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Mitsubishi Electric AJ65BT-D75P2-S3 User Manual

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AJ65BT-D75P2-S3 Positioning Module
User's Manual

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Summary of Contents for Mitsubishi Electric AJ65BT-D75P2-S3

  • Page 1 AJ65BT-D75P2-S3 Positioning Module User's Manual...

  • 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 Failure to observe this could lead to accidents for incorrect outputs or malfunctioning. Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller.
  • Page 5 [Installation Precautions] CAUTION Use the programmable controller in an environment that meets the general specifications in this manual. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. Securely fix the module using the DIN rail or mounting screws and fully tighten the mounting screws within the specified torque range.
  • Page 6 [Startup and Maintenance Precautions] CAUTION Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction. Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Switch off all phases of the externally supplied power used in the system before cleaning or tightening the screws.

  • 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; and 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: Revisions

    This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 9 MEMO A - 7...

  • Page 10: Table Of Contents

    INTRODUCTION Thank you for purchasing the Mitsubishi Electric general-purpose programmable controller MELSEC-A Series. Always read through this manual, and fully comprehend the functions and performance of the A Series PLC before starting use to ensure correct usage of this product.
  • Page 11 3. SPECIFICATIONS AND FUNCTIONS 3- 1 to 3- 44 3.1 General specifications ..........................3- 2 3.2 Performance specifications ........................3- 4 3.3 List of functions ............................. 3- 6 3.3.1 D75P2 control functions ........................3- 6 3.3.2 D75P2 main functions ........................3- 8 3.3.3 D75P2 auxiliary functions and common functions ................
  • Page 12 5. DATA USED FOR POSITIONING CONTROL (List of buffer memory addresses) 5- 1 to 5-112 5.1 Types of data ............................5- 2 5.1.1 Parameters and data required for control..................5- 2 5.1.2 Setting items for positioning parameters ..................5- 4 5.1.3 Setting items for zero point return parameters ................
  • Page 13 7. MEMORY CONFIGURATION AND DATA PROCESS 7- 1 to 7- 16 7.1 Configuration and roles of D75P2 memory ................... 7- 2 7.1.1 Configuration and roles of D75P2 memory ..................7- 2 7.1.2 Buffer memory area configuration ....................7- 5 7.2 Data transmission process ........................7- 6 SECTION 2 CONTROL DETAILS AND SETTING 8.
  • Page 14 10. ADVANCED POSITIONING CONTROL 10- 1 to 10- 22 10.1 Outline of advanced positioning control .................... 10- 2 10.1.1 Data required for advanced positioning control ................. 10- 3 10.1.2 "Start block data" and "condition data" configuration ..............10- 4 10.2 Advanced positioning control execution procedure ................ 10- 6 10.3 Setting the start block data ........................
  • Page 15 12.3.3 Near pass mode function ......................12- 18 12.4 Functions to limit the control ....................... 12- 22 12.4.1 Speed limit function ........................12- 22 12.4.2 Torque limit function ........................12- 24 12.4.3 Software stroke limit function ....................... 12- 27 12.4.4 Hardware stroke limit function ..................... 12- 33 12.5 Functions to change the control details ....................
  • Page 16 Appendix 5 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Coporation ................Appendix- 16 Appendix 5.1 Connection example of D75P2 and MR-H A (Differential driver (Open collector)) ..............Appendix- 16 Appendix 5.2 Connection example of D75P2 and MR-J2/J2S- A (Differential driver (Open collector)) ..............

  • Page 17: About Manuals

    IB-66829 This manual describes performance specifications, input/output interface, names of each part and (13JL48) startup procedures of the AJ65BT-D75P2-S3 positioning module. (enclosed with module) CC-Link System Master/Local Module Type AJ61BT11/A1SJ61BT11 User's Manual IB-66721 This manual describes the system configuration, performance specifications, functions, handling, wiring (13J872) and troubleshooting of the AJ61BT11 and A1SJ61BT11 (sold separately).

  • Page 18: Compliance With Emc And Low Voltage Directives

    COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES (1) Method of ensuring compliance To ensure that Mitsubishi 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. User's manual for the CPU module or head module used Safety Guidelines (This manual is included with the CPU module, base unit, or head module.)
  • Page 19 USING THIS MANUAL (1) The symbols used in this manual are shown below. Unless otherwise specified, the "buffer memory" indicates the buffer memory of the D75P2..Symbol indicating master module buffer memory address. Pr.* ..Symbol indicating positioning parameter and zero point return parameter item.

  • Page 20: Using This Manual (1)

    USING THIS MANUAL (2) The methods for reading this manual are shown below. 1)  2)  3)  4)  5)  Test operation  6)  Actual operation Chapter 1 PRODUCT OUTLINE 1) Understand the product functions and specifications, and design the system.

  • Page 21: Using This Manual (3)

    USING THIS MANUAL (3) The contents of each chapter are shown below. SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING The basic contents for understanding positioning control using D75P2 are 1 PRODUCT OUTLINE described. 2 SYSTEM The devices required for positioning control using D75P2 are described. CONFIGURATION 3 SPECIFICATIONS The D75P2 functions and performance specifications, etc., are described.

  • Page 22: Generic Terms And Abbreviations

    Unless specially noted, the following generic terms and abbreviations are used in this manual. Generic term/abbreviation Details of generic term/abbreviation D75P2 Generic term for positioning module AJ65BT-D75P2-S3 type. Generic term for DOS/V personal computer that can run the following "AD75 Software Peripheral device Package". AD75 software package Generic term for "SW1IVD-AD75P type positioning module software package"...

  • Page 23: Enclosed Parts

    ENCLOSED PARTS The D75P2 product configuration is shown below. Part name Quantity External device connection connector (10136-3000VE, Sumitomo 3M) Connector cover (10336-56 F0-008, Sumitomo 3M) Module (AJ65BT-D75P2-S3) AJ65BT-D75P2-S3 Positioning Module User's Manual (Hardware) A - 21...
  • Page 24 MEMO A - 22...

  • Page 25: Product Specifications And Handling

    SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING SECTION 1 is configured for the following purposes (1) to (5). (1) To understand the outline of positioning control, and the D75P2 specifications and functions (2) To carry out actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a sequence program required for positioning control (5) To understand the memory configuration and data transmission process...
  • Page 26 MEMO...

  • Page 27: Product Outline

    Chapter 1 PRODUCT OUTLINE The purpose and outline of positioning control using D75P2 are explained in this chapter. By understanding "What can be done", and "Which procedures to use" beforehand, the positioning system can be structured smoothly. 1.1 Positioning control ......................1- 2 1.1.1 Features of D75P2 ..................

  • Page 28: Positioning Control

    1 PRODUCT OUTLINE MELSEC-A 1.1 Positioning control 1.1.1 Features of D75P2 The features of the D75P2 are shown below. (1) Compatibility with distributed system The D75P2 can be installed near distributed servo amplifiers and stepping motors. (2) Ease of compatibility with absolute position detection system (a) Connection of an absolute position-compatible servo system provides compatibility with an absolute position detection system.
  • Page 29 1 PRODUCT OUTLINE MELSEC-A (d) The zero point return control has been strengthened. 1) The near-point dog method (one method), stopper stop method (three types), and count method (two types) zero point return methods have been prepared as the "machine zero point return" zero point return method.

  • Page 30: Purpose And Applications Of Positioning Control

    1 PRODUCT OUTLINE MELSEC-A 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. Punch press (X, Y feed positioning ...
  • Page 31 1 PRODUCT OUTLINE MELSEC-A Lifter (Storage of Braun tubes onto aging rack)  During the aging process of braun tubes, Unloader storage onto the rack is carried out by Loader/unloader positioning with the servo.  The up/down positioning of the lifter is carried B conveyor Aging rack out with the 1-axis servo, and the horizontal...

  • Page 32: Mechanism Of Positioning Control

    1 PRODUCT OUTLINE MELSEC-A 1.1.3 Mechanism of positioning control Positioning control using the D75P2 is carried out with "pulse signals". (The D75P2 is a module that generates pulses). In the positioning system using the D75P2, various software and devices are used for the following roles. The D75P2 realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the PLC CPU.
  • Page 33 1 PRODUCT OUTLINE MELSEC-A The principle of "position control" and "speed control" operation is shown below. Position control The total No. of pulses required to move the designated distance is obtained in the following manner. Designated distance Total No. of pulses No.

  • Page 34: Outline Design Of Positioning System

    1 PRODUCT OUTLINE MELSEC-A 1.1.4 Outline design of positioning system The outline of the positioning system operation and design, using the D75P2, is shown below. Master Positioning PLC CPU module module D75P2 Drive unit Servomotor Forward run pulse train Speed command Servo Devia-...
  • Page 35 1 PRODUCT OUTLINE MELSEC-A Servomotor speed Speed V Pulse droop Pulse amount distribution Accel- Decel- Time t eration eration Stop settling time Pulse train Rough Dense Rough Fig. 1.3 D75P2 output pulses A : Movement amount per pulse (mm/pulse) Vs : Command pulse frequency (pulse/s) n : Pulse encoder resolution (pulse/rev) Workpiece L : Worm gear lead (mm/rev)

  • Page 36: Communicating Signals Between D75P2 And Each Module

    1 PRODUCT OUTLINE MELSEC-A 1.1.5 Communicating signals between D75P2 and each module The outline of the signal communication between the D75P2 and PLC CPU, peripheral device and drive unit, etc., is shown below. D75P2 PLC CPU Master module Remote station READY signal Drive unit READY signal RX(n+7)B D75P2 READY signal...
  • Page 37 1 PRODUCT OUTLINE MELSEC-A D75P2 Peripheral device The D75P2 and peripheral device communicate the following data via the peripheral device connection connector. Direction D75P2 Peripheral device Peripheral device D75P2 Communication Parameter, positioning data, positioning Parameter, positioning data, positioning Data (read/write) start information start information Zero point return control start command...

  • Page 38: Flow Of System Operation

    1 PRODUCT OUTLINE MELSEC-A 1.2 Flow of system operation 1.2.1 Flow of all processes The positioning control processes, using the D75P2, are shown below. AD75 software PLC CPU/ GPP function soft- D75P2 Servo, etc. package master module ware package Understand the functions and performance, and determine the positioning operation method Design (system design) Installation, wiring, single module test...
  • Page 39 1 PRODUCT OUTLINE MELSEC-A The following work is carried out with the processes shown on the left page. Details Reference  Chapter 1  Chapter 2 Understand the product functions and usage methods, the configuration devices and specifications required for positioning control, and design the system. ...

  • Page 40: Outline Of Starting

    1 PRODUCT OUTLINE MELSEC-A 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 master module and D75P2 Preparation Setting of master module and D75P2 (transmission speed, station number, etc.)
  • Page 41 1 PRODUCT OUTLINE MELSEC-A Setting method : Indicates the sequence program that must be created. <AD75 software package> Write Set with AD75 software package D75P2 * Set the parameter and data for executing this function, and the auxiliary functions that need to be set beforehand. <GPP function software package>...

  • Page 42: Outline Of Stopping

    1 PRODUCT OUTLINE MELSEC-A 1.2.3 Outline of stopping Each control is stopped in the following cases. (1) When each control is completed normally. (2) When the drive unit READY signal is turned OFF. (3) When the data link of CC-Link stops. (4) When Initial data setting request (RY(n+7)9) turns ON and Remote station READY (RX(n+7)B) turns OFF.

  • Page 43: Outline For Restarting

    1 PRODUCT OUTLINE MELSEC-A 1.2.4 Outline for 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 restart command [RY(n+2)5, RY(n+4)5]. When "Restart command [RY(n+2)5, RY(n+4)5]"...

  • Page 44: Outline Of Communication

    1 PRODUCT OUTLINE MELSEC-A 1.3 Outline of communication For communication between the D75P2 and master module, the two different transmission formats, cyclic transmission and transient transmission, are used. When AJ61BT11 or A1SJ61BT11 is used Read/write with D75P2 FROM/TO PLC CPU Master module command Remote...

  • Page 45: Cyclic Transmission

    1 PRODUCT OUTLINE MELSEC-A 1.3.1 Cyclic transmission This section explains cyclic transmission between the D75P2 and master module. PLC CPU Master module D75P2 Buffer memory Remote input Remote input (RX) (RX) Link scan Remote output Remote output (RY) (RY) Link scan Remote register Remote register (RWw)

  • Page 46: Transient Transmission

    1 PRODUCT OUTLINE MELSEC-A 1.3.2 Transient transmission This section explains transient transmission between the D75P2 and master module. When FROM/TO commands are used PLC CPU Master module D75P2 (Station No. 1) Buffer memory (Transmission/reception area) Transmission area Buffer memory Reception area Transmission/ reception area for station No.

  • Page 47: System Configuration

    Chapter 2 SYSTEM CONFIGURATION In this chapter, the general image of the system configuration of the positioning control using D75P2, the configuration devices, applicable CPU module and the precautions of configuring the system are explained. Prepare the required configuration devices to match the positioning control system. 2.1 General image of system .....................

  • Page 48: General Image Of System

    SYSTEM CONFIGURATION MELSEC-A 2.1 General image of system The general image of the system, including the D75P2, PLC CPU and peripheral devices is shown below. (The Nos. in the illustration refer to the "No." in section "2.2 List of configuration devices".
  • Page 49 SYSTEM CONFIGURATION MELSEC-A Drive Motor unit Manual pulse generator Cable Machine system input (switch) · Near-point dog · Limit switch · External start signal · Speed/position changeover signal · Stop signal AD75TU Peripheral device AD75 software package SW1IVD -AD75P-E Personal computer SW0D5C -AD75P-E...

  • Page 50: List Of Configuration Devices

    Refer to the AD75 Software Package Operating Manual for details. Drive unit – (Prepared by user) (Prepared by user) Manual pulse – generator Recommended: MR-HDP01 (Mitsubishi Electric) For MR-H AD75C20SNH* Connection cable Cable for connecting D75P2 with drive unit, manual For MR-J2/J2S-A AD75C20SNJ2* (dedicated) pulse generator or machine system input signal.
  • Page 51 SYSTEM CONFIGURATION MELSEC-A Specifications list of recommended manual pulse generator Item Specifications Model name MR-HDP01 Pulse resolution 25pulse/rev (100 pulse/rev after magnification by 4) Voltage-output (power supply voltage -1V or more), Output method Output current = Max. 20mA Power supply voltage 4.5 to 13.2VDC Current consumption 60mA...

  • Page 52: Applicable System

    DATE field. MITSUBISHI CPU UNIT A2USHCPU-S1 PROGRAMMABLE CONTROLLER MODEL MAX 30kSTEP DATE 9707 9707 DATE MITSUBISHI ELECTRIC CORPORATION JAPAN BD992D013H01 MITSUBISHI ELECTRIC BD992D008H38 Year and month Year and month of manufacture Function of manufacture Function version version Fig.
  • Page 53 SYSTEM CONFIGURATION MELSEC-A PLC CPUs that can use the CC-Link dedicated commands The PLC CPUs that can use the CC-Link dedicated commands are the following models.  A1SHCPU, A1SJHCPU, A2SHCPU  A2UCPU, A2UCPU-S1, A3UCPU, A4UCPU (Software version Q (manufactured in July, 1999) or later) * ACPU ...

  • Page 54: Precautions For Use

    SYSTEM CONFIGURATION MELSEC-A 2.4 Precautions for use Precautions for use of D75P2 (1) Necessity of AD75 Software Package When using the D75P2, preset the positioning data to the D75P2 using the AD75 Software Package. (2) About D75P2 functions The D75P2 has the basic functions (functions indicated in (a)) that can be achieved by use of cyclic transmission and the functions (functions indicated in (b)) that can be achieved by use of transient transmission.
  • Page 55 SYSTEM CONFIGURATION MELSEC-A Limited to the case where " Cd. 21 Speed/position changeover control movement amount change register" and " Cd. 36 Speed/position changeover control (ABS mode) function valid flag" is not set. Limited to the case where " Cd. 31 Positioning starting point number" is used as "0 (default value)".
  • Page 56 SYSTEM CONFIGURATION MELSEC-A Function Data for use of transient transmission Reference When the following values are set  Cd. 21 Speed/position changeover control movement amount change register Main positioning Speed/position changeover  Cd. 36 Speed/position changeover Section 9.2.9 control control control (ABS mode) function valid flag (When the above values are not set, the function can be used by cyclic transmission...
  • Page 57 SYSTEM CONFIGURATION MELSEC-A Precautions for using stepping motor When configuring the positioning system using a stepping motor, the following points must be observed. Refer to section "12.7.6 Stepping motor mode functions" for details. (1) Setting the stepping motor mode (a) When using a stepping motor with the D75P2, the stepping motor mode must be set.
  • Page 58 SYSTEM CONFIGURATION MELSEC-A MEMO 2 - 12...

  • Page 59: Specifications And Functions

    Chapter 3 SPECIFICATIONS AND FUNCTIONS The various specifications of the D75P2 are explained in this chapter. The "General specifications", "Performance specifications", "List of functions", "Specifications of input/output signals with master module", and the "Specifications of input/output interfaces with external devices", etc., are described as information required when designing the positioning system.

  • Page 60: General Specifications

    SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.1 General specifications The general specifications of the D75P2 are given below. Item Specifications Operating ambient 0 to 55 ° C* temperature -20 to 75 ° C* Storage ambient temperature 10 to 90% RH, non-condensing Operating ambient humidity (The waterproof type remote I/O module is compliant with IP67.
  • Page 61 SPECIFICATIONS AND FUNCTIONS MELSEC-A Item Specifications Operating ambient temperature 0 to 45C Not wired (individual product) -20 to 65C Storage ambient temperature Wired (after cable installation) -10 to 55C REMARK To ensure that the product maintains EMC and Low Voltage Directives, certain measures may be necessary.

  • Page 62: Performance Specifications

    SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.2 Performance specifications Item Specifications No. of control axes 2 axes 2-axis linear interpolation Interpolation function 2-axis circular interpolation * PTP (Point To Point) control, path control (both linear and arc can be set), speed control, Control method speed/position changeover control Control unit...
  • Page 63 SPECIFICATIONS AND FUNCTIONS MELSEC-A Item CC-Link station type Intelligent device station Number of occupied 4 stations (RX/RY 128 points each, RWr/RWw 16 points each) stations External power supply (V) 24VDC (20.4 to 26.4VDC) Applicable conductor size 0.75 to 2.00mm Module mounting screw M4 0.7mm 16mm or more (mm) DIN rail can also be used for mounting.

  • Page 64: List Of Functions

    SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3 List of functions 3.3.1 D75P2 control functions The D75P2 has several functions. In this manual, the D75P2 functions are categorized and explained as follows. Main functions (1) Zero point return control "Zero point return control" is a function that established the start point for carrying out positioning control, and carries out positioning toward that start point.

  • Page 65: Near Pass Mode Function

    SPECIFICATIONS AND FUNCTIONS MELSEC-A Main functions Auxiliary functions Zero point return control Control registered in D75P2 (Functions characteristic to machine zero point return) [Positioning start No.] Zero point return retry function [9001] Machine zero point return Zero point shift function [9901] Data setting method zero point return...

  • Page 66: D75P2 Main Functions

    SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3.2 D75P2 main functions The outline of the main functions for positioning control with the D75P2 are described below. (Refer to "SECTION 2" for details on each function.) Reference Main functions Details section Mechanically establishes the positioning start point with a near- Machine zero point return control point dog or stopper.
  • Page 67 SPECIFICATIONS AND FUNCTIONS MELSEC-A Reference Main functions Details section With one start, executes the positioning data in a random block Block start (Normal start) 10.3.2 with the set order. Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "start block data".

  • Page 68: D75P2 Auxiliary Functions And Common Functions

    SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3.3 D75P2 auxiliary functions and common functions Auxiliary functions The functions that assist positioning control using the D75P2 are described below. (Refer to "SECTION 2" for details on each function. Reference Auxiliary function Details section This function retries the machine zero point return with the upper/lower limit switches during machine zero point return.

  • Page 69: Step Function

    SPECIFICATIONS AND FUNCTIONS MELSEC-A Reference Auxiliary function Details section This function temporarily stops the operation to confirm the positioning operation during debugging, etc. Step function 12.7.1 The operation can be stopped at each "automatic deceleration" or "positioning data". This function stops (decelerates to a stop) the positioning being Skip function executed when the skip signal is input, and carries out the next 12.7.2...

  • Page 70: Combination Of D75P2 Main Functions And Auxiliary Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3.4 Combination of D75P2 main functions and auxiliary functions With positioning control using the D75P2, the main functions and auxiliary functions can be combined and used as necessary. A list of the main function and auxiliary function combinations is given below.
  • Page 71 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Functions that Functions that change compensate Functions that limit control Other functions control details control – – – – – – – – – – – – – – – – – – – – –...

  • Page 72: Specifications Of Input/Output Signals For Master Module

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.4 Specifications of input/output signals for master module 3.4.1 List of input/output signals The D75P2 uses 128 input points and 128 output points for exchanging data with the master module. The input/output signal assignment and signal names are shown below. Device RX refers to the signals input from the D75P2 to the master module, and device RY refers to the signals output from the master module to the D75P2.
  • Page 73 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Signal direction: D75P2 master module Signal direction: Master module D75P2 Device No. Signal name Device No. Signal name RX(n+2)0 Axis 1 zero point return complete flag RY(n+2)0 Axis 1 servo ON RX(n+2)1 Axis 1 warning detection RY(n+2)1 Axis 1 ABS transfer mode RX(n+2)2 Axis 1 speed change 0 flag RY(n+2)2 Axis 1 ABS request flag...
  • Page 74 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Signal direction: D75P2 master module Signal direction: Master module D75P2 Device No. Signal name Device No. Signal name RX(n+6)0 RY(n+6)0 Use prohibited Use prohibited RX(n+7)7 RY(n+7)7 RX(n+7)8 Initial data processing request RY(n+7)8 Initial data processing complete RX(n+7)9 Initial data setting complete RY(n+7)9 Initial data setting request RX(n+7)A Use prohibited...

