •...
Page 599 CHAPTER 12 CONTROL SUB FUNCTIONS (b) S-curve acceleration/deceleration processing method In this method, the motor burden is reduced during starting and stopping. This is a method in which acceleration/deceleration is carried out gradually, based on the acceleration time, deceleration time, speed limit value, and "[Pr.35] S-curve ratio" (1 to 100%) set by the user. When the stepping motor is used, the acceleration around the inflection point on the s shape is faster compared with the trapezoidal acceleration/deceleration.
Page 600: Pre-Reading Start Function
12.7.7 Pre-reading start function The "pre-reading start function" does not output pulses while the execution prohibition flag is ON if a positioning start request is given with the execution prohibition flag ON, and starts outputting pulses within 1.3ms after OFF of the execution prohibition flag is detected.
Page 601 CHAPTER 12 CONTROL SUB FUNCTIONS The pre-reading start function is effective for the system as shown below. Cutter Cutter shaft Feed shaft Stock The figure above shows an example of the system which repeats: Feeding a stock with a feed shaft (); and Cutting it with a cutter () to cut the stock to fixed size.
Page 602 The cutter shaft starts from the moment the feed shaft has completed feeding the stock , and the feed shaft starts from the moment the cutter shaft has returned to the standby position . Actually, however, there is a delay of start time Ts (1.5 to 2.0ms) from when the LD75 receives a start request until it outputs pulses. The system's tact time can be reduced by the shortening of this delay with the Pre-reading start function.
Page 603 CHAPTER 12 CONTROL SUB FUNCTIONS (3) Program example Pre-reading start function (when positioning start signal Y10 is used) <Pre-reading start command pulse> <Sets 1 to positioning start No.> <Turns ON execution prohibition flag> <Turns ON positioning start signal> <Turns OFF execution prohibition flag> <Turns OFF positioning start signal>...
Page 604: Deceleration Start Flag Function
12.7.8 Deceleration start flag function The "deceleration start flag function" turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete". This function can be used as a signal to start the operation to be performed by other equipment at each end of position control or to perform preparatory operation, etc.
Page 605 CHAPTER 12 CONTROL SUB FUNCTIONS (b) Block start At a block start, this function is valid for only the position control whose operation pattern is "Positioning complete" at the point whose shape has been set to "End". The following table indicates the operation of the deceleration start flag in the case of the following block start data and positioning data.
Page 606 (2) Control precautions • The deceleration start flag function is valid for the control system of "1-axis linear control", "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "speed-position switching control" or "position-speed switching control". (In the case of linear interpolation control, the function is valid for only the reference axis.) Refer to ...
Page 607 CHAPTER 12 CONTROL SUB FUNCTIONS (3) Setting method To use the "deceleration start flag function", set "1" to the following control data using a program. The set data is made valid on the rising edge (OFF to ON) of the PLC READY signal [Y0]. Setting Setting item Setting details...
Page 608: Stop Command Processing For Deceleration Stop Function
12.7.9 Stop command processing for deceleration stop function The "stop command processing for deceleration stop function" is provided to set the deceleration curve if a stop cause occurs during deceleration stop processing (including automatic deceleration). This function is valid for both trapezoidal and S-curve acceleration/deceleration processing methods. (Refer to ...
Page 609 CHAPTER 12 CONTROL SUB FUNCTIONS (b) Deceleration curve continuation The current deceleration curve is continued after a stop cause has occurred. If a stop cause occurs during automatic deceleration of position control, the deceleration stop processing may be complete before the target has reached the positioning address specified in the positioning data that is currently executed.
Page 610 (3) Setting method To use the "stop command processing for deceleration stop function", set the following control data in a program. The set data are made valid as soon as they are written to the buffer memory. The PLC READY signal [Y0] is irrelevant.
Page 611: Chapter 13 Common Functions
CHAPTER 13 COMMON FUNCTIONS CHAPTER 13 COMMON FUNCTIONS 13.1 Outline of Common Functions "Common functions" are executed according to the user's requirements, regardless of the control system, etc. These common functions are executed by GX Works2 or using programs. The following table shows the functions included in the "common functions". Means Common function Details...
Page 612: Parameter Initialization Function
13.2 Parameter Initialization Function The "parameter initialization function" is used to return the setting data set in the LD75 buffer memory and flash ROM to their factory-set initial values. The details shown below explain about the "parameter initialization function". • Parameter initialization means •...
Page 613 CHAPTER 13 COMMON FUNCTIONS (4) Parameter initialization method • Parameter initialization is carried out using the dedicated instruction "ZP.PINIT". (Refer to  Page 619, CHAPTER 14 for details.) • Parameter initialization can also be carried out by the writing of the data shown in the table below to the buffer memory using the TO instruction /intelligent function device.
Page 614: Execution Data Backup Function
13.3 Execution Data Backup Function When the LD75 buffer memory data is rewritten from the CPU module, "the data backed up in the LD75 flash ROM" may differ from "the data (buffer memory data) for which control is being executed". In cases like these, the data being executed will be lost when the programmable controller power is turned OFF.
Page 615 CHAPTER 13 COMMON FUNCTIONS (4) Execution data backup method • Execution data backup (writing to the flash ROM) is carried out using the dedicated instruction "ZP.PFWRT". (Refer to  Page 619, CHAPTER 14 for details.) • Refer to  Page 308, Section 7.2 for the data transmission processing at the backup of the execution data.
Page 616: External I/O Signal Logic Switching Function
13.4 External I/O Signal Logic Switching Function This function switches the signal logic according to the external equipment connected to the LD75. For the system in which drive unit READY with b-contact, upper limit switch, and lower limit switch are not used, the parameter logic setting can be controlled without wiring if it is changed to a "positive logic".
Page 617: External I/O Signal Monitor Function
CHAPTER 13 COMMON FUNCTIONS 13.5 External I/O Signal Monitor Function The "external I/O signal monitor function" monitors the module's information and external I/O signal statuses in the module's detailed information which can be displayed on the system monitor of GX Works2. The information that can be monitored are the module's information (same as the LD75 front "RUN", "ERR"...
Page 618: History Monitor Function
13.6 History Monitor Function This function monitors starting history, error history, and warning history stored in the buffer memory of LD75 during operation. (1) Starting history Sixteen starting history logs of operations such as positioning operation, JOG operation, and manual pulse generator operation can be monitored.
Page 619 CHAPTER 13 COMMON FUNCTIONS (2) Error history, warning history Sixteen error history logs and sixteen warning history logs can be monitored. When the number of logs exceeds 16, the latest log overwrites the oldest log so that the latest 16 logs can be monitored all the time. To monitor the error history and warning history, register the LD75 to the "Intelligent Function Module Monitor Window".
Page 620: Module Error Collection Function
13.7 Module Error Collection Function This function collects errors and alarms occurred in the LD75 in the CPU module. Those errors and alarms are stored in a memory (latch area) of the CPU module as module error logs. The stored error logs are retained even when the CPU module is powered off or reset.
Page 621: Chapter 14 Dedicated Instructions
CHAPTER 14 DEDICATED INSTRUCTIONS CHAPTER 14 DEDICATED INSTRUCTIONS 14.1 List of Dedicated Instructions The dedicated instructions explained in this Chapter are listed in the following table. Dedicated Application Outline of functions Reference instruction Z.ABRST1 Z.ABRST2 Absolute position This function restores the absolute position of the designated axis of the Page 620, Section 14.3 restoration LD75.
Page 622: Z.abrst1, Z.abrst2, Z.abrst3, Z.abrst4
14.3 Z.ABRST1, Z.ABRST2, Z.ABRST3, Z.ABRST4 These dedicated instructions restore the absolute position of the designated axis. Usable device Link direct device Intelligent function Setting data Internal device Constant Index register J\ File register module Others U\G Word Word K, H ...
Page 623 CHAPTER 14 DEDICATED INSTRUCTIONS (2) Control data Device Item Setting data Setting range Setting side    (S)+0 System area The state at the time of completion is stored. 0: Normal completion  (S)+1 Complete status System Other than 0: Abnormal completion (error code) The following signal states taken in from the servo amplifier to the input module are written.
Page 624 (b) An I/O module is used for communication (data read/write) with the servo amplifier capable of processing the absolute positions. When using the Z.ABRST, prepare the input/output with the following number of points, for each axis, for communication with the servo amplifier. •...
Page 625 CHAPTER 14 DEDICATED INSTRUCTIONS (4) Errors (a) When a dedicated instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1). Check and take measures against the error referring to  Page 650, Section 15.5. (5) Precautions (a) After the absolute position detection system is configured, the absolute position restoration must be carried out at least once after the power is turned ON or reset.
Page 626 (6) Program example (a) Program to restore the absolute position of axis 1. The X47 to X49 and Y50 to Y52 are used for communication with the servo amplifier. X47: ABS data bit 0 X48: ABS data bit 1 X49: Transmission data READY flag Y50: Servo ON signal Y51: ABS transfer mode Y52: ABS request flag...
Page 627: Zp.pstrt1, Zp.pstrt2, Zp.pstrt3, Zp.pstrt4
CHAPTER 14 DEDICATED INSTRUCTIONS 14.4 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4 These dedicated instructions are used to start the positioning of the designated axis. Usable device Link direct device Intelligent function Setting data Internal device Constant Index register J\ File register module Others U\G...
Page 628 (2) Control data Device Item Setting data Setting range Setting side    (S)+0 System area The state at the time of completion is stored. • 0: Normal completion  (S)+1 Complete status System • Other than 0: Abnormal completion (error code) The following data Nos.
Page 629 CHAPTER 14 DEDICATED INSTRUCTIONS END processing END processing END processing END processing Program ZP.PSTRT instruction execution completion ZP.PSTRT instruction When Complete device completed abnormally When completed Complete state display normally device 1 scan (4) Errors (a) When an ZP.PSTRT instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1).
Page 630 (f) When the multiple axes simultaneous start is executed by ZP.PSTRT instruction, the completion device (D) will turn ON when the positioning of the axes executed by ZP.PSTRT instructions is completed. (When the instructions is ZP.PSTRT1, the axis will be axis 1.) (6) Program example The following program executes the positioning start of positioning data No.
Page 631: Zp.teach1, Zp.teach2, Zp.teach3, Zp.teach4
CHAPTER 14 DEDICATED INSTRUCTIONS 14.5 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4 This dedicated instruction is used to teach the designated axis. Usable device Link direct device Intelligent function Setting data Internal device Constant Index register J\ File register module Others U\G Word Word K, H ...
Page 632 (2) Control data Device Item Setting data Setting range Setting side    (S)+0 System area The state at the time of completion is stored. 0: Normal completion  (S)+1 Complete status System Other than 0: Abnormal completion (error code) The address (positioning address/arc address) to which the Teaching data current feed value is written is set.
Page 633 CHAPTER 14 DEDICATED INSTRUCTIONS END processing END processing END processing END processing Program ZP.TEACH instruction execution completion ZP.TEACH instruction When Complete device completed abnormally When completed Complete state display normally device 1 scan (4) Errors (a) When a ZP.TEACH instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status (S)+1.
Page 634 (6) Program example Program to execute the teaching of the positioning data No. 3 of the axis 1 when X39 is turned ON. (a) Teaching program Positioning is carried out for a target position by manual operation. Teaching command pulse Teaching command hold Teaching data setting Positioning data No.
Page 635: Zp.pfwrt
CHAPTER 14 DEDICATED INSTRUCTIONS 14.6 ZP.PFWRT These dedicated instructions are used to write the LD75 parameters, positioning data and block start data to the flash ROM. Usable device Link direct device Intelligent function Setting data Internal device Constant Index register J\...
Page 636 (3) Functions (a) The ZP.PFWRT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1). Complete device ((D)+0): This device is turned ON by the END processing of the scan for which ZP.PFWRT instruction is completed, and turned OFF by the next END processing. Complete state display device ((D)+1): This device is turned ON and OFF according to the state in which ZP.PFWRT instruction is completed.
Page 637 CHAPTER 14 DEDICATED INSTRUCTIONS (b) Writing to the flash ROM can be executed up to 100,000 times. If writing to the flash ROM exceeds 100,000 times, the writing may become impossible. (c) After the power ON and CPU module reset operation, writing to the flash ROM using a program is limited to up to 25 times.
Page 638 (6) Program example Program used to write the parameters and positioning data stored in the buffer memory to the flash ROM when X3D is turned ON. (a) Flash ROM write program Flash ROM write command pulse Flash ROM write command hold PLC READY output to LD75 standby Flash ROM write execution Flash ROM write command storage OFF...
Page 639: Zp.pinit
CHAPTER 14 DEDICATED INSTRUCTIONS 14.7 ZP.PINIT This dedicated instruction is used to initialize the setting data of the LD75. Usable device Link direct device Intelligent function Setting data Internal device Constant Index register J\ File register module Others U\G Word Word K, H ...
Page 640 (3) Functions (a) This dedicated instruction is used to return the setting data set in the LD75 buffer memory and flash ROM to their factory-set data (initial values). Initialized setting data Parameters ([Pr.1] to [Pr.57], [Pr.70], [Pr.150]) Positioning data (No. 1 to No. 600) Block start data (No.
Page 641 CHAPTER 14 DEDICATED INSTRUCTIONS (5) Precautions (a) The ZP.PINIT instruction can only be executed when the LD75 READY signal (X0) is turned OFF. When the LD75 READY signal is turned ON, the ZP.PINIT instruction cannot be executed. Before executing the ZP.PINIT instruction, turn OFF the PLC READY signal (Y0) and then turn OFF the LD75 READY signal.
Page 642: Chapter 15 Troubleshooting
CHAPTER 15 TROUBLESHOOTING 15.1 Checking Errors Using GX Works2 Error codes corresponding to the errors occurred in the LD75 can be checked either on the following screen of GX Works2. Select the screen according to the purpose and usage. • "Module's Detailed Information" screen. •...
Page 643 CHAPTER 15 TROUBLESHOOTING (2) Checking errors on the "Error History" screen. On the "Error History" screen, the error logs of the LD75 are displayed in a list together with the error logs of other modules. The logs can be output to a CSV format file. The error codes and the time of error occurrence can be checked even after the CPU module is powered off and then on or reset.
Page 644 (b) Error and Solution, Intelligent Module Information • Error and Solution: Details of the error selected in the "Error History List" and its corrective action are displayed. • Intelligent Module Information: The LD75 status when the error selected in the "Error History List" occurred is displayed.
Page 645: Checking Errors Using A Display Unit
CHAPTER 15 TROUBLESHOOTING (c) [Create CSV File] button The module error logs are output to a CSV format file. If errors frequently occur in the LD75, " HST.LOSS " (instead of an actual error code) may be displayed in the Error Code column.
Page 646: Troubleshooting
15.3 Troubleshooting (1) Troubleshooting using the LEDs Check items and corrective actions for troubleshooting using the indicator LEDs of the LD75 are described below. (a) When the RUN LED turns off Check item Action Is the power supplied? Check that the voltage supplied to the power supply module is within the rated range. Calculate the total current consumption of the connected modules (CPU module, I/O modules, and Is the power supply capacity sufficient? intelligent function modules) and check that the power supply capacity is not insufficient.
Page 647 CHAPTER 15 TROUBLESHOOTING (2) Troubleshooting when a motor does not rotate Check items and corrective actions for troubleshooting when a motor does not rotate are described below. The following signals must be ON for the LD75 to operate (excluding when the positioning test function of GX Works2 is used).
Page 648 (3) Troubleshooting when a motor does not rotate as intended. Check items and corrective actions for troubleshooting when a motor does not rotate as intended are described below. (a) When a motor rotates only in one direction Check item Action Check that the signal line of the pulse output (for axis 1, connector pin No.