  • Page 75: Details Of Input Signals (D75P2 Master Module)

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.4.2 Details of input signals (D75P2 Master module) The ON/OFF timing and conditions, etc., of the input signals are shown below. Device Signal name Details RXn0 D75P2 READY OFF : READY complete  When the remote station READY (RX(n+7)B) turns from OFF to ON, the ON : Not ready/WDT parameter setting range is checked, and if there is no error, D75P2 READY complete turns OFF.
  • Page 76 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Device Signal name Details RX(n+1)2 Axis 1 Drive unit OFF: Drive unit READY  This signal turns ON when the drive unit is normal and is ready to accept READY signal OFF RX(n+4)2 Axis 2 feed pulses.
  • Page 77 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Device Signal name Details RX(n+1)E Axis 1 OFF: Outside in-position  This signal turns ON when the remaining distance falls within the Command range "command in-position range" set in the parameter. RX(n+4)E Axis 2 in-position ON: Within in-position ...
  • Page 78 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Device Signal name Details RX(n+7)9 Initial data setting OFF: Initial data setting  This signal turns ON at completion of initial data setting after Initial data incomplete setting request (RY(n+7)9) has turned ON. complete When Initial data request (RX(n+7)8) turns OFF at completion of initial ON: Initial data setting data setting, Initial data setting complete also turns OFF.
  • Page 79 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.4.3 Details of output signals (Master module D75P2) The ON/OFF timing and conditions, etc., of the output signals are shown below. Device Signal name Details RY(n+1)0 Axis 1 Positioning OFF : No positioning  Zero point return or positioning operation is started. start start request RY(n+1)1...
  • Page 80 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Device Signal name Details RY(n+2)7 Axis 1 Speed OFF : No speed change  When changing the speed during positioning operation, turn this signal ON change request RY(n+4)7 Axis 2 after setting a new speed value. request ON : Speed change ...

  • Page 81: Remote Registers

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.5 Remote registers The D75P2 has remote registers for transfer of data to/from the the master module. This section explains the assignment and data structure of the remote registers. (1) Remote register assignment The following table indicates the remote register assignment. Remote register assignment Addresses Transfer direction...
  • Page 82 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A (2) Remote register details Setting item Setting details Positioning start No. • Set the start No. for positioning. Set the "override" value when overriding the speed during positioning operation. Positioning operation speed override *For details of "override", refer to section "12.5.2 Override function". •...
  • Page 83 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Addresses Setting value Default value Axis 1 Axis 2 Set with a decimal. Setting value Positioning data No. · 1 to 600 : Positioning data No. RWwm RWwm+8 · 7000 to 7010 : Block start designation ·...
  • Page 84 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Setting item Setting details • Set the JOG speed for JOG operation. • The setting value should be within the following range. degree Pr.1 inch pulse ( 10 ( 10 mm/min) ( 10 inch/min) (pulse/s) degree/min) Pr.11 JOG speed...
  • Page 85 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Addresses Setting value Default value Axis 1 Axis 2 Set with a decimal. Actual JOG speed value  Conversion Unit conversion table into integer (JOG speed) 10 Unit RWwm+6 RWwm+14 mm/min Setting value RWwm+7 RWwm+15 inch/min (Decimal) degree/min...
  • Page 86 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Storage item Storage details The currently commanded address is stored. (Differs from the actual motor position during operation.) The address of the current position is stored. • Update timing : 56.8ms Current feed value • At completion of a machine zero point return, the zero point address is stored. •...
  • Page 87 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Addresses Factory Monitor value definition setting Axis 1 Axis 2 Monitor with a hexadecimal display. Low-order remote register Example) RWrn Monitor value High-order remote register Example) RWrn+1 RWrn RWrn+8 0000 RWrn+1 RWrn+9  Rearrangement (High-order remote register) (Lower-order remote register) Unit conversion table (Current feed value) ...
  • Page 88 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Storage item Storage details At axis warning detection, the warning code corresponding to the warning definition is stored. • The latest warning code is always stored. (When a new axis warning occurs, the Axis warning No. warning code is overwritten.) •...
  • Page 89 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Addresses Factory Monitor value definition setting Axis 1 Axis 2 Set with a decimal. Monitor Warning No. value RWrn+6 RWrn+14 For details of the warning No. (warning code), refer to section "14.4 List of warnings" in this manual. Set with a decimal.

  • Page 90: Transmission Delay Time

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.6 Transmission delay time This section indicates the transmission delay time (time required until data is transmitted). Cyclic transmission (Common to AJ61BT11, A1SJ61BT11, AJ61QBT11, A1SJ61QBT11 and QJ61BT11N) (1) Calculation expression Details Calculation expression (Unit: ms) Master module (RY/RWw) D75P2 (RY/RWw)
  • Page 91 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Transient transmission (1) When master module is AJ61BT11, A1SJ61BT11, AJ61QBT11 or A1SJ61QBT11 Calculation expression Details Calculation expression (Unit: ms) {SM 2 + LS 6 (number of write points + 16)/72 LS + Master module D75P2 (write) bps constant} N {SM 2 + LS 5 (number of read points...
  • Page 92 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A (2) When master module is QJ61BT11N Calculation expression Details Calculation expression (Unit: ms) Master module D75P2 OT + LS {BC + (number of write points + 16)/72 1.13} (write (RIWT command)) Master module D75P2 OT + LS {BC + (number of read points + 16)/16 1.067} (read (RIRD command))

  • Page 93: Specifications Of Input/Output Interfaces With External Devices

    SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.7 Specifications of input/output interfaces with external devices 3.7.1 Electrical specifications of input/output signals Input specifications Rated input Working Input Response Signal name voltage/current voltage range voltage/current voltage/current resistance time Drive unit READY 19.2 to 17.5VDC or more/ 7VDC or less/ Approx.
  • Page 94 SPECIFICATIONS AND FUNCTIONS MELSEC-A Output specifications Max. load Leakage Rated load Operating load Max. voltage Response Signal name current/inrush current at voltage voltage range drop at ON time current 2ms or less Deviation counter clear 0.1A/1 point/0.4A 1VDC (TYP) 5 to 24VDC 4.75 to 30VDC 0.1mA or less (resistance...
  • Page 95 If not, the motor may rotate in the opposite direction or may not rotate at all. Connection examples with a MELSERVO-J2 series servo amplifier are shown below. Open collector connection AJ65BT-D75P2-S3 ( Pr.24 Logic Pr.5 Pulse Logic of MR-J2...

  • Page 96: Signal Layout For External Device Connection Connector

    SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.7.2 Signal layout for external device connection connector The specifications of the connector section, which is the input/output interface for the D75P2 and external device, are shown below. The signal layout for the D75P2 external device connection connector (for one axis) is shown.

  • Page 97: List Of Input/Output Signal Details

    SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.7.3 List of input/output signal details The details of each D75P2 external device connection connector (for 1 axis) signal are shown below. Signal name Pin No. Signal details  Signal that indicates that transmission data is ready in the ABS transfer Common mode.
  • Page 98 SPECIFICATIONS AND FUNCTIONS MELSEC-A Signal name Pin No. Signal details Pulse sign common Pulse output common  Output the positioning pulses and pulse sign for the open collector (Open collector) compatible drive unit. Pulse sign Pulse output (Open collector)  ABS data to be transferred from the servo to the D75P2 during the ABS ABS data bit 1 operation mode.
  • Page 99 SPECIFICATIONS AND FUNCTIONS MELSEC-A Signal name Pin No. Signal details  Output during machine zero point return. (Note that this signal is not output during the count method 2).) (Example) When carry out machine zero point return with stopper stop metohd 2) Speed Zero point return speed...

  • Page 100: Input/Output Interface Internal Circuit

    A (–) PULSER • Terminal to connect a manual pulse phase A– generator. • Introduced product: MR-HDP01 PULSER (Mitsubishi Electric make) Manual pulse generator B (–) PULSER phase B– Signal for judging whether the drive unit is normal or abnormal.
  • Page 101 SPECIFICATIONS AND FUNCTIONS MELSEC-A : Wiring is necessary in positioning. : Perform wiring when necessary. Input/out Need for -put External wiring Internal circuit Signal name Details wiring class • Signal that resets the droop pulses of the deviation counter on the drive unit side. Deviation counter CLEAR •...
  • Page 102 SPECIFICATIONS AND FUNCTIONS MELSEC-A MEMO 3 - 44...

  • Page 103: Installation, Wiring And Maintenance Of The Product

    Chapter 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT The installation, wiring and maintenance of the D75P2 are explained in this chapter. Important information such as precautions to prevent malfunctioning of the D75P2, accidents and injuries as well as the proper work methods are described. Read this chapter thoroughly before starting installation, wiring or maintenance, and always following the precautions.

  • Page 104: Outline Of Installation, Wiring And Maintenance

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.1 Outline of installation, wiring and maintenance 4.1.1 Installation, wiring and maintenance procedures The outline and procedures for D75P2 installation, wiring and maintenance are shown below. STEP 1 Understand the "Handling precautions" and "Names of each part"...

  • Page 105: Names Of Each Part

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.1.2 Names of each part The names of each D75P2 part are shown below. *1: Since a hardware version L or later, or serial number (first five digits) of "16041" or later, the indicator components have been changed to LED modules.
  • Page 106 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A External device connection connectors (AX1, AX2) Connectors for connection of the drive unit, mechanical system input and manual pulse generator. 17-segment LED Display the message that indicates the operation status according to the mode. Peripheral device connection connector Connector for connection with the peripheral device.

  • Page 107: Handling Precautions

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.1.3 Handling precautions Handle the D75P2 and cable while observing the following precautions. (1) Handling precautions WARNING Use the PLC within the general specifications environment given in this manual. Using the PLC outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration.
  • Page 108 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (2) Other precautions (a) Main body  The main body case is made of plastic. Take care not to drop or apply strong impacts onto the case. (b) Installation environment Do not install the module in the following type of environment. Where the ambient temperature exceeds the 0 to 55 °...

  • Page 109: Installation

    INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.2 Installation 4.2.1 Precautions for installation This section explains the installation of the D75P2. The D75P2 is installed in either of the following two methods. • Installed on DIN rail • Installed on control box Refer to this section as well as section "4.1.3 Handling precautions"...
  • Page 110 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (2) Precautions for installation into control box • Control box hole The diameter of a control box hole should be 10cm or less. If the hole is more than 10cm, radio waves may leak. Also, eliminate gaps between the control box door and module as far as possible since radio waves will leak through them.

  • Page 111: Installation/Removal Of Module

    INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.2.2 Installation/removal of module This section explains the procedures for installing and removing the D75P2. [1] Installation (removal) to (from) DIN rail Installation procedure Confirm if all phases of the externally supplied power for the system are switched off or not.
  • Page 112 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A Removal procedure Confirm if all phases of the externally supplied power for the system are switched off or not. *If not, switch off all phases. Insert a flat-blade screwdriver into portion A, and while simultaneously pulling it slightly outward (1)), remove the module (2)).
  • Page 113 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A [2] Installation (removal) to (from) enclosure surface Installation procedure Confirm if all phases of the externally supplied power for the system are switched off or not. *If not, switch off all phases. Fix the module to the enclosure surface with screws.

  • Page 114: Connection Of Cc-Link Dedicated Cable

    INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.3 Connection of CC-Link dedicated cable Connect the D75P2 with the master module by the "CC-Link dedicated cable". Make connection in the following procedure. [1] Connection procedure Confirm if all phases of the externally supplied power for the system (the master modules, peripheral devices, etc.) are switched off or not.
  • Page 115 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A [2] Advice The terminal block can be removed from the module. When removal of the terminal block makes connection easier, loosen the screw in the following figure, remove the terminal block, and connect the cable. [Work checks] After cable connection, check the work as in the following list.

  • Page 116: Module Setting

    INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.4 Module setting This section explains the setting of the D75P2. 4.4.1 Station number setting of module Set the station number of the D75P2. *The default value (factory setting) is station No. "01". [1] Setting bases The setting number should be within the range "01"...

  • Page 117: Transmission Speed Setting Of Module

    INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.4.2 Transmission speed setting of module Set the transmission speed of the D75P2. *The default value (factory setting) is "0". [1] Setting bases The number that can be set is within the range "0" to "4". The number is as indicated in the following table.

  • Page 118: Wiring/Connection

    INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.5 Wiring/connection This section explains the wiring and connection of the D75P2. "External wiring insusceptible to noise" and "correct connection" are among the conditions to fully exhibit the D75P2 functions and ensure high reliability for the system. To avoid malfunctions due to noise and faults, accidents, etc.
  • Page 119 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (10) Do not pull the cable when removing the cable from the D75P2 or drive unit. Hold and pull the connector connected to the D75P2 or drive unit. If the cable connected to the D75P2 or drive unit is pulled, a malfunction may be caused. As well, the D75P2, drive unit or cable may be broken.
  • Page 120 (15) To comply with EMC and low-voltage directives, use shielded cables and AD75CK cable clamp (Mitsubishi Electric make) to ground to the panel. When D75P2 and drive unit are wired within the same enclosure •...
  • Page 121 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A Cable clamp fitting position and shielded cable grounding method Inside control box D75P2 20 to 30cm AD75CK For details, refer to the AD75CK Cable Clamp Instruction Manual <IB-68682>. 4 - 19...

  • Page 122: Wiring The External Device Connection Connector Pins

    INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.5.2 Wiring the external device connection connector pins The pins for the external device connection connector are wired in the following manner..Disassemble the connector section, Disassembling the connector section and remove the connector..
  • Page 123 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A Connecting the connector and wire * Refer to section "3.7 Specifications of input/output interfaces with external devices" when connecting. Loosen the cable fixture screw B, pass the cable through, and then tighten screw B. (Screw B may be removed once, and then tightened after sandwiching the cable.) (Take care not to lose the screw and nut.)
  • Page 124 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A After connection, the state will be as shown below. 4 - 22...
  • Page 125 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A Assembling the connector section Fit the soldered connector and cable fixture into the connector cover. * The cable fixture acts as a stopper to protect the signal wire connection section when the cable is pulled on. If the cable is not sufficiently tightened with the cable fixture, wind insulation tape around the cable so that it can be sufficiently tightened and pressed down.

  • Page 126: Connecting The Connector

    INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.5.3 Connecting the connector The D75P2 is connected to the drive unit or peripheral device with the connector. Use the following procedure to connect. Connecting Confirm if all phases of the externally supplied power for the system are switched off or not.

  • Page 127: Confirming The Installation And Wiring

    INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.6 Confirming the installation and wiring 4.6.1 Items to confirm when installation and wiring are completed Check the (1) and (2) points when completed with the D75P2 installation and wiring. (1) Does the D75P2 operate correctly? ... "Single module test" With the "single module test", correct operation of the D75P2 is confirmed by the LED displays on the D75P2.

  • Page 128: Single Module Test

    INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.7 Single module test Whether the D75P2 is operating correctly is confirmed with the LED displays on the D75P2 main body. The "single module test" methods are described below. The "single module test" can be carried out when there is no sequence program stored in the PLC CPU, when there is no data stored in the D75P2, and when the D75P2 is running.
  • Page 129 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (Step 3) Operation monitor 2 1) The axis display LED for each axis will turn ON sequentially at an approx. 0.5 second interval. One of the following states will appear on the 17-segment LED to indicate the state of the axis for which the axis display LED is ON.
  • Page 130 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (Step 5) Internal information 2 monitor 1) The D75P2 OS version will appear on the 17-segment LED for reference. [V000] Version 2) The axis display LED for each axis will turn OFF. 3) When the mode switch is pressed, the state will shift to the input/output information n monitor state described in (Step 6).
  • Page 131 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A POINT (1) The operation monitor described in this section is a function that allows the D75P2 state, control state of each axis and state of the input/output signals to be confirmed. This monitor can be operated at any time. (2) If the D75P2 is not operating correctly, use the operation monitors as necessary.

  • Page 132: Maintenance

    INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.8 Maintenance 4.8.1 Precautions for maintenance The precautions for servicing the D75P2 are given below. Refer to this section as well as section "4.1.3 Handling precautions" when carrying out the work. WARNING Switch off all phases of the externally supplied power used in the system before cleaning or tightening the screws.

  • Page 133: Appen- Dices

    Chapter 5 DATA USED FOR POSITIONING CONTROL The parameters and data used to carry out positioning control with the D75P2 are explained in this chapter. With the positioning system using the D75P2, the various parameters and data explained in this chapter are used for control. The parameters and data include parameters set according to the device configuration, such as the system configuration, and parameters and data set according to each control.

  • Page 134: Types Of Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1 Types of data 5.1.1 Parameters and data required for control The parameters and data required to carry out control with the D75P2 include the "setting data", "monitor data" and "control data" shown below. (Data set beforehand according to the machine and application, and stored in the flash ROM.) Setting data Positioning...
  • Page 135 5 DATA USED FOR POSITIONING CONTROL MELSEC-A ◊ Even when the remote station READY signal [RX(n+7)B] is ON, the values or contents of the following can be changed: basic parameters 2 , detailed parameters 2 , positioning data and positioning start information. The changed values are reflected at the time of positioning start or JOG operation start.

  • Page 136: Setting Items For Positioning Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.2 Setting items for positioning parameters The setting items for the "positioning parameters" are shown below. The "positioning parameters" are commonly set for each axis for all control using the D75P2. Refer to "SECTION 2" for details on each control, and section "5.2 List of parameters" for details on each setting item.
  • Page 137 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Manual Main positioning control control Control Position control Other control Positioning parameter – – – Acceleration time 1 Pr.26 – – – Acceleration time 2 Pr.27 – – – Acceleration time 3 Pr.28 12.7.7* –...

  • Page 138: Setting Items For Zero Point Return Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.3 Setting items for zero point return parameters When carrying out "zero point return control", the "zero point return parameters" must be set. The setting items for the "zero point return parameters" are shown below. The "zero point return parameters"...

  • Page 139: Setting Items For Positioning Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.4 Setting items for positioning data The "positioning data" must be set when carrying out "main positioning control". The setting items for the "positioning data" are shown below. One to 600 "positioning data" items can be set for each axis. Refer to "Chapter 9 MAIN POSITIONING CONTROL"...
  • Page 140 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Checking the positioning data Da.1 to Da.9 are checked with the following timing. (1) Startup of a positioning operation (2) When the test mode using the AD75 software package 5 - 8...

  • Page 141: Setting Items For Start Block Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.5 Setting items for start block data The "start block data" must be set when carrying out "advanced positioning control". The setting items for the "start block data" are shown below. Up to 50 points of "start block data" can be set for each axis. Refer to "Chapter 10 ADVANCED POSITIONING CONTROL"...

  • Page 142: Setting Items For Condition Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.6 Setting items for condition data When carrying out "advanced positioning control" or using the JUMP command in the "main positioning control", the "condition data" must be set as required. The setting items for the "condition data" are shown below. Up to 10 "condition data"...

  • Page 143: Types And Roles Of Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.7 Types and roles of monitor data Data that indicates the positioning system's operation state is stored in the buffer memory's monitor data area remote registor (RWr). When using the positioning system, this data must be monitored as necessary. The data that can be monitored is shown below.
  • Page 144 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Monitoring the positioning system operation history Monitor details Corresponding item Monitor whether the system is in the test mode Md.1 In test mode flag Md.7 Start axis Start axis Operation type Md.8 Operation type Md.9 Hour : minute...
  • Page 145 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Monitoring the speed Monitor details Corresponding item Indicates the During independent axis control speed of each axis When "0: Indicates the Composite speed" is composite set for " Pr.21 speed Interpolation speed Feedrate (RWrn+2 to 3, RWrn+10 to 11) Monitor the During designation method"...

  • Page 146: Types And Roles Of Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.8 Types and roles of control data Several controls are carried out as necessary when using the positioning system. (When the power is turned ON, the default values of the data used for control are set. However, these values can be set with the sequence program when necessary.) The items that can be controlled are shown below.
  • Page 147 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (2) Controlling the operation Controlling the operation Control details Corresponding item Set which positioning to execute (start No.) Positioning start No. (RWrm, RWrm+8) Clear (reset) the "Axis error No. (RWrn+5, RWrn+13)" and "Axis Axis error reset (RY(n+2)4, RY(n+4)4) warning No.
  • Page 148 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Making settings related to operation Control details Corresponding item Turn M code ON signal OFF M code OFF request (RY(n+2)6, RY(n+4)6) New current value Set new value when changing current value (RWwm+2 to 3, RWwm+10 to 11) Speed/position changeover enable flag Validate speed/position changeover signal from external source (RY(n+2)8, RY(n+4)8)
  • Page 149 5 DATA USED FOR POSITIONING CONTROL MELSEC-A MEMO 5 - 17...

  • Page 150: List Of Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2 List of parameters 5.2.1 Basic parameters 1 Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 device program 0 : mm 1 : inch...
  • Page 151 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.2 to Pr.4 Movement amount per pulse Set the movement amount per pulse count when outputting a pulse train from the D75P2. The setting is made with Pr.2 to Pr.4 . (The case for the " Pr.1 Unit setting"...
  • Page 152 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.3 Movement amount per rotation (Al), Pr.4 Unit magnification (Am) The amount how the workpiece moves with one motor rotation is determined by the mechanical structure. If the worm gear lead (mm/rev) is PB and the deceleration rate is 1/n, then Movement amount per rotation (AL) = PB ...
  • Page 153 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 device program 0: PULSE/SIGN mode 1: CW/CCW mode 2: A phase/B phase Pr.5 Pulse output mode (multiple of 4) 3: A phase/B phase...
  • Page 154 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (2) 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 PULSE F PULSE F PULSE R...
  • Page 155 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.6 Rotation direction setting Set the relation of the motor rotation direction and current value address increment/decrement. [Setting procedure] 1) Set "0" in Pr.6 , and carry out forward run JOG operation. ("0" is set as the default value for Pr.6 .) 2) When the workpiece "W"...