Page 649: Error And Warning Details
CHAPTER 15 TROUBLESHOOTING 15.4 Error and Warning Details 15.4.1 Errors (1) Types of errors Errors detected by the LD75 include parameter setting range errors and errors at the operation start or during operation. (a) Parameter setting range errors The parameters are checked when the power is turned ON and at the rising edge (OFF  ON) of the PLC READY signal [Y0].
Page 650: Warnings
(2) 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.23] Axis error No.) for axis error No. storage. Axis No. Error detection signal Buffer memory address 1006...
Page 651: Resetting Errors And Warnings
CHAPTER 15 TROUBLESHOOTING (2) Warning storage When an axis warning occurs, the warning code corresponding to the warning details is stored in the following buffer memory ([Md.24] Axis warning No.) for axis warning No. storage. Axis No. Buffer memory address 1007 1107 When an axis warning occurs in a positioning operation, etc., "1"...
Page 652: List Of Errors
15.5 List of Errors The following table shows the error details and corrective actions to be taken when an error occurs. Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Description ...
Page 653 CHAPTER 15 TROUBLESHOOTING Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Description The upper limit signal (FLS) turned OFF during ■Action operation. Reset an axis error. ( Page 649, Section 15.4.3) ■Operation status at error occurrence The system stops with the setting (deceleration...
Page 654 Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action • Validate the OPR retry function (set value: 1). ( Page 510, Section 12.2.1) • Move the workpiece from the current position (on OP) using the manual control operation ■Description When the OPR retry invalid is set, the near-point...
Page 655 CHAPTER 15 TROUBLESHOOTING Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action • Calculate the movement distance using a speed limit, OPR speed, and deceleration time, and set the movement amount after near-point dog ON so that the distance becomes a deceleration distance or longer.
Page 656 Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action Bring the JOG speed into the setting range. ( Page 481, Section 11.2) ■Description ■Buffer memory address At the time of JOG starting, the JOG speed comes Axis 1: 1518, 1519 out of a specified range.
Page 657 CHAPTER 15 TROUBLESHOOTING Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action Normalize the positioning start No., positioning start data (in block start). ■Buffer memory address Axis 1: 1500 ■Description Axis 2: 1600 •...
Page 658 Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action • Correct the center point address (arc address). • Correct the end point address (positioning address). ■Buffer memory address Page 152, Section 5.3 ■Setting range Positioning address/movement amount...
Page 659 CHAPTER 15 TROUBLESHOOTING Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action At operation start: • Bring the current feed value into the software ■Description stroke limit using the manual control operation. •...
Page 660 Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action • Do not designate the "continuous path control" using the "current value changing". • Do not designate the "current value changing" using the positioning data following the positioning data that the "continuous path ■Description...
Page 661 CHAPTER 15 TROUBLESHOOTING Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Description The operation pattern set value is 2. ■Action ■Operation status at error occurrence Correct the operation pattern. ( Page 157, At start: The system will not operate.
Page 662 Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Description • In the interpolation control of the speed control, 4-axis linear interpolation control, or 4-axis fixed- feed control, the system is started while a ■Action composite speed is set in "Interpolation speed Set the "Interpolation speed designation method"...
Page 663 CHAPTER 15 TROUBLESHOOTING Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Description • The start point is equal to the end point in circular interpolation or helical interpolation with sub point designation.
Page 664 Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Description • The condition setting values are not set or outside the setting range. • The condition operator setting values are not set or outside the setting range.
Page 665 CHAPTER 15 TROUBLESHOOTING Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action Correct the positioning data. ( Page 391, ■Description The arc radius exceeds 536870912. Section 9.2.10, Page 395, Section 9.2.11) Outside radius range ■Operation status at error occurrence ■Buffer memory address...
Page 666 Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Description ■Action In the helical interpolation, the number of pitches Correct the number of pitches set in the set in the positioning data "M code" of the linear positioning data "M code"...
Page 667 CHAPTER 15 TROUBLESHOOTING Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action • When executing the Z.ABRST instruction, set the status to 0 ( Page 620, Section 14.3) •...
Page 668 Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON. ■Description ■Buffer memory address The set value of the basic parameter 1 "Unit Axis 1: 0...
Page 669 CHAPTER 15 TROUBLESHOOTING Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON. ■Description ■Buffer memory address The set value of the basic parameter 1 "Rotation...
Page 670 Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action Set the value converted into the pulse number using "the movement amount per pulse" to less ■Description than 256 pulses. ( Page 518, Section 12.3.1) The value converted into pulse number using the ■Buffer memory address Backlash compensation...
Page 671 CHAPTER 15 TROUBLESHOOTING Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON. ■Description The set value of the detailed parameter 1 ■Buffer memory address...
Page 672 Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action ■Description With the setting brought into the setting range, The set range of the detailed parameter 1 "Manual turn the PLC READY signal [Y0] from OFF to ON. Manual pulse generator pulse generator input selection"...
Page 673 CHAPTER 15 TROUBLESHOOTING Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Description ■Action The set value of the detailed parameter 2 With the setting brought into the setting range, "Deceleration time 1"...
Page 674 Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Description ■Action The set value of the detailed parameter 2 "JOG With the setting brought into the setting range, deceleration time selection setting" is outside the turn the PLC READY signal [Y0] from OFF to ON.
Page 675 CHAPTER 15 TROUBLESHOOTING Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Description ■Action The set value of the detailed parameter 2 "Stop With the setting brought into the setting range, group 2 sudden stop selection"...
Page 676 Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON. ■Description ■Buffer memory address The set value of the OPR basic parameter "OPR Axis 1: 71...
Page 677 CHAPTER 15 TROUBLESHOOTING Classification Error Action/Related buffer memory address/Set Error name Operation status at error occurrence of errors code range (Setting with program) ■Action With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON. ■Description The set value of the OPR detailed parameter ■Buffer memory address...
Page 678: List Of Warnings
15.6 List of Warnings The following table shows the warning details and remedies to be taken when a warning occurs. Classification Warning Action/Related buffer memory address/Set range Warning name Operation status at warning occurrence of warnings code (Setting with program) ■Description ...
Page 679 CHAPTER 15 TROUBLESHOOTING Classification Warning Action/Related buffer memory address/Set range Warning name Operation status at warning occurrence of warnings code (Setting with program) ■Action Issue a write request when PLC READY signal (Y0) is OFF. ■Description ■Buffer memory address The request for writing to the flash ROM is issued Common to axes 1 to 4: 1900, 1901 In PLC READY when the PLC READY is turned ON.
Page 680 Classification Warning Action/Related buffer memory address/Set range Warning name Operation status at warning occurrence of warnings code (Setting with program) ■Action Do not carry out the JOG speed change during deceleration with the JOG start signal OFF. ■Description ■Buffer memory address Axis 1: 1516 Speed change The speed change request is issued during...
Page 681 CHAPTER 15 TROUBLESHOOTING Classification Warning Action/Related buffer memory address/Set range Warning name Operation status at warning occurrence of warnings code (Setting with program) ■Action Set the new speed within the range of 0 to the speed limit value. ■Buffer memory address •...
Page 682 Classification Warning Action/Related buffer memory address/Set range Warning name Operation status at warning occurrence of warnings code (Setting with program) ■Description • At a continuous operation interrupt request, the distance required deceleration stop is not long enough. • At a speed change request, the remaining distance is shorter than the distance required for Insufficient speed change.
Page 683 CHAPTER 15 TROUBLESHOOTING Classification Warning Action/Related buffer memory address/Set range Warning name Operation status at warning occurrence of warnings code (Setting with program) ■Action Set the positioning data No. to within the setting ■Description The positioning data No. is set outside the setting range.
Page 684: Appendices
APPENDICES Appendix 1 Function Update Appendix 1.1 Function comparison This section describes the function comparison of the LD75 and an additional buffer memory area. (1) Function comparison Item First five digits of the LD75 serial number Reference Output timing selection of near pass control "14092"...
Page 685 APPENDICES Memo...
Page 686: Appendix 2 Format Sheets
Appendix 2 Format Sheets Appendix 2.1 Positioning module operation chart Axis address mm, inch, degree, pulse Axis address mm, inch, degree, pulse...
Page 687 APPENDICES Axis address mm, inch, degree, pulse Axis address mm, inch, degree, pulse...
Page 688: Appendix 2.2 Parameter Setting Value Entry Table
Appendix 2.2 Parameter setting value entry table (1) Basic parameters 1 (a) Setting range Setting range Item Initial value inch degree pulse [Pr.1] Unit setting [Pr.2] No. of pulses per 1 to 65535 pulse 20000 rotation 1 to 65535 1 to 65535 1 to 65535 [Pr.3] Movement amount 1 to 65535...
Page 689 APPENDICES (3) Detailed parameters 1 (a) Setting range Setting range Item Initial value inch degree pulse 0 to 65535 0 to 65535 0 to 65535 [Pr.11] Backlash 0 to 65535 compensation amount pulse 10 m 10 10 inch degree [Pr.12] Software stroke 2147483647 -2147483648 to -2147483648 to...
Page 690 (b) Setting Setting value Item Remarks Axis 1 Axis 2 Axis 3 Axis 4 [Pr.11] Backlash compensation amount [Pr.12] Software stroke limit upper limit value [Pr.13] Software stroke limit lower limit value [Pr.14] Software stroke limit selection [Pr.15] Software stroke limit valid/invalid setting [Pr.16] Command in- position width...
Page 691 APPENDICES (4) Detailed parameters 2 (a) Setting range Setting range Item Initial value inch degree pulse [Pr.25] Acceleration time 1 1000 [Pr.26] Acceleration time 2 1000 [Pr.27] Acceleration time 3 1000 1 to 8388608ms [Pr.28] Deceleration time 1 1000 [Pr.29] Deceleration time 2 1000 [Pr.30] Deceleration time 3 1000...
Page 692 (b) Setting Setting value Item Remarks Axis 1 Axis 2 Axis 3 Axis 4 [Pr.25] Acceleration time 1 [Pr.26] Acceleration time 2 [Pr.27] Acceleration time 3 [Pr.28] Deceleration time 1 [Pr.29] Deceleration time 2 [Pr.30] Deceleration time 3 [Pr.31] JOG speed limit value [Pr.32] JOG operation acceleration time selection...
Page 693 APPENDICES (5) OPR basic parameters (a) Setting range Setting range Item Initial value inch degree pulse 0: Near-point dog method 1: Stopper method 1) (By dwell time elapse) 2: Stopper method 2) (By OP signal when stopper is hit) [Pr.43] OPR method 3: Stopper method 3) (Without near-point dog method) 4: Count method 1) (Use zero signal) 5: Count method 2) (Do not use zero signal)
Page 694 (6) OPR detailed parameters (a) Setting range Setting range Item Initial value inch degree pulse [Pr.49] OPR dwell time 0 to 65535ms [Pr.50] Setting for the 0 to 2147483647 0 to 2147483647 0 to 2147483647 0 to 2147483647 movement amount after 10 m 10...
Page 695: Appendix 3 Positioning Data (No.1 To 600) List Of Buffer Memory Addresses
APPENDICES Appendix 3 Positioning Data (No.1 to 600) List of Buffer Memory Addresses (1) For axis 1 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time identi- code time...
Page 696 Posi- Command Positioning Posi- Command Positioning Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order order...
Page 697 APPENDICES Command Positioning Command Positioning Posi- Posi- Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low- High- fier fier order order...
Page 698 Command Positioning Command Positioning Posi- Posi- Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low- High- fier order order order order...
Page 699 APPENDICES Posi- Command Positioning Posi- Command Positioning Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order...
Page 700 Command Positioning Command Positioning Posi- Posi- Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low- High- fier order order order order...
Page 701 APPENDICES (a) For axis 1 (positioning option) Positioning Positioning Positioning Positioning Positioning Positioning Data Data Data Data Data Data option option option option option option 2003 2503 3003 3503 4003 4503 2013 2513 3013 3513 4013 4513 2023 2523 3023 3523 4023 4523...
Page 702 Positioning Positioning Positioning Positioning Positioning Positioning Data Data Data Data Data Data option option option option option option 5003 5503 6003 6503 7003 7503 5013 5513 6013 6513 7013 7513 5023 5523 6023 6523 7023 7523 5033 5533 6033 6533 7033 7533 5043...
Page 703 APPENDICES (2) For axis 2 Command Positioning Command Positioning Posi- Posi- Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low- High-...
Page 704 Command Positioning Command Positioning Posi- Posi- Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time Low- High- Low- High- Low- High- identi- code time Low- High- Low- High- Low- High- fier order order order order...
Page 705 APPENDICES Posi- Command Positioning Posi- Command Positioning Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier order order order...
Page 706 Posi- Command Positioning Posi- Command Positioning Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order order...
Page 707 APPENDICES Command Positioning Command Positioning Posi- Posi- Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order...
Page 708 Posi- Command Positioning Posi- Command Positioning Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order order...
Page 709 APPENDICES (a) For axis 2 (positioning option) Positioning Positioning Positioning Positioning Positioning Positioning Data Data Data Data Data Data option option option option option option 8003 8503 9003 9503 10003 10503 8013 8513 9013 9513 10013 10513 8023 8523 9023 9523 10023 10523...
Page 710 Positioning Positioning Positioning Positioning Positioning Positioning Data Data Data Data Data Data option option option option option option 11003 11503 12003 12503 13003 13503 11013 11513 12013 12513 13013 13513 11023 11523 12023 12523 13023 13523 11033 11533 12033 12533 13033 13533 11043...
Page 711 APPENDICES (3) For axis 3 Posi- Command Positioning Posi- Command Positioning Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High-...
Page 712 Posi- Command Positioning Posi- Command Positioning Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order order...
Page 713 APPENDICES Command Positioning Command Positioning Posi- Posi- Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order...
Page 714 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order order...
Page 715 APPENDICES Command Positioning Command Positioning Posi- Posi- Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order...
Page 716 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order order...
Page 717 APPENDICES (a) For axis 3 (positioning option) Positioning Positioning Positioning Positioning Positioning Positioning Data Data Data Data Data Data option option option option option option 14003 14503 15003 15503 16003 16503 14013 14513 15013 15513 16013 16513 14023 14523 15023 15523 16023 16523...
Page 718 Positioning Positioning Positioning Positioning Positioning Positioning Data Data Data Data Data Data option option option option option option 17003 17503 18003 18503 19003 19503 17013 17513 18013 18513 19013 19513 17023 17523 18023 18523 19023 19523 17033 17533 18033 18533 19033 19533 17043...
Page 719 APPENDICES (4) For axis 4 Posi- Command Positioning Posi- Command Positioning Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High-...
Page 720 Posi- Command Positioning Posi- Command Positioning Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order order...
Page 721 APPENDICES Command Positioning Command Positioning Posi- Posi- Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order...
Page 722 Posi- Command Positioning Posi- Command Positioning Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order order...
Page 723 APPENDICES Command Positioning Command Positioning Posi- Posi- Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order...
Page 724 Posi- Command Positioning Posi- Command Positioning Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low- High- fier fier order order order...
Page 725 APPENDICES (a) For axis 4 (positioning option) Data Positioning Data Positioning Data Positioning Data Positioning Data Positioning Data Positioning option option option option option option 20003 20503 21003 21503 22003 22503 20013 20513 21013 21513 22013 22513 20023 20523 21023 21523 22023 22523...