  • Page 156: Basic Parameters 2

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.2 Basic parameters 2 Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 device program The setting value range differs depending on the " Pr.11 Stepping motor mode selection"...
  • Page 157 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1) If the positioning speed setting is slower than the parameter speed limit, the actual acceleration/deceleration time will be relatively short. Thus, set the maximum positioning speed value to be equal to the parameter speed limit value or a close value under the speed limit value.
  • Page 158 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.11 Stepping motor mode selection The type of motor controlled with the D75P2 is set with the "stepping motor mode selection". 1 : Stepping motor mode ....When using a stepping motor 0 : Standard mode ......When using a different type of motor When carrying out 2-axis interpolation control using both the stepping motor and servomotor, set both axes to "1: Stepping motor mode".
  • Page 159 5 DATA USED FOR POSITIONING CONTROL MELSEC-A MEMO 5 - 27...

  • Page 160: Detailed Parameters 1

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.3 Detailed parameters 1 Setting value buffer Setting value, setting range memory address Item Default value Value set with Value set with peripheral device Axis 1 Axis 2 sequence program The setting value range differs according to the " Pr.1 Unit setting".
  • Page 161 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1) The backlash compensation is valid after completed the machine zero point return. Thus, if the backlash compensation amount is set or changed, always carry out machine zero point return once. 2) The backlash compensation amount setting range is 0 to 65535, but it should be set to 255 or less by using the following expression.
  • Page 162 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1) Generally, the zero point is set at the lower limit or upper limit of the stroke limit. 2) By setting the upper limit value or lower limit value of the software stroke limit, overrun can be prevented in the software.
  • Page 163 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.18 Torque limit setting value With this function, the torque generated by the motor is limited to within the set range. * The torque exceeding the limit is reduced to the specified torque limit. Set the maximum torque value necessary for the control in the range between 1 and 500%.
  • Page 164 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.19 M code ON signal output timing Set the timing to output the M code ON signal. The WITH mode and AFTER mode can be used for the M code ON signal output timing.
  • Page 165 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with Value set with peripheral device Axis 1 Axis 2 sequence program 0 : Standard speed changeover mode Pr.20 Speed changeover mode 1 : Front-loading speed changeover mode...
  • Page 166 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.21 Interpolation speed designation method When carrying out linear interpolation, set whether to designate the composite speed or reference axis speed. 0: Composite speed ....The movement speed for the control target is designated, and the speed for each axis is calculated by the D75P2.
  • Page 167 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.23 Manual pulse generator selection Set which manual pulse generator to use for control for each axis (motor). 0 : Ignore manual pulse generator operation ..Manual pulse generator operation is not carried out. 1 : Use manual pulse generator 1 .......

  • Page 168: Detailed Parameters 2

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.4 Detailed parameters 2 Setting value buffer Setting value, setting range memory address Default Item value Value set with Value set with peripheral device Axis 1 Axis 2 sequence program Pr.26 Acceleration time 1 Pr.27 Acceleration time 2 The setting value range differs according to the "...
  • Page 169 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.25 Value set with peripheral device Value set with sequence program setting value (ms) (ms) 0 : 1-word type 1 to 65535 1 to 65535* 1 : 2-word type 1 to 8388608 1 to 8388608 * 1 to 32767 : Set as a decimal...
  • Page 170 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with Value set with peripheral device Axis 1 Axis 2 sequence program 0 : Automatic trapezoid Pr.35 Acceleration/decel- acceleration/deceleration process eration process 1 : S-curve acceleration/deceleration selection...
  • Page 171 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.36 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...
  • Page 172 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.37 Sudden stop deceleration time Set the time to reach speed 0 from " Pr.7 Speed limit value" during the sudden stop. The setting value size is determined by " Pr.25 Size selection for acceleration/deceleration time".
  • Page 173 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.38 Stop group 1 sudden stop selection Pr.40 Stop group 3 sudden stop selection Set the method to stop when the stop causes in the following stop groups occur.  Stop group 1 ....Stop with hardware stroke limit ...
  • Page 174 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 device program 0 to 65535 (ms) 0 to 32767 : Pr.41 Positioning complete Set as a decimal 0 to 65535 (ms)
  • Page 175 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 Pr.1 Value set with peripheral device Value set with sequence program setting value setting value (unit) (unit) 0 to 100000 (  10  m) 0 to 10000.0 (  m) 0 : mm 0 to 100000 ( ...
  • Page 176 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.43 External start function selection Set which function to use the external start signal with. 0 : External positioning start ....Carry out positioning operation with external start signal input. 1 : External speed change request ..Change the speed of the positioning operation currently being executed with the external start signal input.

  • Page 177: Zero Point Return Basic Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.5 Zero point return basic parameters Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 device program 0 : Near-point dog method 1 : Stopper stop method 1) 2 : Stopper stop method 2) Pr.45 Zero point return...
  • Page 178 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1 : Stopper stop method 1) (1) Start machine zero point return. (Start movement at the " Pr.48 Zero point return speed" in the " Pr.46 Zero point return direction".) Zero point return speed Pr.48 (2) Detect the near-point dog ON, and start deceleration.
  • Page 179 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 4 : Count method 1) (1) Start machine zero point return. (Start movement at the " Pr.48 Zero point return speed" in Pr.52 Zero point Pr.48 the " Pr.46 Zero point return direction".) Setting for the movement return speed amount after near-poing dog ON...
  • Page 180 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with sequence Value set with peripheral device Axis 1 Axis 2 program 0 : Positive direction (address increment direction) Pr.46 Zero point return direction 1 : Negative direction (address...
  • Page 181 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 Pr.1 Value set with peripheral device Value set with sequence program setting value setting value (unit) (unit) –214748364.8 to 214748364.7 (  m) –2147483648 to 2147483647 (  10  m) 0 : mm –21474.83648 to 21474.83647 (inch) –2147483648 to 2147483647 ( ...
  • Page 182 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 device program The setting value range differs depending on the " Pr.11 Stepping motor mode selection"...
  • Page 183 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 Pr.1 Value set with peripheral device Value set with sequence program setting value setting value (unit) (unit) 1 to 600000000 (  10 0 : mm 0.01 to 6000000.00 (mm/min) mm/min) 1 to 600000000 ( ...

  • Page 184: Zero Point Return Detailed Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.6 Zero point return detailed parameters Setting value buffer Setting value, setting range memory address Default Item value Value set with Value set with peripheral device Axis 1 Axis 2 sequence program 0 to 65535 (ms) 0 to 32767 : Pr.51 Zero point return Set as a decimal...
  • Page 185 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 Pr.1 Value set with peripheral device Value set with sequence program setting value setting value (unit) (unit) 0 to 2147483647 (  10  m) 0 to 214748364.7 (  m) 0 : mm 0 to 2147483647 ( ...
  • Page 186 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 device program The setting value range differs depending on the " Pr.11 Stepping motor mode selection"...
  • Page 187 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 Pr.1 Value set with peripheral device Value set with sequence program setting value setting value (unit) (unit) –2147483648 to 2147483647 (  10  m) –214748364.8 to 214748364.7 (  m) 0 : mm –2147483648 to 2147483647 ( ...
  • Page 188 5 DATA USED FOR POSITIONING CONTROL MELSEC-A MEMO 5 - 56...

  • Page 189: List Of Positioning Data

    DATA USED FOR POSITIONING CONTROL MELSEC-A 5.3 List of positioning data Before explaining the positioning data setting items Da.1 to Da.9 , the configuration of the positioning data will be shown below. The positioning data stored in the D75P2 buffer memory has the following type of configuration.
  • Page 190 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value Default memory address Item value Value set with peripheral device Value set with sequence program Axis 1 Axis 2 00 : Positioning complete Operation pattern Da.1 Operation 01 : Continuous positioning control pattern 11 : Continuous path control ABS Linear 1 :...
  • Page 191 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 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.
  • Page 192 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 device program The setting value range differs according to the " Da.2 Control method".
  • Page 193 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] When " Pr.1 Unit setting" is "mm" Value set with sequence program * Value set with peripheral device Da.2 (  m) (  10 setting value  m)  Set the address ...
  • Page 194 5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "degree" Value set with sequence program * Da.2 Value set with peripheral device (  10 setting value (degree) degree)  Set the address  Set the address ABS Linear 1 : 01 0 to 359.99999 *...
  • Page 195 5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "inch" Value set with sequence program * Da.2 Value set with peripheral device (  10 setting value (inch) inch)  Set the address  Set the address ABS Linear 1 : 01 –21474.83648 to 21474.83647 *...
  • Page 196 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 device program The setting value range differs according to the " Da.2 Control method".
  • Page 197 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] When " Pr.1 Unit setting" is "mm" Value set with sequence program * Value set with peripheral device Da.2 (  m) (  10 setting value  m) ABS Circular interpolation : 07 ...
  • Page 198 5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "pulse" Value set with sequence program * Da.2 Value set with peripheral device setting value (pulse) ( pulse ) ABS Circular interpolation : 07  Set the address ...
  • Page 199 5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "inch" Value set with sequence program * Da.2 Value set with peripheral device (  10 setting value (inch) inch ) ABS Circular interpolation : 07  Set the address ...
  • Page 200 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 device program The setting value range differs depending on the " Pr.11 Stepping motor mode selection"...
  • Page 201 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 Pr.1 Value set with sequence program Value set with peripheral device (unit) setting value setting value (unit) 1 to 600000000 (  10 0 : mm 0.01 to 6000000.00 (mm/min) mm/min) 1 to 600000000 ( ...
  • Page 202 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.8 Dwell time/JUMP designation positioning data No. Set the "dwell time" or "positioning data No." corresponding to the " Da.2 Control method".  When a method other than "JUMP command" is set for " Da.2 Control method" ..

  • Page 203: List Of Start Block Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.4 List of start block data Before explaining the start block data setting items Da.1 to Da.13 , the configuration of the start block data will be shown below. The start block data stored in the D75P2 buffer memory has the following type of configuration.
  • Page 204 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value memory address Default Item value Value set with peripheral Value set with sequence program Axis 1 Axis 2 device 0 : End Da.10 Shape 0 0 0 1 : Continue 0000 4300 4550...
  • Page 205 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.10 Shape Set whether to carry out only the local "start block data" and then end control, or to execute the "start block data" set in the next point. Setting value Setting details 0 : End Execute the designated point's "start block data", and then complete the control.
  • Page 206 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.13 Parameter Set the value as required for " Da.12 Special start command". Da.12 Special start command Setting value Setting details Block start (Normal start) – Not used. (There is no need to set.) Condition start Set the condition data No.
  • Page 207 5 DATA USED FOR POSITIONING CONTROL MELSEC-A MEMO 5 - 75...

  • Page 208: List Of Condition Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.5 List of condition data Before explaining the condition data setting items Da.14 to Da.18 , the configuration of the condition data will be shown below. The condition data stored in the D75P2 buffer memory has the following type of configuration.
  • Page 209 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value memory address Default Item value Value set with peripheral Value set with sequence program Axis 1 Axis 2 device 01 : Device X 02 : Device Y Da.14 Condition target 03 : Buffer memory (1-word) Condition...
  • Page 210 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.14 Condition target Set the condition target as required for each control. Setting value Setting details : Device X Set the input/output signal ON/OFF as the conditions. : Device Y : Buffer memory (1-word) Set the value stored in the buffer memory as the condition. : The target buffer memory is "1-word (16 bits)"...
  • Page 211 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.17 Parameter 1 Set the parameters as required for the " Da.15 Condition operator". Da.15 Condition operator Setting value Setting details  =P1 Value Set the "P1" value.  P1, P2  DEV=ON Value Set the device's bit No.

  • Page 212: List Of Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.6 List of monitor data 5.6.1 System monitor data Storage item Storage details Whether the mode is the test mode from the peripheral device or not is stored.  Md.1 In test mode flag When not in test mode : OFF ...
  • Page 213 1: In test mode Monitoring is carried out with a decimal. – Monitor (Corresponding Storage value value 1: AJ65BT-D75P2-S3 name) Monitor value Monitoring is carried out with a hexadecimal. Example) When name is "AD75" Name and OS type is "S003".
  • Page 214 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal. Md.7 The No. of the axis that started is Monitor Storage value value stored. Start axis 1: Axis 1 2: Axis 2 [Stored contents] The operation information (restart flag, start origin, operation type) is stored.
  • Page 215 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Default value Storage buffer memory address (common for axis 1 to axis 2) Md.12 Starting history pointer The pointer No. following the pointer No. where the latest start history is stored is stored. 0000 Pointer No.
  • Page 216 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal. The No. of the axis for which an Md.13 Monitor error was detected when starting Storage value value Start axis 1: Axis 1 is stored.
  • Page 217 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Default value Storage buffer memory address (common for axis 1 to axis 2) Md.18 Starting history pointer at error The pointer No. following the pointer No. where the latest start history during errors is stored is stored. 0000 Pointer No.
  • Page 218 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal. Md.19 Monitor The axis No. for which an Storage value Axis in which the value error was detected is stored. 1: Axis 1 error occurred 2: Axis 2...
  • Page 219 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Default value Storage buffer memory address (common for axis 1 to axis 2) Md.23 Error history pointer The pointer No. following the pointer No. where the latest error history is stored is stored. Pointer No.
  • Page 220 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal. Md.24 The axis No. for which a Monitor Axis in which the warning was detected is Storage value value warning 1: Axis 1...
  • Page 221 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Default value Storage buffer memory address (common for axis 1 to axis 2) Md.28 Warning history pointer The pointer No. following the pointer No. where the latest warning history is stored is stored. Pointer No.

  • Page 222: Axis Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.6.2 Axis monitor data Storage item Storage details Md.29 System-used area The address of the current position obtained with the machine coordinates is stored. (Different from the actual motor position during operation) The machine feed value is not changed by the current value change function. Updated during speed control regardless of the parameter setting.
  • Page 223 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Use prohibited Monitoring is carried out with a hexadecimal. Low-order buffer memory Example) 800 Monitor value High-order buffer memory Example) 801 ...
  • Page 224 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details  The output speed commanded by the D75P2 to each axis is stored. (May be different from the actual motor speed.) Md.37 Axis feedrate  "0" is stored when the axis is stopped. ...
  • Page 225 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Monitoring is carried out with a hexadecimal. Low-order buffer memory Example) 812 Monitor value High-order buffer memory Example) 813 0000 ...
  • Page 226 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details  During operation with positioning data : The actual target speed, considering the override and speed limit value, etc., is stored. "0" is stored when positioning is completed.  During interpolation : The composite speed or reference axis speed is stored in the reference...
  • Page 227 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Monitoring is carried out with a hexadecimal display. Low-order buffer memory Example) 820 0000 Monitor value High-order buffer memory Example) 821 ...
  • Page 228 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details  Md.46 Special start data command The "command code" used with special start and indicated by the start data code setting value pointer currently being executed is stored. The "command parameter" used with special start and indicated by the start data Md.47 Special start data command pointer currently being executed is stored.
  • Page 229 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Monitoring is carried out with a decimal display. Monitor Storage value value 00: Block start (Normal start) 01: Condition start 02: Wait start 03: Simultaneous start 04: Stop...
  • Page 230 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details  Md.51 Start data pointer being The point No. (1 to 50) of the start data currently being executed is stored. executed  "0" is stored when positioning is completed. ...
  • Page 231 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Monitoring is carried out with a decimal display. Monitor Storage value value 1 to 50 Monitoring is carried out with a decimal display. Monitor Storage value value...

  • Page 232: List Of Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.7 List of control data 5.7.1 System control data Setting item Setting details  The clock data (hour) from the PLC CPU is set after the D75P2 power is turned Cd.1 Clock data setting (hour) ...
  • Page 233 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value (common for axis 1 to axis 2) Set with a BCD code. 00 to 23 (hour) Setting value 0000 1100 Buffer memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 No setting 0 to 2 0 to 9...
  • Page 234 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details Cd.5 Positioning data No.  Set the positioning data No. targeted for reading or writing.  When writing the positioning data stored in the Cd.8 data storage address into the positioning data designated with Cd.5 , set the type of the data targeted for writing.
  • Page 235 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value (common for axis 1 to axis 2) Set with a decimal. Setting value 1104 Positioning data 1 to 600 Set with a hexadecimal. Setting value Buffer 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 memory...
  • Page 236 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details Cd.8 Read/write positioning data  Store the data when reading or writing. I/F* Cd.9 Flash ROM write request*  Write the OS memory contents into the flash ROM.  Set whether the setting data will be initialized or not.
  • Page 237 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value (common for axis 1 to axis 2) Each stored item is stored in the following storage address. Storage address Stored item Reference Axis 1 Axis 2 1108 1118 Positioning identifier Da.1...

  • Page 238: Axis Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.7.2 Axis control data Setting item Setting details Cd.11 System-used area Cd.20  To change the movement amount for the position control during speed control of speed/position changeover control (INC mode), set the movement amount after changing to position control.
  • Page 239 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 1150 1200 Use prohibited 1163 1213 Set with a decimal. Actual Speed/position changeover control Cd.21 value movement amount change register  Integer value Unit conversion table 10...
  • Page 240 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details Cd.27 Step mode  When using step operation, set which unit to step with.  Cd.28 Step start information When using step operation, set whether to continue or restart operation. ...
  • Page 241 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 Set with a decimal. Setting value 1173 1223 Step mode 0: Carry out step operation with deceleration unit 1: Carry out step operation with data No. unit Set with a decimal.
  • Page 242 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details  To interrupt the operation during continuous operation, set "1". (In the non-operation mode (when the BUSY signal [RXn4, RXn5] is OFF), the interrupt request during continuous operation is not accepted.) Cd.32 Interrupt request during Cleared to 0 at a start or at a restart.
  • Page 243 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 Set with a decimal. Setting value 1181 1231 Continuous operation interrupt request 1: Interrupt continuous control or continuous path control. (Set by sequence program) After the control interrupt request is accepted, "0"...
  • Page 244 5 DATA USED FOR POSITIONING CONTROL MELSEC-A MEMO 5 - 112...

  • Page 245: Sequence Program Used For Positioning Control

    Chapter 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL The programs required to carry out positioning control with the D75P2 are explained in this chapter. The sequence program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, start block data and condition data, etc., must be set in the D75P2 according to the control to be executed, and program for setting the control data or a program for starting the various control must be created.)

  • Page 246: Information Necessary For Program Creation

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.1 Information necessary for program creation 6.1.1 When ACPU/QCPU (A mode) is used [1] System used in this chapter An example of the sequence program explained in this chapter for use of the ACPU/QCPU (A mode) is described for the following system.
  • Page 247 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A [2] About bank changing When using the D75P2, the master station's automatic transmission/reception buffer is used. With the A Series master module (AJ61BT11/A1SJ61BT11), the automatic update buffer and transmission/reception buffer are divided with banks. When accessing these buffers, the bank must be changed.
  • Page 248 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A [3] Program basic format The basic format for creating a program is shown below. The program is created with the following arrangement. (1) Master station initialization (Refer to [4]) (Parameter settings, start of data link) (2) Reading of remote input (RX) (3) Confirmation of D75P2 data link state (4) Positioning control operation program...
  • Page 249 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Create the following program and write Y100 to Y17F into RYn0 to RY(n+7)F. Module error (master module) Module ready (master module) Local station data link state (master module) Changeover to bank 0 Write 'Y100 to Y17F' to 'RYn0 to RY(n+7)F' (a) Using the dedicated commands (RIRD, RIWT)
  • Page 250 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A [4] Initializing the master station Create the following program to initialize (set the parameters, start the data link) the master station. Refer to section 6.1.1 for details on the program conditions. (1) Set the No. of connected modules (2) Set the station information...
  • Page 251 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (2) Station information ( (1st module) to (64th module)) M 20 M 5F Set the type of remote I/O station, remote device station, intelligent device station and local station connected to the master station. This must be set for each module connected.
  • Page 252 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A [5] Reading and writing the D75P2 buffer memory This section explains the method of reading and writing the D75P2 buffer memory using transient transmission. (1) Outline When reading and writing the D75P2 buffer memory, reading and writing are carried out using the intelligent device station access request signal (RY(n+7)E) and the intelligent device station access complete signal (RX(n+7)E).
  • Page 253 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (2) About control data When transmitting data using the transient transmission, the control data must be added to the transmission data before transmitting. When receiving data, the control data will be added to the head of the reception data.
  • Page 254 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (b) When using the TO command This is used only when writing to the D75P2-designated buffer memory. When using the TO command, the master module buffer memory will be used as the transmission buffer for the control data and write data. The complete status will be stored in the reception buffer.
  • Page 255 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A When writing data to the D75P2 buffer memory using the TO command, the control data and write data are designated in the transmission buffer of the corresponding master module. Designated Setting Setting Item Details data...
  • Page 256 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (c) When using the RIRD command This is used only when reading to the D75P2-designated buffer memory. When the RIRD command is used, the master module buffer memory is used for the control data size transmission buffer, and the master station buffer memory is used for the read data size reception buffer.
  • Page 257 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (d) Using the FROM command This is used to read the D75P2-designated buffer memory. When the FROM command is used, the transmission buffer (master module buffer memory) for the control data size, and the reception buffer (master module buffer memory) for the read data size are used.
  • Page 258 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A When reading data from the D75P2 buffer memory using the FROM command, the control data is designated in the transmission buffer of the corresponding master module. Designated Setting Setting Item Details data range side Dummy area...