Page 726 Positioning Positioning Positioning Positioning Positioning Positioning Data Data Data Data Data Data option option option option option option 23003 23503 24003 24503 25003 25503 23013 23513 24013 24513 25013 25513 23023 23523 24023 24523 25023 25523 23033 23533 24033 24533 25033 25533 23043...
Page 727: Appendix 4 Connection Examples
APPENDICES Appendix 4 Connection Examples Appendix 4.1 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation (1) Connection example of LD75D and MR-J3-A (Differential driver Configure a sequence to turn OFF the MC at alarms and emergency stops. Servomotor...
Page 728 Remark ● It is recommended to make differential driver connection since differential driver connection is more excellent than open collector connection in max. output pulse and max. connection distance between servos. ( Page 49, Section 3.1) ● "FA-CBLQ75M2J3(-P) cable" can be used for connecting the LD75D and MR-J3-A. ( Page 47, Section 2.2)
Page 729 APPENDICES (2) Connection example of LD75D and MR-J3-A (Differential driver) Configure a sequence to turn OFF the MC at alarms and emergency stops. Servomotor MR-JN- A CNP1 CNP1 Power supply Single-phase 200VAC Electromagnetic 24VDC brake Cutoff when a servo ON Within 10m signal turns OFF and an LD75D...
Page 730 (3) Connection example of LD75D and MR-J3-A (Differential driver) Configure a sequence to turn OFF the MC at alarms HC-MF, HA-FF and emergency stops. MR-J2S- A series motor Power supply 3-phase 200VAC C TE2 Electromagnetic 24VDC brake Cutoff when a servo ON signal turns OFF and an CN1A alarm signal turns ON.
Page 731: By Orientalmotor Co., Ltd
APPENDICES Appendix 4.2 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd. (1) Connection example of LD75P and RK series (Open collector) Within 2m LD75P RK series -CW (-PLS) PULSE F +CW (+PLS) PULSE COM PULSE R -CCW (-DIR.) PULSE COM +CCW (+DIR.) CLEAR...
Page 732 (2) Connection example of LD75P and AR series (Open collector) Within 2m LD75P AR series PULSE F CW-/PLS- CW+/PLS+ PULSE COM PULSE R CCW-/DIR- PULSE COM CCW+/DIR+ CLEAR IN-COM CLEAR COM C-ON PG05 PG0 COM TIM1+ TIM1- READY RDY COM READY+/AL0+ PULSER A+ READY-/AL0-...
Page 733: Connection Examples With Servo Amplifiers Manufactured
APPENDICES Appendix 4.3 Connection examples with servo amplifiers manufactured by Panasonic Corporation (1) Connection example of LD75D and MINAS-A4 series (Differential driver) Within 2m LD75D MINAS-A4 series PULSE F+ PULSE2 PULSE F- PULSE1 SIGN2 PULSE R+ PULSE R- SIGN1 CLEAR CLEAR COM PG05 PG0 COM...
Page 734 (2) Connection example of LD75D and MINAS-E series (Differential driver) Within 2m LD75D MINAS-E series PULSE F+ PULS2 PULS1 PULSE F- PULSE R+ SIGN2 PULSE R- SIGN1 CLEAR CLEAR COM PG05 PG0 COM READY RDY COM SRV-ON PULSER A+ CCWL Manual pulse PULSER A- generator...
Page 735: Connection Examples With Servo Amplifiers Manufactured
APPENDICES Appendix 4.4 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd. (1) Connection example of LD75D and R series (Differential driver) Within 2m LD75D R series F-PC PULSE F+ PULSE F- F-PC R-PC PULSE R+ PULSE R- R-PC CLEAR CLR (CONT4)
Page 736: By Yaskawa Electric Corporation
Appendix 4.5 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation (1) Connection example of LD75D and -V series (Differential driver) Within 2m LD75D -V series PULS PULSE F+ /PULS PULSE F- SIGN PULSE R+ /SIGN PULSE R- /CLR CLEAR CLEAR COM PG05...
Page 737: Appendix 5
APPENDICES Appendix 5 Differences with Q Series (1) Specification comparison The following table compares specifications of the LD75 and QD75. Specifications not listed below are the same as the QD75. Recognized programs for the QD75 or external interfaces (cables) can be used for the LD75. Item QD75P/D...
Page 738 Memo...
Page 739: Appendix 6 When Using Gx Works2
APPENDICES Appendix 6 When Using GX Works2 The following shows the procedure for positioning operation when GX Works2 is used. Start Starting GX Works2 Start GX Works2. Creating a new project Create a new project. Adding a module Add a module for the project. Configure parameters and positioning data with GX Works2?
Page 740: Appendix 6.1 Adding A Module
Appendix 6.1 Adding a module Add the model name of the positioning module to be used in the project. (1) Operating procedure Open the "New Module..." dialog box. Project window  [Intelligent Function Module]  Right-click  "New Module..." Configure settings. Set the following items.
Page 741: Appendix 6.2 Parameter Setting
APPENDICES Appendix 6.2 Parameter setting Set parameters for the positioning module. By setting parameters, the parameter setting by program is not needed. (1) Parameter setting (a) Operating procedure Open the "Parameter" window. Project window  [Intelligent Function Module]  Module name  "Parameter" Configure settings.
Page 742 (2) Setting positioning data (a) Operating procedure Open the "Parameter" window. Project window  [Intelligent Function Module]  Module name  "Positioning_Axis_#_Data" Configure settings. Double-click the setting-target item and select or enter a value. • Items with a pull-down list Double-click the item and select an item in the displayed pull-down list.
Page 743 APPENDICES (b) Sub-function • Offline Simulation The locus and waveform of configured positioning data can be checked.
Page 744 • Automatic Command Speed Calculation Constant speed is automatically calculated by setting the time for positioning from the starting position to the target position.
Page 745 APPENDICES • Automatic Sub Arc Calculation The circular interpolation control data for two positioning data interpolation is automatically created, by selecting two positioning data and setting the radius. • M Code Comment Edit Set and display M code comments of the positioning module. For details on each function, refer to the ...
Page 746 (3) Setting block starting data (a) Operating procedure Open the "Parameter" window. Project window  [Intelligent Function Module]  Module name  "Block_Starting_Data_Axis_#" Configure settings. Double-click the setting-target item and select or enter a value. • Items with a pull-down list Double-click the item and select an item in the displayed pull-down list.
Page 747: Appendix 6.3 Setting Auto Refresh
APPENDICES Appendix 6.3 Setting auto refresh Transfer data in the buffer memory of the positioning module to specified devices in the CPU module. By setting auto refresh, reading by program is not needed. (1) Operating procedure Open the "Auto_Refresh" window. Project window ...
Page 748: Appendix 6.4 Positioning Monitor
Appendix 6.4 Positioning monitor With the positioning monitor function, the LD75 operating status can be confirmed, and debugging can be performed. The following five types of monitors are available in this function: • Axis Monitor: The actual status of each axis can be monitored. •...
Page 749 APPENDICES Selecting the monitor type Select the monitor type from the pull-down menu of "Monitor type". • "Operation monitor" • "Operation monitor (Axis control)" • "Operation monitor (Speed-position switching control)" • "Operation monitor (Position-speed switching control)" • "Operation monitor (OPR monitor)" •...
Page 750 • Select the  of the axes and items to be monitored. The following shows the selectable monitor items for each monitor type. • For "Operation monitor": Monitor item Symbol of reference buffer memory Reference Current feed value [Md.20] Axis feed speed [Md.28] Axis operation status [Md.26]...
Page 751 APPENDICES • For "Operation monitor (Position-speed switching control)": Monitor item Symbol of reference buffer memory Reference Current feed value [Md.20] Axis feed speed [Md.28] Axis operation status [Md.26] Page 193, Section 5.6.2 Target speed [Md.33] Feedrate [Md.22] Current speed [Md.27] Position-speed switching control speed [Cd.25] Page 213, Section 5.7.2...
Page 752 • Click the [OK] button to close the "Monitor Item Selection" window. The selected items are reflected to the "Axis Monitor" window. (2) Starting History (a) Operating procedure Starting the "Positioning Monitor" window Display the "Positioning Monitor" window. [Tool]  [Intelligent Function Module Tool]  [QD75/LD75 POSITIONING MODULE]  [Positioning Monitor]...
Page 753 APPENDICES Switching to the "Starting History" window Click the "Starting History" button ( ) on the toolbar. The display switches to the "Starting History" window. When the number of logs exceeds 16, the latest log overwrites the oldest log so that the latest 16 starting histories can be monitored all the time.
Page 754 (3) Error History (a) Operating procedure Starting the "Positioning Monitor" window Display the "Positioning Monitor" window. [Tool]  [Intelligent Function Module Tool]  [QD75/LD75 POSITIONING MODULE]  [Positioning Monitor] Switching to the "Error History" window Click the "Error History" button ( ) on the toolbar.