  • Page 259: When Qcpu (Q Mode)/Qnacpu Is Used

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.1.2 When QCPU (Q mode)/QnACPU is used [1] System used in this chapter An example of the sequence program explained in this chapter for use of the QCPU (Q mode)/QnACPU is described for the following system. Refer to the CC-Link Master Module User's Manual for details on the sequence program for the entire CC-Link system.
  • Page 260 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (b) Remote registers (RWw, RWr) The contents of RWrn to RWrn+15 are read to D200 to D215, and the contents of D100 to D115 are written to RWwm to RWwm+15 and used. (Cyclic transmission) Master module PLC CPU...
  • Page 261 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A * If the dedicated commands (RIRD, RIWT) are used when the QnACPU is used, RY(n+7)E, RY(n+7)F are used with the dedicated commands, so the user must make sure that this signal information is not rewritten. Insert the following program at the end of the program.
  • Page 262 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (2) About control data When transmitting data using the transient transmission, the control data must be added to the transmission data before transmitting. When receiving data, the control data will be added to the head of the reception data.
  • Page 263 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (b) When using the TO command (Unusable when QCPU (Q mode) is used) This is used only when writing to the D75P2-designated buffer memory. When using the TO command, the master module buffer memory will be used as the transmission buffer for the control data and write data.
  • Page 264 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (c) When using the RIRD command This is used only when reading to the D75P2-designated buffer memory. When the RIRD command is used, the master module buffer memory is used for the control data size transmission buffer, and the master module buffer memory is used for the read data size reception buffer.
  • Page 265 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (d) When using the FROM command (Unusable when QCPU (Q mode) is used) This is used only when reading from the specified buffer memory of the D75P2. When using the FROM command, the transmission buffer (master module buffer memory) for the control data and the reception buffer (master module buffer memory) for the number of read data will be used.

  • Page 266: Precautions For Creating Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.2 Precautions for creating program (1) Restrictions to speed change execution interval Provide an interval of 100ms or more when changing the speed with the D75P2. (2) Process during overrun Overrun is prevented with the D75P2's upper and lower stroke limit. However, this applies only when the D75P2 is operating correctly.

  • Page 267: List Of Devices Used

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.3 List of devices used The application of the input/output Nos. [X] [Y], internal relays [M] and data registers [D] used in this chapter are shown below. : Program used when the FROM/TO commands are used in the ACPU : Program used when the dedicated commands are used in the ACPU Q/QnA : Program used when the dedicated commands are used in the QCPU (Q mode) or QnACPU...
  • Page 268 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Program example that uses device Device name Device Application Details when ON Q/QnA Axis 1 zero point return request OFF Zero point return request OFF Y12A request requested Y12B Axis 1 external start valid External start valid D75P2 Output Y178 Initial data process complete...
  • Page 269 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Program example that Device name Device Application Details when ON uses device Q/QnA Initial setting flag Initial setting flag D75P2 data link status D75P2 data link error Master module initialization normal Master module initialization normal completion completion Master module initialization...
  • Page 270 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Program example that Device name Device Application Storage details uses device Q/QnA Number of connected modules Number of connected modules storage Synchronization mode Synchronization mode storage Number of connected modules Number of connected modules storage D75P2 station information D75P2 station information storage...
  • Page 271 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Program example that Device name Device Application Storage details uses device Q/QnA Access target D75P2 buffer memory storage D33 Access target D75P2 buffer memory (for Q (Q mode)/QnACPU RIRD command) Number of read points storage D34 Number of read points (for Q (Q mode)/QnACPU RIRD command)
  • Page 272 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Program example that Device name Device Application Storage details uses device Q/QnA Read data (axis 1 machine feed Read data (axis 1 machine feed value (high-order) storage (for A/Q value (high-order)) (A mode) RIRD command) Complete status storage D70 Complete status (for A/Q (A mode) RIWT command)

  • Page 273: Creating A Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.4 Creating a program The "positioning control operation program" actually used is explained in this chapter. The functions and programs explained in "SECTION 2" are assembled into the "positioning control operation program" explained here. (To monitor the control, add the required monitor program that matches the system.

  • Page 274: Positioning Control Operation Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.4.2 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 section "6.5 Positioning program examples", and create an operation program that matches the positioning system.
  • Page 275 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Continued from previous page Start details setting program * Program required to carry out • "Zero point return control" • "Main positioning control" No.7 • "Advanced positioning control" Positioning start No. setting program Refer to section 6.6.2 Start program No.8...
  • Page 276 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Continued from previous page Auxiliary program * Program added according to control details. (Create as required.) No.12 Speed change program Refer to section 12.5.1 No.13 Override program Refer to section 12.5.2 No.14 Restart program Refer to section 6.5.4 No.15...

  • Page 277: Positioning Program Examples

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5 Positioning program examples 6.5.1 When using FROM/TO command with ACPU/QCPU-A (A mode) An example of the program for using the FROM/TO command with the ACPU/QCPU-A (A mode) when using the buffer memory automatic update function is shown below. [No.
  • Page 278 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A *D75P2 data link status checking program Read D75P2 data link state (SW0080) D75P2 data link normal D75P2 data link error *No. 1 Parameter setting program Convert Speed limit value writing command into pulse Speed limit value writing command held Change to bank 1...
  • Page 279 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A *No. 3 Initial setting program *(1) At power on Turn ON Initial data process complete Turn ON Initial data setting request Turn OFF Initial data process complete Turn OFF Initial data setting request Turn ON Initial setting complete flag *(2) At parameter change...
  • Page 280 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A *(5) Positioning data No. 1-based positioning (speed/position changeover control) Write positioning data No. 1 Enable Speed/position changeover Disable Speed/position changeover *(6) Advanced positioning control Write block positioning (7000) *(7) High-speed zero point return command storage OFF *(Not required when high-speed zero point return is not used) Turn OFF High-speed zero point return...
  • Page 281 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A *No. 10 JOG operation program Set JOG operation speed Write JOG operation speed Turn ON JOG operating flag End JOG operation Execute forward run JOG operation Execute reverse run JOG operation *No. 11 Manual pulse generator operation program Convert Manual pulse generator operation command into pulse...
  • Page 282 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A *No. 15 Absolute position restoration program Write absolute position restoration (9900) *No. 16 Error reset program Read error code Execute error reset Error reset complete *No. 17 Buffer memory reading program Convert Machine feed value reading command into pulse Machine feed value...
  • Page 283 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A *No. 18 Stop program Convert Stop command into pulse Execute stop Turn OFF Axis stop flag by axis stop *Remote output (RY) writing Change to bank 0 Write RYn0 to RY(n+7)F *Change to bank 0 *Change to bank 1 6 - 39...

  • Page 284: When Using Dedicated Commands With Acpu/Qcpu-A (A Mode)

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5.2 When using dedicated commands with ACPU/QCPU-A (A mode) An example of the program for using the dedicated commands with the ACPU/QCPU- A (A mode) when using the buffer memory automatic update function is shown below. [No.
  • Page 285 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A *No. 1 Parameter setting program Convert Speed limit value writing command into pulse Number of write points Access code, attribute Access target D75P2 buffer memory Write data Master module head I/O No. Station number of access target Writ data designation...
  • Page 286 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A *No. 7 Positioning start number setting program *(1) Machine zero point return Write machine zero point return (9001) *(2) Data setting method zero point return Write data setting method zero point return (9901) *(3) High-speed zero point return Write high-speed zero point return (9002)
  • Page 287 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A *No. 9 Reset, M code OFF program Turn OFF Positioning start signal Convert M code OFF request into pulse Turn ON M code OFF request Turn OFF M code OFF request *No. 10 JOG operation program Set JOG operation speed Write JOG operation speed Turn ON JOG operating...
  • Page 288 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A *No. 14 Restart program Convert Restart command into pulse Read axis status Turn ON Restart command during stop Turn OFF Restart command *No. 15 Absolute position restoration program Write absolute position restoration (9900) *No.
  • Page 289 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A *Remote output (RY) writing Change to bank 0 Write latest RYn0 to RY(n+7)F Get RY(n+7)E, RY(n+7)F Clear previous information Reflect gotten information on RY Write RYn0 to RY(n+7)F *Change to bank 0 6 - 45...

  • Page 290: When Using Dedicated Commands With Qcpu (Q Mode)/Qnacpu

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5.3 When using dedicated commands with QCPU (Q mode)/QnACPU An example of the program for using the dedicated commands with the QCPU (Q mode)/QnACPU is shown below. The QnACPU that can use the dedicated commands is only the QnACPU of function version "B"...
  • Page 291 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Set interlocks in the programs according to the used system. [No. 1] to [No. 2] parameter and data setting program * When setting the parameters or data with the sequence program, set them in the D75P2 using the transient transmission.
  • Page 292 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A *No. 5 Zero point return request OFF program Turn ON Axis 1 zero point return request OFF request *No. 6 External start function valid setting program Axis 1 external start valid Axis 1 external start invalid *No.
  • Page 293 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A *No. 8 Positioning start signal input program *(When high-speed zero point return is not performed, contacts X11F and M103 are not required) *(When M code is not used, contact X10D is not required) *(When JOG operation is not performed, contact M106 is not required) *(When manual pulse generator operation is not performed, contact Y129 is not required) Positioning start command...
  • Page 294 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A *No. 14 Restart program Turn ON Restart command during stop Turn OFF Restart command *No. 15 Absolute position restoration program Write absolute position restoration (9900) *No. 16 Error reset program Execute error reset Error reset complete *No.

  • Page 295: Program Details

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.6 Program details 6.6.1 Initialization program (1) Zero point return request OFF program This program forcibly turns OFF the "zero point return request flag" (RX(n+1)F, RX(n+4)F) which is ON. When using a system that does not require zero point return, assemble the program to cancel the "zero point return request"...

  • Page 296: Start Details Setting Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.6.2 Start details setting program This program sets which control, out of "zero point control", "main positioning control" or "advanced positioning control" to execute. Procedures for setting the starting details (1) Set the "positioning start No." corresponding to the control to be started in "Positioning start No.

  • Page 297: Start Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.6.3 Start program This program is used to start the control with start commands. The control can be started with the following two methods. (1) Starting by inputting positioning start signal [RY(n+1)0, RY(n+1)1] (2) Starting by inputting external start signal Remote register Drive unit...
  • Page 298 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (1) Starting by inputting positioning start signal Operation when starting (1) 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 299 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Starting time chart The time chart for starting each control is shown below. (1) Time chart for starting "machine zero point return" Near-point dog Zero point signal Positioning start signal [ RY(n+1)0 ] Remote station READY signal [ RX(n+7)B ] D75P2 READY signal [RXn0]...
  • Page 300 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Time chart for starting "data setting method zero point return" Positioning start signal [RY(n+1)0] Remote station READY signal [RX(n+7)B] D75P2 READY signal [RXn0] Start complete signal [RXn1] BUSY signal [RXn4] Error detection signal [RXnA] Positioning start No.
  • Page 301 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Time chart for starting "main positioning control" Operation pattern Dwell time Positioning data No. 1(11) 2(00) Positioning start signal [RY(n+1)0] Remote station READY signal [RX(n+7)B] D75P2 READY signal [RXn0] [RXn1] Start complete signal BUSY signal [RXn4] Positioning complete signal...
  • Page 302 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Machine zero point return operation timing and process time Positioning start signal [RY(n+1)0, RY(n+1)1] BUSY signal [RXn4, RXn5] Start complete signal [RXn1, RXn2] Axis operation status In zero point return Waiting [RWrn+7, RWrn+15] Waiting Output pulse to external source (PULSE)
  • Page 303 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Position control operation timing and process time Positioning start signal [RY(n+1)0, RY(n+1)1] BUSY signal [RXn4, RXn5] M code ON signal (WITH mode) [RXnD, RXnE] M code OFF request [RY(n+2)6, RY(n+4)6] Start complete signal [RXn1, RXn2] Axis operation status Controlling position...
  • Page 304 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (2) Starting by inputting external start signal When starting positioning control by inputting the external start signal, the start command can be directly input into the D75P2. This allows the variation time equivalent to one scan time of the PLC CPU to be eliminated.

  • Page 305: Restart Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.6.4 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" (RY(n+2)5, RY(n+4)5). ("Restarting"...
  • Page 306 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (3) Control data requiring setting Set the following data to execute restart. Remote input/output Setting Setting item Setting details value Axis 1 Axis 2 Restart command Set "1: restarts ". RY(n+2)5 RY(n+4)5 * Refer to section "3.4 Specifications of input/output signals for master module"...
  • Page 307 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (5) Time chart for restarting Dwell time Positioning start signal [RY(n+1)0] Axis stop signal [RY(n+1)3] Remote station READY [RX(n+7)B] signal D75P2 READY signal [RXn0] Start complete signal [RXn1] BUSY signal [RXn4] Positioning complete signal [RXn7] Error detection signal [RXnA]...

  • Page 308: Stop Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.6.5 Stop program The axis stop signal [RY(n+1)3, RY(n+1)4] or a stop signal from an external source is used to stop the control. Create a program to turn the axis stop signal [RY(n+1)3, RY(n+1)4] ON as the stop program.
  • Page 309 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (2) Types of stop processes The operation can be stopped with deceleration stop, sudden stop or immediate stop. (1) Deceleration stop The operation stops with "deceleration time 0 to 3" ( Pr.9 , Pr.29 , Pr.30 , Pr.31 ).
  • Page 310 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (3) Order of priority for stop process The order of priority for the D75P2 stop process is as follows. Deceleration stop < Sudden stop < Immediate stop (1) During deceleration (including automatic deceleration), the operation will stop at that deceleration speed even if the decelerations to command turns ON (stop signal ON) or a deceleration stop cause occurs.

  • Page 311: Memory Configuration And Data Process

    Chapter 7 MEMORY CONFIGURATION AND DATA PROCESS The D75P2 memory configuration and data transmission are explained in this chapter. The D75P2 is configured of three memories. By understanding the configuration and roles of these memories, the D75P2 internal data transmission process, such as "when the power is turned ON"...

  • Page 312: Configuration And Roles Of D75P2 Memory

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A 7.1 Configuration and roles of D75P2 memory 7.1.1 Configuration and roles of D75P2 memory The D75P2 is configured of the following three memories. Area configuration Memory Role configuration Area that can be directly accessed ...
  • Page 313 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A Details of areas  Parameter area Area where parameters, such as positioning parameters and zero point return parameters, required for positioning control are set and stored. (Set the items indicated with Pr.1 to Pr.58 for each axis.) ...
  • Page 314 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A User accesses this memory from sequence program. The data used for actual control Data is backed up here. is stored here. Buffer memory OS memory Flash ROM Parameter area Parameter area Parameter area Positioning data area (No.

  • Page 315: Buffer Memory Area Configuration

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A 7.1.2 Buffer memory area configuration The D75P2 buffer memory is configured of the following types of areas. Buffer memory address Writing Buffer memory area configuration possibility Axis 1 Axis 2 Basic parameter area 0 to 14 150 to 164 Detailed parameter area...

  • Page 316: Data Transmission Process

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A 7.2 Data transmission process The data is transmitted between the D75P2 memories with steps (1) to (10) shown below.  The data transmission patterns numbered (1) to (10) on the right page correspond to the numbers (1) to (10) on the left page.
  • Page 317 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (1) Transmitting data when power is turned ON or D75P2 is reset When the power is turned ON or the D75P2 is reset, the "parameters", "positioning data" and "positioning start information" stored (backed up) in the flash ROM is transmitted to the buffer memory and OS memory.
  • Page 318 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (4) Data read from D75P2 ( (a) Read from D75P2 buffer memory Using the RIRD command*2 (transient transmission), read data from the buffer memory to the PLC CPU. (b) Read from D75P2 remote register Using the FROM command (automatic refresh*4), read data from the remote register to the PLC CPU .
  • Page 319 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A MEMO 7 - 9...
  • Page 320 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A PLC CPU + master module (7) Flash ROM write (6) Block transmission request (Set "1" in Cd.9 , using RIWT command (Set data in bufer memory (transient transmission)) [5100] to [6109] using RIWT command (transient transmission)] D75P2 Buffer memory, remote register...
  • Page 321 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (6) Transmitting blocks from PLC CPU ( When setting data in positioning data No. 101 to 600 using the sequence program, first the data is set in the "block transmission area" (buffer memory address [5100] to [6109]).
  • Page 322 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A PLC CPU + master module D75P2 Buffer memory, remote register Parameter area (a) Pr.1 Pr.6 Parameter area (a) Pr.10 Pr.25 Parameter area (b) Pr.45 Pr.58 Positioning data area Parameter area (b) (No.1 to 100) Pr.7 Pr.9 Positioning start information area...
  • Page 323 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (9) Reading data from buffer memory or OS memory to peripheral device ( The following transmission processes are carried out with the [AD75 read] from the peripheral device. 1) The "parameters", "positioning data (No. 1 to 100)" and "positioning start information (No.
  • Page 324 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A The data transmission is carried out as shown in the previous pages, but the main method of using this data process is shown below. (A) Correcting the execution data (OS memory) The following methods can be used to correct the OS memory. Using sequence program From peripheral device Write new value into buffer memory using RIWT...
  • Page 325 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (B) Setting positioning data No. 101 to 600 data The positioning data is set with the following procedures. From peripheral device Using sequence program (brock transmission) No.1 to 100 No.101 to 600 Positioning data Write positioning data into buffer Turn OFF the remote station READY signal [RX(n...
  • Page 326 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (Example) When setting the positioning data No. 101 to 300 of axis 1 to the OS memory (The number of data that can be set for block transmission at one time is up to 100 pieces.) Start Turn OFF the remote station READY...

  • Page 327: Control Details And Setting

    SECTION 2 CONTROL DETAILS AND SETTING SECTION 2 is configured for the following purposes shown in (1) to (3). (1) Understanding of the operation and restrictions of each control. (2) Carrying out the required settings in each control (3) Dealing with errors The required settings in each control include parameter setting, positioning data setting, control data setting by a sequence program, etc.
  • Page 328 MEMO...

  • Page 329: Zero Point Return Control

    Chapter 8 ZERO POINT RETURN CONTROL The details and usage of "zero point return control" are explained in this chapter. Zero point return control includes "machine zero point returns" that establish a machine zero point without using address data, "data setting method zero point return" that establishes the stop position of manual operation as a zero point and "high-speed zero point returns"...

  • Page 330: Outline Of Zero Point Return Control

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.1 Outline of zero point return control 8.1.1 Three types of zero point return control In "zero point return control" a position is established as the starting point (or "zero point") when carrying out positioning control, and positioning is carried out toward that starting point.
  • Page 331 8 ZERO POINT RETURN CONTROL MELSEC-A Zero point return auxiliary functions Refer to section "3.3.4 Combination of D75P2 main functions and auxiliary functions" for details on "auxiliary functions" that can be combined with zero point return control. Also refer to "Chapter 12 CONTROL AUXILIARY FUNCTIONS" for details on each auxiliary function.

  • Page 332: Machine Zero Point Return

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2 Machine zero point return 8.2.1 Outline of the machine zero point return operation Important Use the zero point return retry function when the zero point position is not always in the same direction from the workpiece operation area (when the zero point is not set near the upper or lower limit of the machine).

  • Page 333: Machine Zero Point Return Method

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.2 Machine zero point return method The method by which the machine zero point is established (method for judging the zero point position and machine zero point return completion) is designated in the machine zero point return according to the configuration and application of the positioning method.

  • Page 334: Zero Point Return Method (1): Near-Point Dog Method

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.3 Zero point return method (1): Near-point dog method The following shows an operation outline of the "near-point dog method" zero point return method. Operation chart The machine starts a machine zero point return. (The machine starts acceleration specified in "...
  • Page 335 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions A pulse generator with a zero point signal is required. When the pulse generator is not provided with a zero point signal, create a zero point signal with an external signal. Precautions during operation (1) An error "Start at zero point"...

  • Page 336: Zero Point Return Method (2): Stopper Stop Method 1)

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.4 Zero point return method (2): Stopper stop method 1) The following shows an operation outline of the "stopper stop method 1)" zero point return method. Operation chart The machine starts a machine zero point return. (The machine starts acceleration specified in "...
  • Page 337 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions (1) Make sure to limit the torque for the servomotor after starting the deceleration to " Pr.49 Creep speed". If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to section "12.4.2 Torque limit function".) (2) The zero point return retry function cannot be used with the “stopper stop method 1).”...
  • Page 338 8 ZERO POINT RETURN CONTROL MELSEC-A (3) If the " Pr.51 Zero point return dwell time" elapses before the stop at the stopper, the workpiece will stop at that position, and that position will be regarded as the zero point. Pr.

  • Page 339: Zero Point Return Method (3): Stopper Stop Method 2)

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.5 Zero point return method (3): Stopper stop method 2) The following shows an operation outline of the "stopper stop method 2)" zero point return method. Operation chart The machine starts a machine zero point return. (The machine starts acceleration specified in "...
  • Page 340 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions (1) Make sure to limit the torque for the servomotor after starting the deceleration to " Pr.49 Creep speed". If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to section "12.4.2 Torque limit function".) (2) Use an external input signal as the zero point signal.
  • Page 341 8 ZERO POINT RETURN CONTROL MELSEC-A (3) If the zero point signal is input before the workpiece stops at the stopper, the workpiece will stop at that position, and that position will be regarded as the zero point. Pr. 48 Zero point return speed Pr.

  • Page 342: Zero Point Return Method (4): Stopper Stop Method 3)

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.6 Zero point return method (4): Stopper stop method 3) The following shows an operation outline of the "stopper stop method 3)" zero point return method. The "stopper stop method 3)" is effective when a near-point dog has not been installed. (Note that the operation is carried out from the start at the "...
  • Page 343 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions (1) Always limit the servomotor torque after the " Pr.49 Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to section "12.4.2 Torque limit function".) (2) Use an external input signal as the zero point signal.

  • Page 344: Zero Point Return Method (5): Count Method 1)

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.7 Zero point return method (5): Count method 1) The following shows an operation outline of the "count method 1)" zero point return method. Operation chart The machine starts a machine zero point return. (The machine starts acceleration specified in "...
  • Page 345 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions A pulse generator with a zero point signal is required. When the pulse generator is not provided with a zero point signal, create a zero point signal with an external signal. Precautions during operation (1) If “...

  • Page 346: Zero Point Return Method (6): Count Method 2)

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.8 Zero point return method (6): Count method 2) The following shows an operation outline of the "count method 2)" zero point return method. The "count method 2)" method is effective when a "zero point signal" cannot be received.
  • Page 347 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions As the import of near-point dog ON has an error of about 1ms, this zero point return method will vary in stop position (zero point) as compared to the other methods. Precautions during operation (1) If “...

  • Page 348: Data Setting Method Zero Point Return

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.3 Data setting method zero point return The data setting method zero point return is a method in which the position reached by manual operation (JOG operation/manual pulse generator operation) in an absolute position detection system is defined as the zero point. (The axis is not moved in the data setting method zero point return.) When the data setting method zero point return is executed, the current position (position reached by manual operation) in the absolute position detection system is registered as the zero point and "...

  • Page 349: High-Speed Zero Point Return

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.4 High-speed zero point return 8.4.1 Outline of the high-speed zero point return operation High-speed zero point return operation In a high-speed zero point return, positioning is carried out by a machine zero point return to the " Md.43 Zero point absolute position" stored in the D75P2. The following shows the operation during a high-speed zero point return start.
  • Page 350 8 ZERO POINT RETURN CONTROL MELSEC-A Operation timing and processing time of high-speed zero point returns The following shows details about the operation timing and time during high-speed zero point returns Positioning start signal [RY(n+1)0, RY(n+1)1] [RXn4, RXn5] BUSY signal Start complete signal [RXu1, RXn2] Axis operation status...

  • Page 351: Positioning To The Zero Point

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.5 Positioning to the zero point Positioning to the zero point is explained in this section. To carry out positioning to the zero point, "1-axis linear control (ABS) positioning data" is created in which the " Md.43 Zero point absolute position" is set in the positioning address ( Da.5 ).
  • Page 352 8 ZERO POINT RETURN CONTROL MELSEC-A Start time chart Positioning start signal [RY(n+1)0] Remote station READY [RX(n+7)B] signal D75P2 READY signal [RXn0] Start complete signal [RXn1] [RXn4] BUSY signal [RXnA] Error detection signal Positioning start No. [RWwm] Zero point absolute position overflow flag [ RX(n+2)3 ] Zero point absolute position underflow flag [ RX(n+2)4 ]...

  • Page 353: Main Positioning Control

    Chapter 9 MAIN POSITIONING CONTROL The details and usage of the main positioning controls (control functions using the "positioning data") are explained in this chapter. The main positioning controls include such controls as "positioning control" in which positioning is carried out to a designated position using the address information, "speed control"...

  • Page 354: Outline Of Main Positioning Controls

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1 Outline of main positioning controls "Main positioning controls" are carried out using the "positioning data" stored in the D75P2. The basic controls such as position control and speed control are executed by setting the required items in this "positioning data", and then starting that positioning data. The control method for the "main positioning controls"...

  • Page 355: Data Required For Main Positioning Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1.1 Data required for main positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "main positioning controls". Setting item Setting details Set the method by which the continuous positioning data (Ex: positioning data No. 1, Operation pattern Da.1 No.

  • Page 356: Operation Patterns Of Main Positioning Controls

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1.2 Operation patterns of main positioning controls In "main positioning control" (advanced 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. ·...
  • Page 357 9 MAIN POSITIONING CONTROL MELSEC-A (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.
  • Page 358 9 MAIN POSITIONING CONTROL MELSEC-A (2) Continuous positioning control (a) The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the D75P2 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 359 9 MAIN POSITIONING CONTROL MELSEC-A (3) Continuous path control (a) Continuous path control The speed is changed between the speed of the positioning data currently being positioned and the speed of the positioning data that will be positioned next. The speed is not changed if the current speed and the next speed are equal.
  • Page 360 9 MAIN POSITIONING CONTROL MELSEC-A (b) Deceleration stop conditions during continuous path control Deceleration stops are not carried out in continuous path control, but the machine will carry out a deceleration stop to speed "0" in the following cases 1) to 4). When the operation pattern of the positioning data currently being executed is "continuous path control: 11", and the movement direction of the positioning data currently being executed differs from that of the...
  • Page 361 9 MAIN POSITIONING CONTROL MELSEC-A POINT (3) For sudden reversal of rotation, the command pulses from the D75P2 are output as shown below. Forward run command Reverse run command Supposing that the command frequency is f[pps], calculate t1 and t2 with the following expression. t1 = 1/2f[s] t2 = 1/f[s] Depending on the drive unit, time t1 must be secured for longer than the given time T[s].
  • Page 362 9 MAIN POSITIONING CONTROL MELSEC-A (c) Speed handling Continuous path control command speeds are set with each positioning data. The D75P2 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 363 9 MAIN POSITIONING CONTROL MELSEC-A (d) Speed changeover (Refer to " Speed changeover mode".) Pr.20 Standard speed changeover mode (1) When the "positioning data for current operation" and "positioning data for next operation" differ in command speed, acceleration or deceleration to the speed set in the "positioning data for next operation"...
  • Page 364 9 MAIN POSITIONING CONTROL MELSEC-A [When the speed cannot change over in P2] [When the movement amount is small during automatic deceleration] When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2. The movement amount required to carry out the automatic deceleration cannot be secured, so the machine immediately stops in a speed ...
  • Page 365 9 MAIN POSITIONING CONTROL MELSEC-A (3) Speed changeover condition If the movement amount is small in regard to the target speed, the current speed may not reach the target speed even if acceleration/deceleration is carried out. In this case, the machine is accelerated/decelerated so that it nears the target speed.

  • Page 366: Designating The Positioning Address

    MAIN POSITIONING CONTROL MELSEC-A 9.1.3 Designating the positioning address The following shows the two methods for commanding the position in control using positioning data. Absolute system Positioning is carried out to a designated position (absolute address) having the zero point as a reference. This address is regarded as the positioning address. (The start point can be anywhere.) Address ·...

  • Page 367: Confirming The Current Value

    MAIN POSITIONING CONTROL MELSEC-A 9.1.4 Confirming the current value Values showing the current value The following two types of addresses are used as values to show the position in the D75P2. 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 368 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) A 56.8ms error will occur in the current value update timing when the stored "current feed value" and "machine feed value" are used in the control. (2) The "current feed value" and "machine feed value" may differ from the values set in "...

  • Page 369: Control Unit "Degree" Handling

    MAIN POSITIONING CONTROL MELSEC-A 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. Current feed value and machine feed value addresses When the control unit is set to "degree", "Current feed value (RWrn + 0 to 1, Rwrn + 8 to 9)"...
  • Page 370 MAIN POSITIONING CONTROL MELSEC-A When the software stroke limit is valid 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. Example When the current value is moved from 0°...

  • Page 371: Interpolation Control

    MAIN POSITIONING CONTROL MELSEC-A 9.1.6 Interpolation control Meaning of interpolation control In "2-axis linear interpolation control", "2-axis fixed-dimension feed control", and "2-axis circular interpolation control", control is carried out so that linear and arc paths are drawn using a motor set in two axis directions. This kind of control is called "interpolation control".
  • Page 372 MAIN POSITIONING CONTROL MELSEC-A Starting the interpolation control The positioning data Nos. of the reference axis (axis in which interpolation control was set in " Da.2 Control method") are started when starting the interpolation control. (Starting of the interpolation axis is not required.) The following errors will occur and the positioning will not start if both reference axis and the interpolation axis are started.
  • Page 373 MAIN POSITIONING CONTROL MELSEC-A Limits to interpolation control There are limits to the interpolation control that can be executed and speed ( Pr.21 Interpolation speed designation method) that can be set, depending on the " Pr.1 Unit setting" of the reference axis and interpolation axis. (For example, circular interpolation control cannot be executed if the reference axis and interpolation axis units differ.) The following table shows the interpolation control and speed designation limits.

  • Page 374: Setting The Positioning Data

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2 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 method". The following table shows the positioning data setting items corresponding to the different types of control.

  • Page 375: 1-Axis Linear Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.2 1-axis linear control In "1-axis linear control" (" Da.2 Control method" = ABS linear 1, INC linear 1), one motor is used to carry out position control in a set axis direction. (1) 1-axis linear control (ABS linear 1) Operation chart In absolute system 1-axis linear control, addresses established by a machine zero point return are used.
  • Page 376 9 MAIN POSITIONING CONTROL MELSEC-A (2) 1-axis linear control (INC linear 1) Operation chart In increment system 1-axis linear control, addresses established by a machine zero point return are used. Positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "...

  • Page 377: 2-Axis Linear Interpolation Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.3 2-axis linear interpolation control In "2-axis linear interpolation control" (" Da.2 Control method" = ABS linear 2, INC linear 2), two motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis.
  • Page 378 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control.  If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 379 9 MAIN POSITIONING CONTROL MELSEC-A (2) 2-axis linear interpolation control (INC linear 2) Operation chart In increment system 2-axis linear interpolation control, addresses established by a machine zero point return on a 2-axis coordinate plane are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "...
  • Page 380 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation.  If the movement amount of each axis exceeds "1073741824 (=2 )"...

  • Page 381: 1-Axis Fixed-Dimension Feed Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.4 1-axis fixed-dimension feed control In "1-axis fixed-dimension feed control" (" Da.2 Control method" = fixed-dimension feed 1), one motor is used to carry out fixed-dimension feed control in a set axis direction. In fixed-dimension 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 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) An error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". ("Continuous path control" cannot be set in fixed- dimension feed control.) (2) "Fixed-dimension feed"...

  • Page 383: 2-Axis Fixed-Dimension Feed Control (Interpolation)

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.5 2-axis fixed-dimension feed control (interpolation) In "2-axis fixed-dimension feed control" (" Da.2 Control method" = fixed-dimension feed 2), two motors are used to carry out fixed-dimension feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-dimension feed control, the remainder less than the control accuracy is rounded down to make the pulse output amounts the same for the movement amounts designed in the positioning data.
  • Page 384 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) An error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". ("Continuous path control" cannot be set in fixed-dimension feed control.) (2) If the movement amount of each axis exceeds "1073741824 (=2 )"...

  • Page 385: 2-Axis Circular Interpolation Control With Auxiliary Point Designation

    MAIN POSITIONING CONTROL MELSEC-A 9.2.6 2-axis circular interpolation control with auxiliary point designation In "2-axis circular interpolation control" (" Da.2 Control method" = ABS circular interpolation, INC circular interpolation), two motors are used to carry out position control in an arc path passing through designated auxiliary points, while carrying out interpolation for the axis directions set in each axis.
  • Page 386 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases.  When "degree" is set in " Pr.1 Unit setting"  When the units set in " Pr.1 Unit setting" are different for the reference axis and interpolation axis.
  • Page 387 MAIN POSITIONING CONTROL MELSEC-A Positioning data setting example The following table shows setting examples when "2-axis circular interpolation control with auxiliary point designation (ABS circular interpolation)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No.
  • Page 388 MAIN POSITIONING CONTROL MELSEC-A 2-axis circular interpolation control with auxiliary point designation (INC circular interpolation) In the increment system, 2-axis circular interpolation control with auxiliary point designation, addresses established by a machine zero point return on a 2-axis coordinate plane are used. Positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "...
  • Page 389 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases.  When "degree" is set in " Pr.1 Unit setting"  When the units set in " Pr.1 Unit setting" are different for the reference axis and interpolation axis.
  • Page 390 MAIN POSITIONING CONTROL MELSEC-A Positioning data setting example The following table shows setting examples when "2-axis circular interpolation control with auxiliary point designation (INC circular interpolation)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No.

  • Page 391: 2-Axis Circular Interpolation Control With Center Point Designation

    MAIN POSITIONING CONTROL MELSEC-A 9.2.7 2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" (" Da.2 Control method" = ABS right arc, INC right arc, ABS left arc, INC left arc), two motors are used to carry out position control in an arc path centered around the center point specified by an arc address, while carrying out interpolation for the axis directions set in each axis.
  • Page 392 MAIN POSITIONING CONTROL MELSEC-A Circular interpolation error compensation In circular interpolation control with center point designation, the arc path calculated from the start point address and the center point address may deviate from the position of the end point address set in " Da.5 Positioning address/movement amount".
  • Page 393 MAIN POSITIONING CONTROL MELSEC-A 2-axis circular interpolation control with center point designation (ABS right arc, ABS left arc) Operation chart In the absolute system, 2-axis circular interpolation control with center point designation, addresses established by a machine zero point return on a 2-axis coordinate plane are used.
  • Page 394 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases.  When "degree" is set in " Pr.1 Unit setting"  When the units set in " Pr.1 Unit setting" are different for the reference axis and interpolation axis.
  • Page 395 MAIN POSITIONING CONTROL MELSEC-A POINT Set a value in " Da.7 Command speed" so that the speed of each axis does not exceed the " Pr.7 Speed limit value". (The speed limit does not function for the speed calculated by the D75P2 during interpolation control.) 2-axis circular interpolation control with center point designation (INC right arc, INC left arc) Operation chart...
  • Page 396 MAIN POSITIONING CONTROL MELSEC-A In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point.
  • Page 397 MAIN POSITIONING CONTROL MELSEC-A Axis 1 Axis 2 Axis (reference (interpolation Setting details axis) setting axis) setting Setting item example example Positioning Set "Positioning complete" assuming the next positioning Operation pattern – Da.1 complete data will not be executed. Set increment system, 2-axis circular interpolation control INC right arc Control method –...

  • Page 398: Speed Control

    MAIN POSITIONING CONTROL MELSEC-A 9.2.8 Speed control In "speed control"(" Da.2 Control method" = Forward run: speed control, Reverse run: speed control), control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.7 Command speed"...
  • Page 399 MAIN POSITIONING CONTROL MELSEC-A Current feed value during speed control The following table shows the "Current feed value (RWrn + 0 to 1, RWrn + 8 to 9)" during speed control corresponding to the " Pr.22 Current feed value during speed control"...

  • Page 400: Speed/Position Changeover Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.9 Speed/position changeover control In "speed/position changeover control" (" Da.2 Control method" = Forward run: speed/position, Reverse run: speed/position), the pulse of the speed set to " Da.7 Command speed" is kept output until the stop command is input in the axis direction set to the positioning data, and speed control is switched to position control when the "speed/position changeover signal"...
  • Page 401 9 MAIN POSITIONING CONTROL MELSEC-A Movement amount set in" Da. 5 Positioning address/movement Da. 7 Command speed amount" (In INC mode) Address set in " Da. 5 Positioning address/movement amount" (In ABS mode) Speed control Position control Dwell time Positioning start signal [RY(n+1)0, RY(n+1)1] BUSY signal [RXn4, RXn5]...
  • Page 402 9 MAIN POSITIONING CONTROL MELSEC-A Operation timing and processing time during speed/position changeover control (Common to INC mode and ABS mode) Positioning start signal [RY(n+1)0, RY(n+1)1] BUSY signal [RXn4, RXn5] M code ON signal [RXnD, RXnE](WITH mode) M code OFF request [RY(n+2)6, RY(n+4)6] Start complete signal [RXn1, RXn2]...
  • Page 403 9 MAIN POSITIONING CONTROL MELSEC-A Current feed value during speed/position changeover control (Common to INC mode and ABS mode) The following table shows the "Current feed value (RWrn + 0 to 1, RWrn + 8 to 9)" during speed/position changeover control corresponding to the " Pr.22 Current feed value during speed control"...

  • Page 404: Speed Control

    9 MAIN POSITIONING CONTROL MELSEC-A Changing the position control movement amount (INC mode only) In "speed/position changeover control", the position control movement amount can be changed during the speed control section. (1) The position control movement amount can be changed during the speed control section of speed/position changeover control.
  • Page 405 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions <Common to INC mode and ABS mode> (1) If “continuous path control” is specified for “ Da.1 Operation pattern”, an error “continuous path control not possible” (error code: 516) occurs, resulting in a failure to start. (In the speed/position changeover control, “continuous path control”...
  • Page 406 9 MAIN POSITIONING CONTROL MELSEC-A <ABS mode only> (8) When the positioning address is reached midway during deceleration if automatic deceleration is started at the input of the speed/position changeover signal, the machine will not stop immediately at the positioning address. The machine will stop at the positioning address after N revolutions to ensure that automatic deceleration can be made without fail.

  • Page 407: Speed/Position Changeover Control

    9 MAIN POSITIONING CONTROL MELSEC-A Positioning data setting examples The following table shows setting examples when "speed/position changeover control (forward run: speed/position)" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Set "Positioning complete" assuming the next positioning data will not Positioning Operation pattern be executed.

  • Page 408: Current Value Change

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.10 Current value change When the current value is changed to a new value, control is carried out in which the "Current feed value (RWrn + 0 to 1, RWrn + 8 to 9)" of the stopped axis is changed to a random address set by the user.
  • Page 409 9 MAIN POSITIONING CONTROL MELSEC-A Positioning data setting examples The following table shows setting examples when "current value change" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Set "Positioning complete" assuming the next positioning data will not Positioning Operation pattern be executed.
  • Page 410 9 MAIN POSITIONING CONTROL MELSEC-A (2) Current value change using the start No. (No. 9003) for a current value change Operation chart The current value is changed by setting the new current value "Current value change (RWwm+2 to 3, RWwm+10 to 11)", setting "9003" in the " Cd.11 Positioning start No.", and turning ON the positioning start signal.
  • Page 411 9 MAIN POSITIONING CONTROL MELSEC-A Setting method for the current value change function The following shows an example of a sequence program and data setting to change the current value to a new value with the positioning start signal. (The " Current feed value (RWrn + 0 to 1, RWrn + 8 to 9)"...

  • Page 412: Jump Command

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.11 JUMP command The JUMP command is used to control the operation so it jumps to a positioning data No. set in the positioning data during "continuous positioning control" or "continuous path control". JUMP commands include the following two types of JUMP. (1) Unconditional JUMP When no execution conditions are set for the JUMP command (2) Conditional JUMP...
  • Page 413 9 MAIN POSITIONING CONTROL MELSEC-A (3) Positioning control such as loops cannot be executed by JUMP commands alone until the conditions have been established. To the JUMP instruction destination, specify the positioning data whose control method is other than the JUMP instruction. Positioning data setting example The following table shows setting examples when "JUMP command"...
  • Page 414 9 MAIN POSITIONING CONTROL MELSEC-A MEMO 9 - 62...
  • Page 415 Chapter 10 ADVANCED POSITIONING CONTROL The details and usage of advanced positioning control (control functions using the "start block data") are explained in this chapter. Advanced positioning control is used to carry out applied control using the "positioning data". Examples of advanced control are using conditional judgment to control "positioning data"...

  • Page 416: Outline Of Advanced Positioning Control

    ADVANCED POSITIONING CONTROL MELSEC-A 10.1 Outline of advanced positioning control In "advanced positioning control" the execution order and execution conditions of the "positioning data" are set to carry out more applied positioning. (The execution order and execution conditions are set in the "start block data" and "condition data".) The following applied positioning controls can be carried out with "advanced positioning control".

  • Page 417: Data Required For Advanced Positioning Control

    ADVANCED POSITIONING CONTROL MELSEC-A 10.1.1 Data required for advanced positioning control "Advanced positioning control" is executed by setting the required items in the "start block data" and "condition data", then starting that "start block data". Judgment about whether execution is possible, etc., is carried out at execution using the "condition data"...

  • Page 418: Start Block Data" And "Condition Data" Configuration

    ADVANCED POSITIONING CONTROL MELSEC-A 10.1.2 "Start block data" and "condition data" configuration The "start block data" and "condition data" corresponding to "block No. 7000" can be stored in the buffer memory. (The following drawing shows an example for axis 1.) 10 - 4...
  • Page 419 ADVANCED POSITIONING CONTROL MELSEC-A Set in D75P2 the "start block data" and "condition data" corresponding to the following "block Nos. 7001 to 7010" using the AD75 software package. (The following drawing shows an example for axis 1.) 10 - 5...

  • Page 420: Advanced Positioning Control Execution Procedure

    ADVANCED POSITIONING CONTROL MELSEC-A 10.2 Advanced positioning control execution procedure Advanced positioning control is carried out using the following procedure. * "Advanced positioning control" executes each control Preparation STEP 1 ("main positioning control") set in the positioning data Carry out the "main positioning control" setting. Refer to Chapter 9 with the designated conditions,so first carry out preparations so that "main positioning control"...

  • Page 421: Setting The Start Block Data

    ADVANCED POSITIONING CONTROL MELSEC-A 10.3 Setting the start block data 10.3.1 Relation between various controls and start block data The "start block data" must be set to carry out "advanced positioning control". The setting requirements and details of each "start block data" item to be set differ according to the "...

  • Page 422: Block Start (Normal Start)

    ADVANCED POSITIONING CONTROL MELSEC-A 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.11 Start data No."...
  • Page 423 ADVANCED POSITIONING CONTROL MELSEC-A Control examples The following shows the control executed when the "start block data" of the 1st point of axis 1 is set as shown in section (1) and started. <1> The positioning data is executed in the following order before stopping. Axis 1 positioning data No.