Page 755 APPENDICES (4) Warning History (a) Operating procedure Starting the "Positioning Monitor" window Display the "Positioning Monitor" window. [Tool]  [Intelligent Function Module Tool]  [QD75/LD75 POSITIONING MODULE]  [Positioning Monitor] Switching to the "Warning History" window Click the "Warning History" button ( ) on the toolbar.
Page 756 (5) Module Information List (a) Operating procedure Starting the "Positioning Monitor" window Display the "Positioning Monitor" window. [Tool]  [Intelligent Function Module Tool]  [QD75/LD75 POSITIONING MODULE]  [Positioning Monitor] "Module Information List" window...
Page 757 APPENDICES The status by each axis of the following items is displayed in the "Module Information List" window. Device No. of the I/O signal device or symbol of the buffer memory to be referred Monitor item Reference Axis 1 Axis 2 Axis 3 Axis 4 LD75 READY (X0)
Page 758: Appendix 6.5 Positioning Test
Appendix 6.5 Positioning test This function allows users to perform the following tests while monitoring the current status of the LD75. • Positioning start test • JOG/manual pulse generator/OPR test • Speed change test • Current value change test (1) Positioning start test Test operation is performed by specifying the positioning data No.
Page 759 APPENDICES Select the function. Select "Positioning start signal" from the pull-down menu of "Select Function". Perform positioning start test. • Select "Positioning Start Signal", "Block Start", or "Multiple Axes Simultaneous Start" for "Start Type". • Set positioning start data according to the setting for "Start Type". Positioning Start Signal: Set the positioning data No.
Page 760 (2) JOG/manual pulse generator/OPR test The following test can be performed when positioning control is debugged by the JOG operation test or manual pulse operation test. • Direction check (forward run or reverse run) • On/off status check of external input signals, such as upper/lower limit switches, zero signal, or near-point dog signal •...
Page 761 APPENDICES Select the function. Select "JOG/Manual Pulse Generator/OPR" from the pull-down menu of "Select Function". • Perform each operation. JOG operation: Set "JOG speed" to "1" or more, "Inching Movement Amount" to "0" and click the [Forward RUN] or [Reverse RUN] button. Manual pulse generator operation: Set "Manual pulse generator 1 pulse input magnification", select "Manual pulse generator enable flag"...
Page 762 (3) Speed change test The appropriate speed and acceleration/deceleration time can be checked by changing speed or acceleration/deceleration time or by performing override to the axis where the positioning start test, OPR test, or JOG operation test is performed. (a) Operating procedure Open the "Positioning Test"...
Page 763 APPENDICES Select the function. Select "New Speed" from the pull-down menu of "Select Function ". Execute the speed change test. Execute the speed change function. New Speed: Enter the new speed value during the startup of positioning start test or OPR test, and click the [New Speed] button.
Page 764 (4) Current value change test The current feed value of the LD75 can be changed to the specified address. (a) Operating procedure Open the "Positioning Test" dialog box. Display the "Positioning Test" window. [Tool]  [Intelligent Function Module Tool]  [QD75/LD75 Positioning Module]  [Positioning/Test] Monitor current values such as the current feed value and feedrate.
Page 765: Wave Trace
APPENDICES Appendix 6.6 Wave trace This function displays the speed command (axis speed) in positioning operation in waveform data. (1) Operating procedure Open the "Wave Trace" dialog box. [Tool]  [Intelligent Function Module Tool]  [QD75/LD75 Positioning Module]  [Wave Trace] Select the module.
Page 766 Set conditions. Click the [Condition Setting] button. Read the displayed description, set each condition, and click the [OK] button. Start trace and display trace results. Click the [Start Trace] button to start trace. The trace result at that point can be displayed by clicking the [Display Current Trace Result] button during trace, even if the trace completion conditions are not met.
Page 767: Appendix 6.7 Location Trace
APPENDICES Appendix 6.7 Location trace This function displays 2-axis interpolation control and simultaneous start (2-axes) in locus data. (1) Operating procedure Open the "Location Trace" dialog box. [Tool]  [Intelligent Function Module Tool]  [QD75/LD75 Positioning Module]  [Location Trace] Select the module.
Page 768 Set conditions. Click the [Condition Setting] button. Read the displayed description, set each condition, and click the [OK] button. Start trace and display trace results. Click the [Start Trace] button to start trace. The trace result at that point can be displayed by clicking the [Display Current Trace Result] button during trace, even if the trace completion conditions are not met.
Page 769: Appendix 7 When Using Gx Developer Or Gx Configurator-Qp
APPENDICES Appendix 7 When Using GX Developer or GX Configurator-QP This section describes the operation method when GX Developer or GX Configurator-QP is used. (1) Applicable software version For applicable software versions, refer to the following.  MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection) Appendix 7.1 Operation of GX Developer With GX Developer, set the type of the module to be connected and the I/O signal range in the I/O assignment tab of...
Page 770: Appendix 7.2 Operation Of Gx Configurator-Qp
Appendix 7.2 Operation of GX Configurator-QP GX Configurator-QP supports the LD75P4 and LD75D4. (The LD75P1, LD75P2, LD75D1, and LD75D2 are not supported.) For the functions and operation method of GX Configurator-QP, refer to the following.  GX Configurator-QP Version 2 Operating Manual...
Page 771: Appendix 8 Melsec Explanation Of Positioning Terms
APPENDICES Appendix 8 MELSEC Explanation of Positioning Terms Term Description This is one system for exciting each stepping motor coil in a determined order. In this system, one phase and two phases are alternately excited. Pulse input A phase 1-2 PHASE EXCITATION SYSTEM B phase A phase B phase...
Page 772 Term Description This is one system for exciting each stepping motor coil in a determined order. In this system, a current constantly flows to 2 phases to carry out step feed. Pulse input A phase 2-PHASE EXCITATION SYSTEM B phase A phase B phase In this positioning control method, the positioning pattern, positioning addresses (P1, P2), and positioning...
Page 773 APPENDICES Term Description These are standardized (coded) 2-digit numerical values (00 to 99) designating various control functions of the NC module. Also called G functions. Example: • G01 Linear interpolation G CODE • G02 Circular interpolation CW (clockwise) • G04 Dwell •...
Page 774 Term Description In this pattern, the acceleration and deceleration follow a sine curve, and the movement is smooth. The S-curve ratio can be set from 1 to 100%. S-CURVE ACCELERATION/DECELERATION Acceleration Deceleration This is the mode that outputs the M code before the start of the positioning. This mode turns ON at the WITH MODE positioning start, enabling voltage to be applied to the welding electrodes, display of positioning speeds, etc.
Page 775 APPENDICES Term Description A device that simply outputs ON/OFF pulses by the rotation of the axis. 1-phase types output only A pulses, and do not indicate the axis rotation direction. 2-phase types output both A and B pulse trains, and can judge the rotation direction.
Page 776 Term Description This device turns the input data into a binary code of 1 (ON) and 0 (OFF). A type of pulse generator. For the main For the zero signal point signal Ball bearing Code disk Input axis Photoreceptor Light source Index (phototransistor) (light-emitting diode)
Page 777 APPENDICES Term Description The servo amplifier will not operate if the servo amplifier is in a normal state and this servo ON signal is OFF. SERVO ON A motor that rotates true to the command. Servomotors are highly responsive, and can carry out frequent high-speed and high-accuracy starts and stops. SERVOMOTOR DC and AC types are available, as well as large-capacity motors.
Page 778 Term Description A motor that rotates a given angle (example: 0.15) when 1 pulse is generated. For that reason, a rotation proportional to the No. of pulses can be obtained. 2-phase to 5-phase stepping motors are available. In the 3-phase type, the rotor rotates in order from A to C when a voltage is applied. Often found in compact motors, stepping motors rotate accurately without feedback.
Page 779 APPENDICES Term Description During interpolation operation, the positioning data is partially ignored on this side. This axis is moved by the SLAVE AXIS master axis data. A rotating table, which is turned using power. The table is used divided from one 360 rotation into the required locations for work.
Page 780 Term Description In this function, a limit is established for the resistance torque applied to the motor used for positioning. The power is turned OFF if torque exceeding that value is applied to the motor. When excessive torque is applied to a motor, it causes the current to suddenly increase. Motor burning and other TORQUE CONTROL stress on the motor occurs, and the life of the motor is shortened.