  • Page 424: Condition Start

    ADVANCED POSITIONING CONTROL MELSEC-A 10.3.3 Condition start In a "condition start", the "condition data" conditional judgment designated in " Da.13 Parameter" is carried out for the positioning data set in " Da.11 Start data No.". If the conditions have been established, the "start block data" set in "1: condition start" is executed.

  • Page 425: Wait Start

    ADVANCED POSITIONING CONTROL MELSEC-A 10.3.4 Wait start In a "wait start", the "condition data" conditional judgment designated in " Da.13 Parameter" is carried out for the positioning data set in " Da.11 Start data No.". If the conditions have been established, the "start block data" is executed. If the conditions have not been established, the control stops (waits) until the conditions are established.

  • Page 426: Simultaneous Start

    ADVANCED POSITIONING CONTROL MELSEC-A 10.3.5 Simultaneous start In a "simultaneous start", the positioning data set in the " Da.11 Start data No." and positioning data of other axes set in the "condition data" are simultaneously executed (Outputs pulses at the same timing). (The "condition data"...

  • Page 427: Stop

    ADVANCED POSITIONING CONTROL MELSEC-A "Error". <4> After the execution of the axis 1 "positioning data No. 50" is completed, stop the control. 10.3.6 Stop In a "stop", the control is stopped with the "start block data" set in "4: stop". The control after the point in which the "stop"...

  • Page 428: Repeated Start (For Loop)

    ADVANCED POSITIONING CONTROL MELSEC-A 10.3.7 Repeated start (FOR loop) In a "repeated start (FOR loop)", the data between the "start block data" in which "5: FOR loop" is set in " Da.12 Special start command" and the "start block data" in which "7: NEXT start"...

  • Page 429: Repeated Start (For Condition)

    ADVANCED POSITIONING CONTROL MELSEC-A 10.3.8 Repeated start (FOR condition) In a "repeated start (FOR condition)", the data between the "start block data" in which "6: FOR condition" is set in " Da.12 Special start command" and the "start block data" in which "7: NEXT start"...

  • Page 430: Restrictions When Using The Next Start

    ADVANCED POSITIONING CONTROL MELSEC-A 10.3.9 Restrictions when using the NEXT start The "NEXT start" is a command indicating the end of the repetitions when executing section "10.3.7 Repeated start (FOR loop)" and section "10.3.8 Repeated start (FOR condition)". The following shows the restrictions when setting "7: NEXT start" in the "start block data".

  • Page 431: Setting The Condition Data

    ADVANCED POSITIONING CONTROL MELSEC-A 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. (1) When setting conditions during execution of section "9.2.11 JUMP command" (main positioning control) (2) When setting conditions during execution of "advanced positioning control"...
  • Page 432 ADVANCED POSITIONING CONTROL MELSEC-A The setting requirements and details of the following "condition data" Da.15 to Da.18 setting items differ according to the " Da.14 Condition target" setting. The following shows the Da.15 to Da.18 setting items corresponding to the "...

  • Page 433: Condition Data Setting Examples

    ADVANCED POSITIONING CONTROL MELSEC-A 10.4.2 Condition data setting examples The following shows setting examples for "condition data". Setting the device ON/OFF as a condition [Condition] Device "RXn0" (=D75P2 READY) is ON Da.15 Da.14 Condition Da.16 Da.17 Da.18 Condition target Address Parameter 1 Parameter 2 operator...

  • Page 434: Starting Advanced Positioning Control

    ADVANCED POSITIONING CONTROL MELSEC-A 10.5 Starting advanced positioning control 10.5.1 Starting advanced positioning control To execute advanced positioning control, a sequence program must be created to start the control in the same manner as for main positioning control. The following shows the procedure for starting the "1st point start block data" (regarded as block No.
  • Page 435 ADVANCED POSITIONING CONTROL MELSEC-A 10.5.2 Example of a start program for advanced positioning control The following shows an example of a start program for advanced positioning control in which the 1st point "start block data" of axis 1 is started. (The block No. is regarded as "7000".) Control data that require setting The following control data must be set to execute advanced positioning control.
  • Page 436 ADVANCED POSITIONING CONTROL MELSEC-A Start time chart The following chart shows a time chart in which the positioning data 1, 2, 10, 11, and 12 of axis 1 are continuously executed as an example. Start block data setting example Axis 1 start Da.11 Start Da.12 Special Da.13...
  • Page 437 Chapter 11 MANUAL CONTROL The details and usage of manual control are explained in this chapter. In manual control, pulse output commands are issued during a JOG operation executed by the turning ON of the JOG START signal, or from a manual pulse generator connected to the D75P2.

  • Page 438: Outline Of Manual Control

    11 MANUAL CONTROL MELSEC-A 11.1 Outline of manual control 11.1.1 Two 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 two types of this "manual control"...
  • Page 439 11 MANUAL CONTROL MELSEC-A Manual control auxiliary functions Refer to section "3.3.4 Combination of D75P2 main functions and auxiliary functions" for details on "auxiliary functions" that can be combined with manual control. Also refer to "Chapter 12 CONTROL AUXILIARY FUNCTIONS" for details on each auxiliary function.

  • Page 440: Outline Of Jog Operation

    11 MANUAL CONTROL MELSEC-A 11.2 JOG operation 11.2.1 Outline of JOG operation Important Use the hardware stroke limit function when carrying out JOG operation near the upper or lower limits. (Refer to section 12.4.4). * If the hardware stroke limit function is not used, the workpiece may exceed the operating range, causing an accident.
  • Page 441 11 MANUAL CONTROL MELSEC-A Precautions during operation The following details must be understood before carrying out JOG operation. (1) For safety, first set "JOG speed (RWwm+6 to 7, RWwm+14 to 15)" to a smaller value and check the movement. Then gradually increase the value. (2) If "JOG speed (RWwm+6 to 7, RWwm+14 to 15)"...
  • Page 442 11 MANUAL CONTROL MELSEC-A JOG operation timing and processing time The following drawing shows details of the JOG operation timing and processing time. Forward run JOG start signal [RY(n+1)6, RY(n+1)8] Reverse run JOG start signal [RY(n+1)7, RY(n+1)9] BUSY signal [RXn4, RXn5] Axis operation status Standing by In JOG operation...

  • Page 443: Jog Operation Execution Procedure

    11 MANUAL CONTROL MELSEC-A 11.2.2 JOG operation execution procedure The JOG operation is carried out by the following procedure. Preparation STEP 1 Set the parameters * Directly set (write) the parameters in the D75P2 using the AD75 software package. Pr.1 Pr.43 Refer to Chapter 5 and section 11.2.3.

  • Page 444: Setting The Required Parameters For Jog Operation

    11 MANUAL CONTROL MELSEC-A 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 445 11 MANUAL CONTROL MELSEC-A Factory-set initial value Setting item Setting requirement (setting details) Pr.26 Acceleration time 1 (Unit: ms) 1000 Pr.27 Acceleration time 2 (Unit: ms) 1000 Pr.28 Acceleration time 3 (Unit: ms) 1000 Pr.29 Deceleration time 1 (Unit: ms) 1000 Pr.30 Deceleration time 2 (Unit: ms) 1000...

  • Page 446: Creating Start Programs For Jog Operation

    11 MANUAL CONTROL MELSEC-A 11.2.4 Creating start programs for JOG operation A sequence program must be created to execute a JOG operation. Consider the "required control data setting", "start conditions", "start time chart", and "device settings" when creating the program. The following shows an example when a JOG operation is started for axis 1.
  • Page 447 11 MANUAL CONTROL MELSEC-A Start time chart Forward JOG run Reverse JOG run Forward run JOG start signal [RY(n+1)6)] Reverse run JOG start signal [RY(n+1)7] Remote station READY signal [RX(n+7)B] D75P2 READY signal [RXn0] BUSY signal [RXn4] Error detection signal [RXnA] Fig.

  • Page 448: Jog Operation Example

    11 MANUAL CONTROL MELSEC-A 11.2.5 JOG operation example 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. JOG start signals will be ignored 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 449 11 MANUAL CONTROL MELSEC-A When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis, the "forward run JOG start signal" is given priority.
  • Page 450 11 MANUAL CONTROL MELSEC-A 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 OFF of the "JOG start signal", the JOG operation will be carried out from the time the "JOG start signal"...
  • Page 451 11 MANUAL CONTROL MELSEC-A When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 56.8ms) When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 56.8ms), it will be ignored and the JOG operation will not be carried out. Forward run JOG operation Forward run JOG start signal [RY(n+1)6, RY(n+1)8]...

  • Page 452: Manual Pulse Generator Operation

    11 MANUAL CONTROL MELSEC-A 11.3 Manual pulse generator operation 11.3.1 Outline of manual pulse generator operation Important Create the sequence program so that "Manual pulse generator enable flag (RY(n+2)9, RY(n+4)9)" is always set to "0" (disabled) when a manual pulse generator operation is not carried out.
  • Page 453 11 MANUAL CONTROL MELSEC-A Restricted items A manual pulse generator is required to carry out manual pulse generator operation. Precautions during operation The following details must be understood before carrying out manual pulse generator operation. (1) The speed during manual pulse generation operation is not limited by the "...
  • Page 454 11 MANUAL CONTROL MELSEC-A Manual pulse generator operation timing and processing time The following drawing shows details of the manual pulse generator operation timing and processing time. Manual pulse generator enable flag [RY(n+2)9, RY(n+4)9] Manual pulse generator input pulses BUSY signal [RXn4, RXn5] The start complete signal does not turn ON in manual pulse generator operation.

  • Page 455: Manual Pulse Generator Operation Execution Procedure

    11 MANUAL CONTROL MELSEC-A 11.3.2 Manual pulse generator operation execution procedure The manual pulse generator operation is carried out by the following procedure. * Directly set (write) the parameters in the D75P2 Preparation STEP 1 Set the parameters using the AD75 software package. Pr.1 Pr.24 Refer to Chapter 5...

  • Page 456: Setting The Required Parameters For Manual Pulse Generator Operation

    11 MANUAL CONTROL MELSEC-A 11.3.3 Setting the required parameters for manual pulse generator operation The "Parameters" must be set to carry out manual pulse generator operation. The following table shows the setting items of the required parameters for carrying out manual pulse generator operation.

  • Page 457: Starting The Manual Pulse Generator Operation

    11 MANUAL CONTROL MELSEC-A 11.3.4 Starting the manual pulse generator operation A sequence program must be created to execute a manual pulse generator operation. Consider the "required control data setting", "start conditions", "start time chart", and "device settings" when creating the program. The following shows an example when a manual pulse generator operation is started for axis 1.
  • Page 458 11 MANUAL CONTROL MELSEC-A Start time chart Forward run Reverse run Pulse input A phase Pulse input B phase Remoto station READY signal [RX(n+7)B] [RXn0] D75P2 READY signal Start complete signal [RXn1] [RXn4] BUSY signal [RXnA] Error detection signal Manual pulse generator enable flag [RY(n+2)9, RY(n+4)9] OFF Cd.
  • Page 459 Chapter 12 CONTROL AUXILIARY FUNCTIONS The details and usage of the "auxiliary functions" added and used in combination with the main functions are explained in this chapter. A variety of auxiliary functions are available, including functions specifically for machine zero point returns and generally related functions such as control compensation, etc. More appropriate, finer control can be carried out by using these auxiliary functions.

  • Page 460: Outline Of Auxiliary Functions

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.1 Outline of auxiliary functions "Auxiliary functions" are functions that compensate, limit, add functions, etc., to the control when the main functions are executed. These auxiliary functions are executed by parameter settings, commands from the AD75 software package, auxiliary function sequence programs, etc.
  • Page 461 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Auxiliary function Details Absolute position restoration function * This function restores the absolute position of the specified axis. This function temporarily stops the operation to confirm the positioning operation during debugging, etc. Step function The operation can be stopped at each "automatic deceleration" or "positioning data".

  • Page 462: Auxiliary Functions Specifically For Machine Zero Point Returns

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.2 Auxiliary functions specifically for machine zero point returns The auxiliary functions specifically for machine zero point returns include the "zero point retry function" and "zero point shift function". Each function is executed by parameter setting. 12.2.1 Zero point return retry function When the workpiece goes past the zero point without stopping during positioning control, it may not move back in the direction of the zero point although a machine zero...
  • Page 463 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) Zero point return retry operation when the workpiece is outside the range between the upper and lower limits. 1) When the direction from the workpiece to the zero point is the same as the " Pr.46 Zero point return direction", a normal machine zero point return is carried out.
  • Page 464 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) Setting the dwell time for a zero point return retry With the zero point return retry function, the dwell time can be set for reverse run operation started at detection of the upper/lower limit signal and for a machine zero point return executed after a stop by near-point dog OFF when a zero point return retry is made.
  • Page 465 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precaution during control (a) The following table shows whether the zero point return retry function may be executed by the " Pr.45 Zero point return method". Pr.45 Zero point return method Execution status of zero point return retry function Near-point dog method : Execution possible Stopper stop method 1)

  • Page 466: Zero Point Shift Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.2.2 Zero point shift function When a machine zero point return is carried out, the zero point is normally established using the near-point dog, stopper, and zero point signal. However, by using the zero point shift function, the machine can be moved a designated movement amount from the position where the zero point signal was detected.
  • Page 467 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Setting range for the zero point shift amount Set the zero point shift amount within the range from the detected zero point signal to the upper/lower limit switches. Setting range of the negative zero point Setting range of the positive zero point shift amount shift amount Address decrease...
  • Page 468 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) Zero point shift operation at the " Pr.49 Creep speed" (When " Pr.57 Speed designation during zero point shift" is 1) Pr. 46 Zero point return direction When the " Pr. 55 Zero point Pr.

  • Page 469: Functions For Compensating The Control

    CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.3 Functions for compensating the control The auxiliary functions for compensating the control include the "backlash compensation function", "electronic gear function", and "near pass mode function". Each function is executed by parameter setting or sequence program creation and writing.
  • Page 470 CONTROL AUXILIARY FUNCTIONS MELSEC-A Precautions during control (a) The feed pulses of the backlash compensation amount are not added to the "Current feed value (RWrn+0 to 1, RWrn+8 to 9)" or " Md.30 Machine feed value". (b) Always carry out a machine zero point return before starting the control when using the backlash compensation function (when "...

  • Page 471: Electronic Gear Function

    CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.3.2 Electronic gear function The "electronic gear function" adjusts the position and speed commands calculated and output according to the parameters set in the D75P2 with the actual machine movement amount. The "electronic gear function" has the following four functions. (A) During machine movement, the function increments in the D75P2 values less than one pulse that could not be position command output, and outputs the incremented amount of position commands when the total incremented value...
  • Page 472 CONTROL AUXILIARY FUNCTIONS MELSEC-A Error compensation method When position control is carried out by the "movement amount per pulse" set in the D75P2 parameters, an error sometimes occurs between the command movement amount (L) and the actual movement amount (L'). That error is compensated in the D75P2 by adjusting the values in "...
  • Page 473 CONTROL AUXILIARY FUNCTIONS MELSEC-A Calculation example (Conditions) Movement amount per pulse : 500 (  m/rev) No. of pulses per rotation : 12000 (pulse/rev) Unit magnification (Positioning results) Command movement amount : 100mm Actual movement amount : 101mm (Compensation amount) 5 ...
  • Page 474 CONTROL AUXILIARY FUNCTIONS MELSEC-A Relation between the movement amount per pulse and speed The following shows the relation of the "movement amount per pulse (A)" to the command speed and actual speed. The command speed is the speed commanded by each control, and the actual speed is the actual feedrate. Command speed = V (The command frequency at that time is represented by "f") Actual speed = V' (The command frequency at that time is represented by "...
  • Page 475 CONTROL AUXILIARY FUNCTIONS MELSEC-A Precautions during control It is recommended that the "movement amount per pulse (A)" be set to a value close to "1" for the following reasons. “1” set in the “movement amount per pulse” indicates the minimum value of Unit setting.”...
  • Page 476 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.3.3 Near pass mode function When carrying out continuous path control using interpolation control, either the "positioning address pass mode" or the "near pass mode" can be selected by setting the " Pr.44 Near pass mode selection for path control". The "near pass mode"...
  • Page 477 CONTROL AUXILIARY FUNCTIONS MELSEC-A Control details The following drawing shows the paths of the "positioning address pass mode" and "near pass mode". [Positioning address pass mode path] [Near pass mode path] Da. 5 Positioning address Da. 5 Positioning address Path of positioning data No. 4 Path of positioning data No.3 Path of positioning data No.3 Path of positioning data No.4...
  • Page 478 CONTROL AUXILIARY FUNCTIONS MELSEC-A Precautions during control (a) If the movement amount designated by the positioning data is small when the continuous path control is executed in the near pass mode, the output speed may not reach the designated speed. (b) If continuous path control is carried out in the near pass mode, the output will suddenly reverse when the reference axis movement direction changes from the positioning data No.
  • Page 479 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) When continuous path control of a circular interpolation is being carried out in the near pass mode, an address in which the extra movement amount is subtracted from the positioning address of the positioning data currently being executed is replaced by the starting point address of the next positioning data Because of this, circular interpolation control cannot be carried out using the increment system.
  • Page 480 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 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 sequence program creation and writing. 12.4.1 Speed limit function The speed limit function limits the command speed to a value within the "speed limit value"...
  • Page 481 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control During interpolation control, speed limiting is carried out at the reference axis side setting value. (The speed limit will not function on the interpolation side.) (3) Setting the speed limit function To use the "speed limit function", set the "speed limit value"...
  • Page 482 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 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 483 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Control details The following drawing shows the operation of the torque limit function. Various operations Remote station READY signal [RX(n+7)B] 100% Pr.18 Torque limit setting value Cd.30 New torque value Torque limited at the parameter Torque limited at the parameter torque limit setting value (100%) torque limit setting value (50%)
  • Page 484 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Setting the torque limit function (a) To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them to the D75P2. The set details are validated at the rising edge (OFF ON) of the remote station READY signal [RX(n+7)B].
  • Page 485 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.4.3 Software stroke limit function In the "software stroke limit function" the address established by a machine zero point return is used to set the upper and lower limits of the moveable range of the workpiece. Movement commands issued to addresses outside that setting range will not be executed.
  • Page 486 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A The following drawing shows the differences in the operation when "Current feed value (RWrn+0 to 1, RWrn+8 to 9)" and " Md.30 Machine feed value" are used in the moveable range limit check. [Conditions] Assume the current stop position is 2000, and the upper stroke limit is set to 5000. Moveable range 2000 5000...
  • Page 487 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Software stroke limit check details Processing when Check details an error occurs An error shall occur if the current value* is outside the software stroke limit range* (Check "Current feed value (RWrn+0 to 1, RWrn+8 to 9)" or An "axis error"...
  • Page 488 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Precautions during software stroke limit check (a) A machine zero point return must be executed beforehand for the "software stroke limit function" to function properly. (b) During interpolation control, a stroke limit check is carried out for the current values of both the reference axis and the interpolation axis.
  • Page 489 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (5) Setting the software stroke limit function To use the "software stroke limit function", set the required values in the parameters shown in the following table, and write them to the D75P2. The set details are validated at the rising edge (OFF ON) of the remote station READY signal [RX(n+7)B].
  • Page 490 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (7) Setting when the control unit is "degree" Current value address The "Current feed value (RWrn+0 to 1, RWrn+8 to 9)" address is ring addresses between 0 and 359.99999 ° . 359.99999° 359.99999° 0° 0° 0°...
  • Page 491 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.4.4 Hardware stroke limit function In the "hardware stroke limit function", limit switches are set at the upper/lower limit of the physical moveable range, and the control is stopped (by deceleration stop) by the input of a signal from the limit switch. Damage to the machine can be prevented by stopping the control before the upper/lower limit of the physical moveable range is reached.
  • Page 492 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Wiring the hardware stroke limit When using the hardware stroke limit function, wire the terminals of the D75P2 upper/lower limit stroke limit as shown in the following drawing. Note) Connect the upper and lower limit switches to the directions of increasing and decreasing current feed values respectively.
  • Page 493 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 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 sequence program creation and writing.
  • Page 494 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (1) Control details The following drawing shows the operation during a speed change. Speed changes to V2. Speed changes to V3. Operation during positioning by V1. In speed change processing flag (RX(n+1)1, RX(n+4)1) Fig. 12.22 Speed change operation (2) Precautions during control (a) For the speed change during the continuous path control, the following control is performed.
  • Page 495 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) When the speed is changed by setting "New speed value (RWwm+4 to 5, RWwm+12 to 13)" to "0", the operation is carried out as follows.  A deceleration stop is carried out, and the speed change 0 flag (RX(n+2)2, RX(n+5)2) turns ON.
  • Page 496 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (3) Setting the speed change function from the PLC CPU The following shows the data settings and sequence program example for changing the control speed of axis 1 from the PLC CPU. (In this example, the control speed is changed to "10000.00mm/min".) (a) Set the following data.
  • Page 497 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Setting the speed change function using an external start signal The speed can also be changed using an "external start signal". The following shows the data settings for changing the control speed of axis 1 using an "external start signal".
  • Page 498 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 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 "Positioning operation speed override (RWwm+1, RWwm+9)".
  • Page 499 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precaution during control (a) When changing the speed during continuous path control, the speed change will be ignored if there is not enough distance remaining to carry out the change. (b) A warning "deceleration and stop speed change" (warning code: 500) occurs and the speed cannot be changed in the following cases.
  • Page 500 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 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 indicated in section "12.5.1 Speed change function". In a normal speed change (when the acceleration/deceleration time is not changed), the acceleration/deceleration time previously set in the parameters ( Pr.8 , Pr.9 , and Pr.26 to Pr.31 values) is set in the positioning parameter data items Da.3...
  • Page 501 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control (a) When "0" is set in " Cd.33 New acceleration time value" and " Cd.34 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 502 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (d) If the "new acceleration/deceleration time" is set to "0" and the speed is changed after the "new acceleration/deceleration time" is validated, the operation will be controlled with the previous "new acceleration/deceleration time". (e) During JOG operation, the acceleration/deceleration time change function does not function.
  • Page 503 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 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.18 Torque limit setting value"...
  • Page 504 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control (a) If a value besides "0" is set in the " Cd.30 New torque value", the torque generated by the servomotor will be limited by that value. To limit the torque with the value set in "...
  • Page 505 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.6 Absolute position restoration function When absolute position restoration is performed, the servo ON signal may turn OFF CAUTION (the servo may switch off) for about 20ms, starting the motor. If any inconvenience may be caused by the start of the motor when the servo ON signal turns OFF, provide an electromagnetic brake separately to lock the motor with the electromagnetic brake during absolute position restoration.
  • Page 506 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Preparation Note the details in the following table for preparation of the absolute position detection system. System component Details 1) Servo amplifier  Fit the battery (MR-BAT, A6BAT) to the servo amplifier.  (MR-H-A, MR-J2-A, MR-J2S-A) Make the servo amplifier side absolute position detection function valid.
  • Page 507 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A [3] Absolute position signal transfer procedure (1) The outline of the absolute position signal transfer procedure between the servo amplifier and D75P2 is shown in Fig. 12.33. For details of communication between the servo amplifier and PLC system, refer to the servo amplifier side instruction manual.
  • Page 508 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Condition 1: Number of output pulses (a) This is the number of pulses that can be output to the servo amplifier when positioning is performed from the zero point in the absolute position detection system. In the absolute position detection system, pulses within the range of the following expression can be output to the servo amplifier.
  • Page 509 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Example 1 (1) The conditions for calculation of the positioning address are indicated below.  Movement amount per pulse: 0.1 ( m)  Zero point address: 0.0 ( m)  Number of feedback pulses: 8192 (pulse) (2) Calculate the upper and lower limit values of the positioning address that can be specified from the range of using the number of output pulses in Condition 1 and the expression of calculating the positioning address (Expression 1).
  • Page 510 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Example 3 (1) The conditions for calculation of the positioning address are indicated below.  Movement amount per pulse: 0.9 ( m)  Zero point address: 0.0 ( m)  Number of feedback pulses: 8192 (pulse) (2) Calculate the positioning address from the range of using the number of output pulses in Condition 1 and the expression of calculating the positioning address (Expression 1).
  • Page 511 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7 Other functions Other functions include the "step function", "skip function", "M code output function", "teaching function", "command in-position function", "stepping motor mode function", "acceleration/deceleration processing function" and "indirectly specification function". Each function is executed by parameter setting or sequence program creation and writing.
  • Page 512 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (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.27 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 513 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Using the step operation The following shows the procedure for checking positioning data using the step operation. (a) Turn ON the step valid flag before starting the positioning data. (Write "1" (carry out step operation) in " Cd.26 Step valid flag".) (b) Set the step mode before starting the positioning data.
  • Page 514 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (5) Control details (a) The following drawing shows a step operation during a "deceleration unit step". Cd. 26 Step valid flag Positioning start signal [RY(n+1)0, RY(n+1)1] BUSY signal [RXn4, RXn5] Positioning complete signal [RXn7, RXn8] Positioning Positioning data No.
  • Page 515 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (6) Precautions during control (a) When step operation is carried out using interpolation control positioning data, the step function settings are carried out for the reference axis. (b) When the step valid flag is ON, the step operation will start from the beginning if the positioning start signal is turned ON while "Axis operation status (RWrn+7, RWrn+15)"...
  • Page 516 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 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.29 Skip command) or external start signal. The "skip function"...
  • Page 517 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (3) Setting the skip function from the PLC CPU The following shows the settings and sequence program example for skipping the control being executed in axis 1 with a command from the PLC CPU. (a) Set the following data. (The setting is carried out using the sequence program shown below in section (2)).
  • Page 518 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.3 M code output function The "M code output function" is used to command auxiliary work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal [RXnD, RXnE] is turned ON during positioning execution, a No.
  • Page 519 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) AFTER mode The M code ON signal [RXnD, RXnE] is turned ON at the positioning completion, and the M code is stored in "Valid M code (RWrn+4, RWrn+12)". Positioning start signal [RY(n+1)0, RY(n+1)1] [RXn4, RXn5] BUSY signal M code ON signal [RXnD, RXnE]...
  • Page 520 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Positioning start signal [RY(n+1)0, RY(n+1)1] BUSY signal [RXn4, RXn5] M code ON signal [RXnD, RXnE] M code OFF request [RY(n+2)6, RY(n+4)6] Valid M code [RWrn+4, RWrn+12] Positioning Da. 1 Operation pattern * : m1 and m3 indicate set M codes. Warning occurs at this timing.
  • Page 521 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Setting the M code output function The following shows the settings to use the "M code output function". (a) Set the M code No. in the positioning data " Da.9 M code". (b) Set the timing to output the M code ON signal [RXnD, RXnE]. Set the required value in the following parameter, and write it to the D75P2.
  • Page 522 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.4 Teaching function POINT It is recommended to use the AD75 software package to execute this function. The "teaching function" is used to set addresses aligned using the manual control (JOG operation, manual pulse generator operation) in the positioning data addresses ( Da.5 Positioning address/movement amount, Da.6 Arc address).
  • Page 523 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control (a) Before teaching, a "machine zero point return" must be carried out to establish the zero point. (When a current value change function, etc., is carried out, "Current feed value (RWrn+0 to 1, RWrn+8 to 9)" may not show absolute addresses having the zero point as a reference.) (b) Teaching cannot be carried out for positions to which movement cannot be executed by manual control (positions to which the workpiece cannot...
  • Page 524 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Teaching procedure The following shows the procedure for a teaching operation. (a) When teaching to the " Da.5 Positioning address/movement amount" Start Carry out a machine zero point return. Move the workpiece to the target position •...
  • Page 525 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) When teaching to the " Da.6 Arc address", then teaching to the " Da.5 Positioning address/movement amount" Start Carry out a machine zero point return. Move the workpiece to the circular interpolation auxiliary point using a •...
  • Page 526 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Confirm that the buffer memory address [1106] has become 0. • • • • • • • • Confirm the completion of the writing. End teaching? Turn OFF the remote station • • • • • • • • Set 1 in the buffer memory address [1138].
  • Page 527 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 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 turns ON the signal. This signal is called the "command in-position signal". The command in-position signal is used as a front-loading signal indicating beforehand the completion of the position control.
  • Page 528 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control (a) The range check of the command in-position is not performed during speed control and that of speed/position changeover control. Command in-position width setting value Speed to position changeover Speed/position Command in-position changeover Positioning width setting value...
  • Page 529 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (3) Setting the command in-position function To use the "command in-position function", set the required value in the parameter shown in the following table, and write it to the D75P2. The set details are validated at the rising edge (OFF ON) of the remote station READY signal [RX(n+7)B].
  • Page 530 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.6 Stepping motor mode function The "stepping motor mode function" is used to carry out the settings when controlling a stepping motor with the D75P2. By setting the "stepping motor mode function", "step out prevention during acceleration/deceleration", "reduction of mechanical vibration due to decreases in frequency fluctuations", etc., will be carried out, and control of the stepping motor with the D75P2 will be enabled.
  • Page 531 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (e) Restrictions during continuous path control  Continuous path control can only be used in the control of 1 axis at a time. Continuous path control cannot be used in 2-axis interpolation control. Positioning deviation may occur if continuous path control is used in 2- axis interpolation control.
  • Page 532 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Setting the stepping motor mode function To use the "stepping motor mode function", set the required values in the parameters shown in the following table, and write them to the D75P2. The set details are validated at the rising edge (OFF ON) of the remote station READY signal [RX(n+7)B].
  • Page 533 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.7 Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration when each control is executed. Adjusting the acceleration/deceleration processing to match the control enables more precise control to be carried out. There are three acceleration/deceleration adjustment items that can be set: "Acceleration/deceleration time size selection", "acceleration/deceleration time 0 to 3", and "acceleration/deceleration method setting".
  • Page 534 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) "Acceleration/deceleration time 0 to 3" control details and setting In the D75P2, four types each of acceleration time and deceleration time can be set. By using separate acceleration/deceleration times, control can be carried out with different acceleration/deceleration times for positioning control, JOG operation, zero point returns, etc.
  • Page 535 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (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 "...
  • Page 536 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.8 Indirectly specification function The "indirectly specification function" specifies indirectly and starts the positioning data The "indirectly specification function" is executed by setting the positioning data No. 1 to 600 desired to be started to the "indirectly specification data area" and starting that "indirectly specification data".
  • Page 537 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) "Indirectly specification data" configuration The following D75P2 buffer memory can store the "indirectly specification data (positioning data No. 1 to 600)" corresponding to the "indirectly specification No. (8001 to 8050)" on an axis basis. Indirectly speccification No.8050 Buffer memory...
  • Page 538 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (3) Control details and setting The following shows the control details and setting when the indirectly specification data set to the indirectly specification No. 8001 of axis 1 is started. D75P2 Remote registers Drive unit Controlled with RWwm the specified...
  • Page 539 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (a) Data that requires setting The following data must be set to execute the indirectly specification function. Remote register Setting item Setting value Setting details Axis 1 Axis 2 Set "8001" that indicates the control using Positioning start No.
  • Page 540 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) Start time chart The following time chart assumes that the positioning data No. 1, 2, 3, 4 and 5 of axis 1 are executed consecutively by "indirectly specification" as an example. 1) Indirectly specification data setting example Positioning data No.
  • Page 541 Chapter 13 COMMON FUNCTIONS The details and usage of the "common functions" executed according to the user's requirements are explained in this chapter. Common functions include functions required when using the D75P2, such as parameter initialization and execution data backup. Read the setting and execution procedures for each common function thoroughly, and execute the appropriate function where required.
  • Page 542 COMMON FUNCTIONS MELSEC-A 13.1 Outline of common functions "Common functions" are executed according to the user's requirements, regardless of the control method, etc. Common functions include "parameter initialization", "execution data backup", "work status and error code display", etc. These common functions are executed by commands from the AD75 software package, common function sequence programs, mode switches on the front panel of the main unit, etc.
  • Page 543 COMMON FUNCTIONS MELSEC-A 13.2 Parameter initialization function POINT It is recommended to use the AD75 software package to execute this function. "The parameter initialization function" is used to return the setting data set in the D75P2 flash ROM and OS memory to their factory-set initial values. This function is used when several parameter errors occur and the D75P2 will not start.
  • Page 544 COMMON FUNCTIONS MELSEC-A Precautions during control (a) Parameter initialization is only executed when the remote station READY signal [RX(n+7)B] is OFF. (A warning "In remote station READY" (warning code: 111) will occur if executed when the remote station READY signal [RX(n+7)B] is ON.) (b) A "D75P2 reset"...
  • Page 545 COMMON FUNCTIONS MELSEC-A 13.3 Execution data backup function POINT It is recommended to use the AD75 software package to execute this function. When the D75P2 buffer memory data is rewritten from the PLC CPU, "the data backed up in the D75P2 flash ROM" may differ from "the data for which control is being executed".
  • Page 546 COMMON FUNCTIONS MELSEC-A Precautions during control (a) Data can only be written to the flash ROM when the remote station READY signal [RX(n+7)B] is OFF. (b) Writing to the flash ROM can be executed up to 100,000 times. (Writing to the flash ROM will become impossible after 100,000 times.) (c) During execution of a flash ROM write request, a transient transmission request such as the dedicated command (RIRD, RIWT) cannot be accepted.
  • Page 547 COMMON FUNCTIONS MELSEC-A 13.4 LED display function The D75P2 status, control status of each axis, input/output signal status, etc., can be confirmed using the LED display on the front of the D75P2 main unit. Monitor the operation condition as required when the D75P2 is not operating normally, etc.
  • Page 548 COMMON FUNCTIONS MELSEC-A Display details Pressing the "Mode switch" changes the "mode" of the data displayed in the LED display area in the following order..............Module status Refer to (1) ..............Axis status Refer to (2) ........OS type The OS type is displayed.
  • Page 549 COMMON FUNCTIONS MELSEC-A (1) "Module status" display details "Module status" displays the operation status of the D75P2. 17-segment LED Axis indicator LED Details Operating axis flickers. During axis operation TEST All axes turn on. During test mode During standby LED of axis in error flickers. During error occurrence (2) Axis status"...
  • Page 550 COMMON FUNCTIONS MELSEC-A 13.5 Clock data function "The clock data function" utilizes the PLC CPU clock data in the D75P2. This clock data is used to monitor Md.7 to Md.12 , Md.13 to Md.18 , Md.19 to Md.23 , Md.24 to Md.28 history data. The clock data is controlled in 0.1 second units in the D75P2 to simplify the measurement of cycle time, etc.
  • Page 551 Chapter 14 TROUBLESHOOTING The "errors" and "warnings" detected by the D75P2 are explained in this chapter. Errors and warnings can be confirmed with the D75P2 LED display and peripheral devices. When an "error" or "warning" is detected, confirm the detection details and carry out the required measures.

  • Page 552: Troubleshooting When The "Err" Led On The Master Module Is Flashing

    TROUBLESHOOTING MELSEC-A 14.1 Troubleshooting when the "ERR" LED on the Master Module is Flashing The "ERR" LED on the master station is flashing Are the parameter setting and loading system configuration compatible? Malfunction of the master station Are the master station link special registers SW0080 to SW0083 (other station data...
  • Page 553 TROUBLESHOOTING MELSEC-A From the previous page From the previous page From the previous page Is the "L RUN" LED on? Is the "SD" LED on (flashing)? Is the "SD" LED Is the transmission speed on (flashing)? setting correct? Set the transmission speed correctly.

  • Page 554: Error And Warning Details

    TROUBLESHOOTING MELSEC-A 14.2 Error and warning details Errors Types of errors Errors detected by the D75P2 include parameter setting range errors and errors at the operation start or during operation. (1) Parameter setting range errors The parameters are checked at the rising edge (OFF ON) of the remote station READY signal [RX(n+7)B].
  • Page 555 TROUBLESHOOTING MELSEC-A 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 "Axis error No. (RWrn+5, RWrn+13)". Note that there is a delay of up to 56.8ms after the error detection signal turns ON until the error code is stored.
  • Page 556 TROUBLESHOOTING MELSEC-A Warning storage (1) When an axis warning occurs, the warning code corresponding to the warning details is stored in the "Axis warning No. (RWrn+6, RWrn+14)" for axis warning No. storage. Axis No. Remote register RWrn+6 RWrn+14 (2) When an axis warning occurs in a positioning operation, etc., "Axis warning detection (RX(n+2)1, RX(n+5)1)"...
  • Page 557 TROUBLESHOOTING MELSEC-A MEMO 14 - 7...

  • Page 558: List Of Errors

    TROUBLESHOOTING MELSEC-A 14.3 List of errors Description of the errors and remedies are shown below. Division of Error Error name Description Action at occurrence of error error code (Normal) Fault Division by zero Fatal error Hardware error The system is stopped. Overflow Underflow ...
  • Page 559 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or Setting range Remedy remote register Axis 1 Axis 2  Check if there are effects of noise or the like.  Check for hardware errors. <Position data, positioning address/movement amount in parameter> ...
  • Page 560 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code Stopping according to sudden stop (stopping Communication between the personal group 3) setting (deceleration and stop/sudden Test mode fault computer and D75P2 is interrupted in test stop) selected in detail parameter 2 (However, during operation mode.
  • Page 561 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or Setting range Remedy remote register Axis 1 Axis 2 Check the I/F on the PC side of cable connection for errors. After making an axis error reset (refer to [3] in Section 14.2), perform manual control operation (refer to Chapter 11) to move the axis to the position where the upper limit signal (FLS) will not be turned OFF.
  • Page 562 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code The “Setting for the movement amount after near-point dog ON” zero point return detail Count method parameter is smaller than the distance Machine zero point return start is not carried movement necessary for deceleration and stop from the out.
  • Page 563 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or Setting range Remedy remote register Axis 1 Axis 2 <Setting for the movement amount after near-point dog ON>  Calculate the distance of travel according to the speed (In standard mode) 0 to 2147483647 limit, zero point return speed and deceleration speed, (In stepping motor mode)
  • Page 564 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code The condition data number specified in the parameter of special positioning start data is out of the setting range at the block start in the Illegal condition special starting method when the conditional Operation is terminated.
  • Page 565 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or Setting range Remedy remote register Axis 1 Axis 2 Refer to section “5.4 List of start <Condition data No.> Examine the condition data number. (Refer to Da.13 in block data.” 1 to 10 section 5.4) Refer to section “5.5 List of...
  • Page 566 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code  The movement amount in each axis for each piece of data exceeds 1073741824 (2 during linear interpolation with “synthetic speed” specified as an “interpolation speed Outside linear designation method”...
  • Page 567 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or Setting range Remedy remote register Axis 1 Axis 2 <Positioning address/movement amount> (In standard mode)  ABS Unit [mm], [pulse], [inch]: -2147483648 to 2147483647 Unit [degree] 0 to 35999999  INC (When software stroke limit is valid) Unit [degree] -35999999 to 35999999...
  • Page 568 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code Start outside Positioning is started at a position outside the stroke limit (+) upper software stroke limit. Start outside Positioning is started at a position outside the stroke limit (-) lower software stroke limit.
  • Page 569 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or Setting range Remedy remote register Axis 1 Axis 2 Software stroke limit upper limit <Software stroke limit upper/lower limit value value> (In standard mode)  [mm] [inch] [pulse] Change the current feed to within the range of the -2147483648 to 2147483647 software stroke limit, using manual control operation Software stroke limit lower limit...
  • Page 570 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code Outside operation pattern The operation pattern setting is “2.” range Interpolation Interpolation is started during operation in the while target axis target axis. is BUSY Unit group The unit group of the target axis of interpolation disagreement...
  • Page 571 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or Setting range Remedy remote register Axis 1 Axis 2 Correct the operation pattern. <Operation pattern>00, 01, 11 (Refer to section 5.3 Da.1 )  00: Positioning complete  01: Continuous positioning control ...
  • Page 572 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code Circular interporation with center point designation applicable to one of the following  Start point = Center point Center point At start: Operation does not start. ...
  • Page 573 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or Setting range Remedy remote register Axis 1 Axis 2 <Positioning address/movement amount> Correct the center point address (arc address). (In standard mode) (Refer to section 9.2.7)  [mm] [inch] [pulse] [degree (INC)] Refer to section “5.3 List of -2147483648 to 2147483647 ...
  • Page 574 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code Outside unit The setting range of “unit setting” in basic setting range parameter 1 is out of the setting range. No. of pulses per The setting range of “number of pulses per rotation setting rotation”...
  • Page 575 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or Setting range Remedy remote register Axis 1 Axis 2 0, 1, 2, 3 1 to 65535 1 to 65535 1, 10, 100, 1000 0, 1, 2, 3 0, 1 Change the setting to within the setting range and turn (In standard mode) OFF then ON the remote station READY signal 1 to 1000000 [pulse/s]...
  • Page 576 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code  The “software stroke limit lower limit value” setting in detail parameter 1 is out of the Software stroke setting range with “degree” unit.  The software stroke limit upper limit value is limit lower limit smaller than the software stroke limit value with a unit other than “degree.”...
  • Page 577 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or remote Setting range Remedy register Axis 1 Axis 2 (In standard mode)  [mm] [inch] [pulse]  Change the setting to within the setting range. -2147483648 to 2147483647  [degree] 0 to 35999999 ...
  • Page 578 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code The “logic selection for pulse output to the drive Pulse logic unit” setting in detail parameter 1 is out of the selection error setting range. Acceleration/dec The “size selection for acceleration/ The D75P2 READY signal [RXn0] is not turned...
  • Page 579 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or remote Setting range Remedy register Axis 1 Axis 2 0: Positive logic 1: Negative logic Change the setting to within the setting range and turn OFF then ON the remote station READY signal [RX(n+7)B].
  • Page 580 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code JOG deceleration The setting range of “JOG deceleration time selection setting selection” in detail parameter 2 is out of the error setting range. Acceleration/dec The setting range of “acceleration/deceleration eleration process selection”...
  • Page 581 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or remote Setting range Remedy register Axis 1 Axis 2 0, 1, 2 ,3 0, 1 1 to 100 (One-word type) 1 to 65535 (Two-word type) 1 to 8388608 0, 1 0, 1 0, 1 Change the setting to within the setting range and turn...
  • Page 582 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code The setting range of the “zero point return Zero point return speed” zero point return basic parameter is out speed error of the setting range. The setting range of the “creep speed”...
  • Page 583 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or remote Setting range Remedy register Axis 1 Axis 2 (In standard mode) 1 to 1000000 [pulse/s] 1 to 600000000 [mm/min, etc.] (In stepping motor mode) 1 to 62500 [pulse/s] 1 to 37500000 [mm/min, etc.] (In standard mode) 1 to 1000000 [pulse/s] 1 to 600000000 [mm/min, etc.]...