Page 781 APPENDICES Term Description Memory used to temporarily store data. Before writing external data to the CPU module data memory, it is first temporarily stored in the buffer memory to be used for operation by the program. The buffer memory is used by the positioning module because the latest data can be read and written.
Page 782 Term Description This is a type of screw, with balls lined up in the threads like ball bearings. This reduces backlash, and enables rotation with little force. Female thread Male thread BALL SCREW When carrying out interpolation operations, this is the side on which the positioning data is executed in priority. MASTER AXIS For example, when positioning with the X axis and Y axis, the side with the largest movement distance will become the master axis, and the speed will follow that axis.
Page 783 APPENDICES Term Description This is one servo control mode used in positioning. It is a mode for carrying out position control. The other servo control modes are the speed loop mode for carrying out speed control, and the torque loop mode for carrying out torque control (current control).
Page 784 Term Description The kind of operation to be carried out after executing the positioning data is determined. • If "POSITIONING COMPLETE" is selected, the operation will stop after the positioning is complete. • If "CONTINUOUS POSITIONING CONTROL" is selected, the next data No. will be automatically executed OPERATION PATTERN after the positioning is complete.
Page 785 APPENDICES Term Description A stop carried out in a shorter time than the deceleration time designated in the parameters. Full speed Sudden stop SUDDEN STOP Time Deceleration time This is a switch placed before the OP. When this switch turns ON, the feedrate is changed to the creep speed. Because of that, the time that this switch is ON must be long enough to allow for the time required for deceleration from the feedrate to the creep speed.
Page 786 Term Description The parameter deceleration time is the same value as the acceleration time. Deceleration time refers to the time from the speed limit value to a stopped state, so it becomes proportionally shorter as the setting speed decreases. Speed limit value Setting speed DECELERATION TIME Speed 0...
Page 787 The handle of this device is manually rotated to generate pulses. This device is used when manually carrying out accurate positioning. MANUAL PULSE GENERATOR Made by Mitsubishi Electric Corp. (model: MR-HDP01) This is a pin connector for outputting data from the LD75 to an external source. It is connected to the motor drive unit.
Page 788 Term Description This is the basic screw in mechanisms that position using screw rotation. Ball screws are often used to reduce backlash and dimension error. Positioning feed screw FEED SCREW 1 rotation by the motor Lead (feedrate per screw rotation) The OP address at the completion of the machine OPR is stored.
Page 789 APPENDICES Term Description An operation in which a graph of the time and speed takes a trapezoidal shape. Acceleration Deceleration TRAPEZOIDAL ACCELERATION/DECELERATION Speed Time Stepping motors rotate in proportion to the No. of pulses (frequency), but the motor's rotation will deviate if the load is too large for the motor.
Page 790 Term Description Emergency stops cannot be carried out by the LD75, so a method of shutting OFF the servo side power supply EMERGENCY STOP from outside the programmable controller, etc., must be considered. /GDM LOAD INERTIA RATIO Refer to the term "GD ".
Page 791: Appendix 9 Positioning Control Troubleshooting
They are possible if the models are used in combination with a Simplified absolute Are simplified absolute position detection systems Mitsubishi Electric "AC Servo". position detection system possible in the LD75 Positional deviation models? (Refer to  "AC servo User's Manual" for details.) The physical position position detection system If the deviation counter value is not "0", the servo side is still...
Page 792 Trouble type Questions/Trouble Remedy In this case, the following values will result. • No. of pulses per rotation = 8192 • Movement amount per rotation = 10000 A setting of "1m = 1 pulse" is required in the • Unit magnification = 10 following system.
Page 793 Can a manual pulse generator other than the "Specifications of Input/Output Interfaces with External Devices" operation Mitsubishi Electric MR-HDP01 be used? ( Page 69, Section 3.4). Can one manual pulse generator be operated This is possible if the system conforms to the electrical connected to several LD75 modules? specifications.
Page 794 Trouble type Questions/Trouble Remedy How long is the output time for the deviation counter The time set in "[Pr.55] Deviation counter clear signal output time". clear signal? (Initial value: 11ms) A signal is not output. Is a deviation counter clear signal output when the Deviation counter clear The only time the LD75 outputs a deviation counter clear signal is positioning is complete?
Page 795: Appendix 10 List Of Buffer Memory Addresses
APPENDICES Appendix 10 List of Buffer Memory Addresses The following shows the relation between the buffer memory addresses and the various items. (Do not use any address other than listed below. If used, the system may not operate correctly.) Buffer memory address Item Memory area Axis 1...
Page 796 Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 [Pr.27] Acceleration time 3 [Pr.28] Deceleration time 1 [Pr.29] Deceleration time 2 [Pr.30] Deceleration time 3 [Pr.31] JOG speed limit value [Pr.32] JOG operation acceleration time selection [Pr.33] JOG operation deceleration time selection Detailed Positioning...
Page 797 APPENDICES Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 1000 1100 [Md.20] Current feed value 1001 1101 1002 1102 [Md.21] Machine feed value 1003 1103 1004 1104 [Md.22] Feedrate 1005 1105 1006 1106 [Md.23] Axis error No. 1007 1107 [Md.24] Axis warning No.
Page 798 Buffer memory address Item Memory area Common to axes 1, 2, 3, and 4 [Md.1] In test mode flag 1200 1201 1202 1203 1204 1205 Not used 1206 1207 1208 1209 1210 1211 (Pointer No.) (10) (11) (12) (13) (14) (15) [Md.3] Start 1212...
Page 799 APPENDICES Buffer memory address Item Memory area Common to axes 1, 2, 3, and 4 (Pointer No.) (10) (11) (12) (13) (14) (15) [Md.14] Axis in which the 1358 1362 1366 1370 1374 1378 1382 1386 1390 1394 1398 1402 1406 1410 1414...
Page 800 Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 [Cd.3] Positioning start 1500 1600 1700 1800 [Cd.4] Positioning 1501 1601 1701 1801 starting point No. 1502 1602 1702 1802 [Cd.5] Axis error reset 1503 1603 1703 1803 [Cd.6] Restart command...
Page 801 APPENDICES Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 [Cd.27] Target position 1534 1634 1734 1834 change value (new 1535 1635 1735 1835 address) [Cd.28] Target position 1536 1636 1736 1836 change value (new 1537 1637 1737...
Page 802 Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 [Da.1] Operation pattern [Da.2] Control system [Da.3] Acceleration time 2000 8000 14000 20000 [Da.4] Deceleration time [Da.5] Axis to be interpolated [Da.10] M code/condition 2001 8001 14001 20001 data No./No.
Page 803 APPENDICES Buffer memory address Item Memory area Axis 1 Axis 2 Axis 3 Axis 4 [Da.11] Shape [Da.12] Start data No. 26000 26050 27000 27050 28000 28050 29000 29050 [Da.13] Special start 1st point instruction [Da.14] Parameter Block start data 26001 26051 27001...
Page 804: Appendix 11 External Dimension Drawing
Appendix 11 External Dimension Drawing (1) LD75P1 DIN rail center (Unit: mm) (2) LD75P2 DIN rail center (Unit: mm)
Page 805 APPENDICES (3) LD75P4 DIN rail center (Unit: mm) (4) LD75D1 DIN rail center (Unit: mm)
Page 806 (5) LD75D2 DIN rail center (Unit: mm) (6) LD75D4 DIN rail center (Unit: mm)
Page 807: Index
INDEX ..125 0 to 9 Actual acceleration/deceleration time ......738 Adding a module .
Page 808 ....125 Deceleration time 0 ([Pr.10]) ....133 Deceleration time 1 ([Pr.28]) .
Page 809 ......22 ..... . 359 Features of LD75 Interpolation control .
Page 810 ... . 332 ....157 Machine OPR in count method 1) Operation pattern ([Da.1]) .
Page 811 Position control operation timing and process time ........294 .
Page 812 ......786 Speed loop mode ....131 Speed switching mode ([Pr.19]) .
Page 813 ......465 Wait start ....... 780 Warning .
Page 814: Revisions
Japanese manual version SH-080910-J This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 815: Warranty
WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
Page 816: Trademarks
TRADEMARKS Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Unicode is either a registered trademark or a trademark of Unicode, Inc. in the United States and other countries. The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies.
Page 818 SH(NA)-080911ENG-I(1705)MEE MODEL: LD75-U-E MODEL CODE: 13JZ46 HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

This manual is also suitable for:

Melsec-l ld75d

Mitsubishi Electric MELSEC-L LD75P User Manual

Chapter 1 Product Outline

Chapter 2 System Configuration

Chapter 3 Specifications and Functions

Chapter 4 Installation, Wiring, and Maintenance of Product

Chapter 5 Data Used for Positioning Control

Chapter 6 Program Used for Positioning Control

Chapter 7 Memory Configuration and Data Process

Chapter 8 Opr Control

Chapter 9 Major Positioning Control

Chapter 10 High-Level Positioning Control

Chapter 11 Manual Control

Chapter 12 Control Sub Functions

Chapter 13 Common Functions

Chapter 14 Dedicated Instructions

Chapter 15 Troubleshooting

Appendix 1 Function Update

Appendix 1.1 Function Comparison

Appendix 2 Format Sheets

Appendix 2.1 Positioning Module Operation Chart

Appendix 2.2 Parameter Setting Value Entry Table

Appendix 3 Positioning Data (No.1 to 600) List of Buffer Memory Addresses

Appendix 4 Connection Examples

Appendix 4

Appendix 4.2

Appendix 4.3

Appendix 5

Appendix 5 Differences with Q Series

Appendix 6 When Using GX Works2

Appendix 6.1 Adding a Module

Appendix 6.2 Parameter Setting

Appendix 6.3 Setting Auto Refresh

Appendix 6.4 Positioning Monitor

Appendix 6.5 Positioning Test

Appendix 6.5

Appendix 6.6 Wave Trace

Appendix 6.7 Location Trace

Appendix 7 When Using GX Developer or GX Configurator-QP

Appendix 7.1 Operation of GX Developer

Appendix 7.2 Operation of GX Configurator-QP

Appendix 8 MELSEC Explanation of Positioning Terms

Appendix 9 Positioning Control Troubleshooting

Appendix 10 List of Buffer Memory Addresses

Appendix 11 External Dimension Drawing

Quick Links

Troubleshooting

Related Manuals for Mitsubishi Electric MELSEC-L LD75P

Summary of Contents for Mitsubishi Electric MELSEC-L LD75P