  • Page 584: List Of Warnings

    TROUBLESHOOTING MELSEC-A 14.4 List of warnings The following table shows the warning details and remedies when warnings occur. Division of Warning Warning name Description Action at occurrence of warning warning code (Normal) Illegal movement amount change The setting of the speed/position changeover The action follows the positioning address and during control movement amount change register is...
  • Page 585 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or remote Setting range Remedy register Axis 1 Axis 2 <In standard mode> Correct the setting in the speed/position changeover 1164 1214 0 to 2147483647 [pulses, etc.] control movement amount change register to within the 1165 1215 <In stepping motor mode>...
  • Page 586 TROUBLESHOOTING MELSEC-A Division of Warning Warning name Description Action at occurrence of warning warning code  Setting “0”: Controlled to 100. Illegal override A value outside the range from 1 to 300 is  “301” or larger setting: Controlled to 300. value specified as an override value.
  • Page 587 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or remote Setting range Remedy register Axis 1 Axis 2 <Positioning operation speed override> RWwm+1 RWwm+9 1 to 300 <New torque value> 1176 1226 Set a value within the setting range. 1 to [torque limit setting value] <Torque limit setting>...
  • Page 588 TROUBLESHOOTING MELSEC-A Division of Warning Warning name Description Action at occurrence of warning warning code Deceleration and A speed change request is issued during stop speed Speed change is not carried out. deceleration and stop. change  The speed is controlled to the “speed limit Speed limit value The new speed value given during operation value.”...
  • Page 589 TROUBLESHOOTING MELSEC-A Relevant buffer memory address remote input/output device, or remote Setting range Remedy register Axis 1 Axis 2 Do not change the speed during deceleration or <Speed change request> RY(n+2)7 RY(n+4)7 stoppage caused by a stop command or during ON: Speed change request automatic deceleration under position control.

  • Page 590: Start During Error History

    TROUBLESHOOTING MELSEC-A 14.5 Start during error history If an error occurs when starting, all the data in the buffer memory start history area (address: 462 to 541) is copied to the start during error history area (addresses: 543 to 622). The data stored in the start during error history area is lost when the power is turned OFF.
  • Page 591 Appendix 4 Positioning data (No. 1 to 100), List of buffer memory addresses ....Appendix- 13 Appendix 5 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation ..........Appendix- 16 Appendix 5.1 Connection example of D75P2 and MR-H A (Differential driver (Open collector)) ..........

  • Page 592: Appendix 1 Change With Upgrade

    APPENDICES MELSEC-A Appendix 1 Change with Upgrade (1) Additional function The following table indicates the function added to the D75P2 per software version. Software versions Function Details Reference A to F H or later This function starts positioning under speed control, switches speed control to Speed/position changeover control (ABS Section position control with external command...

  • Page 593: Appendix 2 External Dimension Drawing

    APPENDICES MELSEC-A Appendix 2 External Dimension Drawing 4.5 mounting hole (Unit: mm) Since a hardware version L or later, or serial number (first five digits) of "16041" or later, the indicator components have been changed to LED modules. (What is to be displayed is not changed from the 17-segment LEDs.) For details, refer to "13.4 LED display function".

  • Page 594: Appendix 3 Format Sheets

    APPENDICES MELSEC-A Appendix 3 Format sheets Appendix 3.1 Positioning module operation chart Axis address mm, inch, degree, pulse Appendix - 4...
  • Page 595 APPENDICES MELSEC-A Axis address mm, inch, degree, pulse Appendix - 5...

  • Page 596: Appendix 3.2 Parameter Setting Value Entry Table

    APPENDICES MELSEC-A Appendix 3.2 Parameter setting value entry table Setting range Item inch degree pulse Pr.1 Unit setting Pr.2 No. of pulses per rotation (Ap) 1 to 65535 pulse 1 to 65535 1 to 65535 1 to 65535 Movement amount per rotation 1 to 65535 Pr.3 ...
  • Page 597 APPENDICES MELSEC-A Initial value Axis 1 Axis 2 Remarks 20000 20000 200000 1000 1000 2147483647 –2147483648 Appendix - 7...
  • Page 598 APPENDICES MELSEC-A Setting range Item inch degree pulse 0: Ignore manual pulse generator operation 1: Use manual pulse generator 1 (control using manual pulse generator connected to axis 1) Pr.23 Manual pulse generator selection 2: Use manual pulse generator 2 (control using manual pulse generator connected to axis 2) Logic selection for pulse output to Pr.24...
  • Page 599 APPENDICES MELSEC-A Initial value Axis 1 Axis 2 Remarks Axis 1: 1, Axis 2: 2 1000 1000 1000 1000 1000 1000 20000 1000 Appendix - 9...
  • Page 600 APPENDICES MELSEC-A Setting range Item inch degree pulse 0: Near-point dog method, 1: Stopper stop method 1) Pr.45 Zero point return method 2: Stopper stop method 2), 3: Stopper stop method 3) 4: Count method 1), 5: Count method 2) 0: Positive direction (address increment direction) Pr.46 Zero point return direction 1: Negative direction (address decrement direction)
  • Page 601 APPENDICES MELSEC-A Initial value Axis 1 Axis 2 Remarks Appendix - 11...

  • Page 602: Appendix 3.3 Positioning Data Setting Value Entry Table

    APPENDICES MELSEC-A Appendix 3.3 Positioning data setting value entry table [data No. Axis Da.1 Da.2 Da.3 Da.4 Da.5 Da.6 Da.7 Da.8 Da.9 Operation Control Accelera- Decelera- Positioning Command Dwell time M code Data pattern method tion time tion time address/ address speed movement...

  • Page 603: Appendix 4 Positioning Data (No. 1 To 100), List Of Buffer Memory Addresses

    APPENDICES MELSEC-A Appendix 4 Positioning data (No. 1 to 100) List of buffer memory addresses (1) For axis 1 Command Positioning Command Positioning Posi- Posi- Arc data Arc data speed address speed address Data tioning Dwell Data tioning Dwell identi- code time identi-...
  • Page 604 APPENDICES MELSEC-A (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 identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low-...
  • Page 605 APPENDICES MELSEC-A MEMO Appendix - 15...

  • Page 606: By Mitsubishi Electric Coporation

    APPENDICES MELSEC-A Appendix 5 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Coporation For connection to a servo amplifier, dedicated cables are available. For wiring of the dedicated cables, refer to the manual of each dedicated cable. Appendix 5.1 Connection example of D75P2 and MR-H A (Differential driver (Open collector)) * In the following diagram, connection for absolute position restoration has not been made.
  • Page 607 APPENDICES MELSEC-A Example of connection for absolute position restoration Appendix - 17...

  • Page 608: Appendix 5.2 Connection Example Of D75P2 And Mr-J2/J2S- A Differential Driver (Open Collector))

    APPENDICES MELSEC-A Appendix 5.2 Connection example of D75P2 and MR-J2/J2S- A (Differential driver (Open collector)) * In the following diagram, connection for absolute position restoration has not been made. When making the connection for absolute position restoration, refer to the following page.
  • Page 609 APPENDICES MELSEC-A Example of connection for absolute position restoration Appendix - 19...

  • Page 610: Appendix 5.3 Connection Example Of D75P2 And Mr-C A Differential Driver (Open Collector))

    APPENDICES MELSEC-A Appendix 5.3 Connection example of D75P2 and MR-C A (Differential driver (Open collector)) * *1 Assignment of the pin numbers of the connector of the D75P2 is the same for axis 1 and axis 2. *2 The upper limit (FLS) and lower limit (RLS) of the D75P2 are used for the zero point return retry function. Set these inside the limit switches for the servo.

  • Page 611: Appendix 6 Connection Examples With Stepping Motors Manufactured By Orientalmotor Co., Ltd

    APPENDICES MELSEC-A Appendix 6 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd. Appendix 6.1 Connection example of D75P2 and VEXTA UPD (Open collector) * *1 Assignment of the pin numbers of the connector of the D75P2 is the same for axis 1 and axis 2. *2 The upper limit (FLS) and lower limit (RLS) of the D75P2 are used for the zero point return retry function.

  • Page 612: Appendix 7 Connection Examples With Servo Amplifiers Manufactured By Panasonic Co., Ltd

    APPENDICES MELSEC-A Appendix 7 Connection examples with servo amplifiers manufactured by Panasonic Co., Ltd. Appendix 7.1 Connection example of D75P2 and MINAS-A series (Differential driver) * *1 Assignment of the pin numbers of the connector of the D75P2 is the same for axis 1 and axis 2. *2 The upper limit (FLS) and lower limit (RLS) of the D75P2 are used for the zero point return retry function.

  • Page 613: Appendix 8 Connection Examples With Servo Amplifiers Manufactured By Sanyo Denki Co., Ltd

    APPENDICES MELSEC-A Appendix 8 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd. Appendix 8.1 Connection example of D75P2 and PYO series (Differential driver) * *1 Assignment of the pin numbers of the connector of the D75P2 is the same for axis 1 and axis 2. *2 The upper limit (FLS) and lower limit (RLS) of the D75P2 are used for the zero point return retry function.

  • Page 614: Appendix 9 Connection Examples With Servo Amplifiers Manufactured By Yaskawa Electric Corporation

    APPENDICES MELSEC-A Appendix 9 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation Appendix 9.1 Connection example of D75P2 and - series (Differential driver) * *1 Assignment of the pin numbers of the connector of the D75P2 is the same for axis 1 and axis 2. *2 The upper limit (FLS) and lower limit (RLS) of the D75P2 are used for the zero point return retry function.

  • Page 615: Appendix 10 Comparisons With A1Sd75P -S3 And Ad75P -S3 Modules

    D75P2. POINT The buffer memory addresses of the A1SD75P -S3 and AD75P -S3 indicated in the following table are disallowed for use in the D75P2. A1SD75P -S3, AD75P AJ65BT-D75P2-S3 Remote input/output, Buffer memory addresses Name remote register Symbol...
  • Page 616 APPENDICES MELSEC-A A1SD75P -S3, AD75P AJ65BT-D75P2-S3 Remote input/output, Buffer memory addresses Name remote register Symbol Axis 1 Axis 2 Axis 1 Axis 2 RX(n+1)2 RX(n+4)2 Drive unit READY RX(n+1)3 RX(n+4)3 Zero point signal RX(n+1)4 RX(n+4)4 In-position signal RX(n+1)5 RX(n+4)5 Near-point dog signal...

  • Page 617: Appendix 11 Melsec Explanation Of Positioning Terms

    APPENDICES MELSEC-A Appendix 11 MELSEC Explanation of positioning terms 1-2 PHASE EXCITATION SYSTEM This is one system for exciting each stepping A phase motor coil in a determined order. In this 90° system, one phase and two phases are alternately excited. B phase Pulse input 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16...
  • Page 618 APPENDICES MELSEC-A No.1 No.2 No.3 ABSOLUTE ENCODER This is a detector that enables the angle data within 1 motor rotation to be output to an external destination. Absolute encoders are generally able to output 360 ° in 8 to 12 bits. Incremental encoders have a disadvantage in that the axis position is lost when a power ACCELERATION TIME...
  • Page 619 APPENDICES MELSEC-A AUTO TUNING (Automatic Tuning) BACKUP FUNCTION Properties such as responsiveness and Backup functions consist of the following. stability of machines driven with a servomotor 1) Functions for storing the sequence program are affected by changes in the inertia moment and device statuses stored in the RAM and rigidity due to changes in the machine memory of the PLC CPU, so that they are...
  • Page 620 APPENDICES MELSEC-A CHANGE signal BIAS SPEED AT START The CHANGE signal is an external signal used A large amount of torque is required when the to change the speed/position control from the machine starts moving, but the torque may be speed control being executed to position unstable at speed 0 with stepping motors.
  • Page 621 APPENDICES MELSEC-A CP CONTROL (Continuous Path Control) CW (Clockwise) Continuous path is a control method in which a Rotation in the clockwise direction. Rotation in path is followed without interrupting such as in the clockwise direction looking from the motor uniform speed control.
  • Page 622 APPENDICES MELSEC-A DECELERATION TIME 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.
  • Page 623 APPENDICES MELSEC-A DROOP PULSE ELECTRONIC GEAR Because of inertia in the machine, it will lag This function electrically increases/decreases behind and not be able to track if the the command pulses No. from the D75P2. positioning module speed commands are Thus, the positioning speed and movement issued in their normal state.
  • Page 624 APPENDICES MELSEC-A ERROR CORRECTION FIXED-DIMENSION FEED If a dimension error occurs in the machine, This is the feeding of a set dimension for and that error is actually smaller or larger than cutting sheet and bar workpieces into the 1m in spite of a 1m command being issued designated dimensions.
  • Page 625 APPENDICES MELSEC-A HIGH-SPEED MACHINE ZERO POINT INCREMENTAL ENCODER RETURN A device that simply outputs ON/OFF pulses by the rotation of the axis. 1-phase types In this zero point return method the near-point output only A pulses, and do not indicate the dog is not detected.
  • Page 626 APPENDICES MELSEC-A INPUT TERMINAL This is a pin connector wired by the user for This refers to moving the tool in small steps at inputting data to the D75P2 from an external a time. Inching. source. It is connected to the motor drive unit Parameter setting is required when carrying or machine side.
  • Page 627 No.8 No.1 Latitudinal feed LOW-INERTIA MOTOR This is a motor used when frequent Made by Mitsubishi Electric Corp. acceleration/deceleration is repeated. Low- (model: MR-HDP01) inertia motors are longitudinally longer, to decrease the rotor diameter and cover the MASTER AXIS torque.
  • Page 628 APPENDICES MELSEC-A MOVEMENT AMOUNT PER PULSE NEAR-POINT DOG When using mm, inch, or angle units, the This is a switch placed before the zero point. movement amount is calculated and output When this switch turns ON, the feedrate is from the machine side showing how much the changed to the creep speed.
  • Page 629 APPENDICES MELSEC-A P RATE (Pulse Rate) OPERATION PATTERN A coefficient that magnifies the feedback The kind of operation to be carried out after pulses per motor shaft rotation by 2-fold, 3- executing the positioning data is determined. fold, 1/2 or 1/3. 1) If "POSITIONING COMPLETE"...
  • Page 630 APPENDICES MELSEC-A POSITION CONTROL POSITION LOOP MODE This is mainly the control of position and This is one servo control mode used in dimension, such as in fixed-dimension feed, positioning. It is a mode for carrying out positioning, numerical control, etc. This is position control.
  • Page 631 APPENDICES MELSEC-A POSITIONING DATA PULSE GENERATOR This is data for the user to carry out This is a device that generates pulses. positioning. The No. of points to which Examples include devices installed on the positioning is carried out (the No. of motor shaft that create pulses when the shaft addresses) is designated by the user.
  • Page 632 APPENDICES MELSEC-A REFERENCE AXIS SPEED ROTARY TABLE This is the speed of the reference axis during A round table on which the workpiece is interpolation operations. placed. Positioning control is carried out while rotating the workpiece in a 360 ° range. Y axis speed S-CURVE (interpolation axis)
  • Page 633 APPENDICES MELSEC-A SERVO LOCK SKIP FUNCTION In positioning using a servomotor, stepping When a SKIP signal is input, the positioning motor, etc., working power is required to hold being executed is interrupted, the motor is the machine at the stop position. deceleration stopped, and the next positioning (The position will be lost if the machine is is automatically carried out.
  • Page 634 APPENDICES MELSEC-A SPEED CHANGEOVER CONTROL SPEED LOOP MODE With this control, positioning is carried out to This is one servo control mode used in the end point of the movement amount while positioning. It is a mode for carrying out speed changing the speed at the speed changeover control.
  • Page 635 APPENDICES MELSEC-A STEP OUT STOP SIGNAL Stepping motors rotate in proportion to the No. In positioning control, this is the input signal X of pulses (frequency), but the motor's rotation that directly stops the operation from an will deviate if the load is too large for the external source.
  • Page 636 APPENDICES MELSEC-A STROKE LIMIT TEACHING UNIT This is the range in which a positioning This is a device capable of writing, reading, operation is possible, or the range in which the running, and monitoring data. machine can be moved without damage It is used connected to the D75P2.
  • Page 637 APPENDICES MELSEC-A TURNTABLE WORM GEAR A rotating table, which is turned using power. This is the basic screw in mechanisms that The table is used divided from one 360 ° position using screw rotation. Ball screws are often used to reduce backlash and dimension rotation into the required locations for work.
  • Page 638 APPENDICES MELSEC-A ZERO POINT RETURN METHOD ZERO POINT RETURN REQUEST The zero point return methods are shown This signal turns ON when there is an error below. The method used depends on the with the D75P2. It will turn ON in the following machine structure, stopping accuracy, etc.

  • Page 639: Appendix 12 Positioning Control Troubleshooting

    APPENDICES MELSEC-A Appendix 12 Positioning control troubleshooting Trouble type Questions/Trouble Remedy The PLC CPU power was turned OFF or the PLC CPU was reset, etc., during flash ROM writing, which deleted Display reads "FFFF " when a the data in the flash ROM. parameter is read with a AD75 Initialize the parameters, and reset the required software package.
  • Page 640 APPENDICES MELSEC-A Trouble type Questions/Trouble Remedy How can the deceleration stop Set "1: Sudden stop" in the " Pr.38 Stop group 1 time during stopping be shortened sudden stop selection", and reduce the setting value of " using the hardware stroke limit? Pr.37 Sudden stop deceleration time".
  • Page 641 APPENDICES MELSEC-A Trouble type Questions/Trouble Remedy The machine only moves to "10081230", although positioning with a command value of "10081234" carried out. Pr.3 Pr.2 Reset in the following order. How can the error be 1) Calculate "8192/8000  10081230/10081234". compensated? 2) Obtain the reduced value.
  • Page 642 APPENDICES MELSEC-A Trouble type Questions/Trouble Remedy The positioning start signal After the BUSY signal turns ON, there is no problem with [RY(n+1)0] is kept ON until the turning [RY(n+1)0] OFF before the BUSY signal turns BUSY signal is OFF, but is there OFF.
  • Page 643 A phase pulses are input? Can a manual pulse generator Other manual pulse generators can be used if they Manual pulse other than the Mitsubishi Electric conform to section "3.7 Specifications of input/output generator operation MR-HDP01 be used? interfaces with external devices."...
  • Page 644 APPENDICES MELSEC-A Trouble type Questions/Trouble Remedy Error 997 (speed selection at zero "OPR" stands for "Original Position Return", or in other point shift error) occurred. What words, a zero point return. does "OPR" mean? Backlash compensation value 0   255 Movement amount per pulse Error 938 (backlash compensation Setting is not possible if the above equation is not...

  • Page 645: Appendix 13 List Of Buffer Memory Addresses

    APPENDICES MELSEC-A Appendix 13 List of buffer memory addresses The following shows the relation between the buffer memory addresses and the various items. (Any address not given in the list must not be used. If used, the system may not operate correctly.) Buffer memory address Memory Item...
  • Page 646 APPENDICES MELSEC-A Buffer memory address Memory Item area Axis 1 Axis 2 Pr.30 Deceleration time 2 Pr.31 Deceleration time 3 Pr.32 JOG speed limit value Pr.33 JOG operation acceleration time selection Pr.34 JOG operation deceleration time selection Pr.35 Acceleration/deceleration process selection Pr.36 S-curve ratio Pr.37 Sudden stop deceleration time Pr.38 Stop group 1 sudden stop selection...
  • Page 647 APPENDICES MELSEC-A Buffer memory address Memory Item area Common for axis 1 and axis 2 Md.1 In test mode flag Md.2 Module name Md.3 OS type Md.4 OS version Md.5 Clock data (hour: minute) Md.6 Clock data (second: 100 ms) (pointer No.) (0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15) Md.7...
  • Page 648 APPENDICES MELSEC-A Buffer memory address Memory Item area Axis 1 Axis 2 Md.29 System area (use prohibited) Md.30 Machine feed value Md.31 to Md.35 System area (use prohibited) 804 to 809 904 to 909 Md.36 Current speed Md.37 Axis feedrate Md.38 Speed/position changeover control positioning amount Md.39 , Md.40 System area (use prohibited)
  • Page 649 APPENDICES MELSEC-A Buffer memory address Memory Item area Axis 1 Axis 2 Cd.1 1100 Clock data setting (hour) 1101 Cd.2 Clock data setting (minute, second) Cd.3 1102 Clock data writing 1103 Cd.4 Target axis Cd.5 1104 Positioning data No. 1105 Cd.6 Write pattern 1106...
  • Page 650 APPENDICES MELSEC-A Buffer memory address Memory Item area Axis 1 Axis 2 Da.1 Operation pattern Da.2 Control method 1300 2300 Da.3 Acceleration time No. Da.4 Deceleration time No. Da.9 1301 2301 M code/condition data No. Da.8 Dwell time/JUMP destination 1302 2302 positioning data No.
  • Page 651 APPENDICES MELSEC-A Buffer memory address Memory Item area Axis 1 Axis 2 4500 5750 Start No. 8001 4501 4751 Start No. 8002 4549 4799 Start No. 8001 5050 Condition judgment target data of the condition data 5099 5100 Target axis 5101 Head positioning data No.
  • Page 652 APPENDICES MELSEC-A MEMO Appendix - 62...
  • Page 653 INDEX [Number] 1-2 phase excitation system Advanced positioning control execution (explanation of terms) ...... Appendix-27 procedure ............10- 6 1-axis fixed-dimension feed control ....9-29 Advanced positioning control ....... 10- 2 1-axis linear control ........9-23 After mode (explanation of terms) ... Appendix-28 2-axis circular interpolation control with auxiliary Allowable circular interpolation error width point designation ...........
  • Page 654 Buffer memory area configuration ....7- 5 Connection example Buffer memory read/write series ........Appendix-24 when ACPU/QCPU (A mode) is used ..6- 8 MINAS-A series ......Appendix-22 when QCPU (Q mode)/QnACPU is used MR-C A ........Appendix-20 ..............6-17 MR-H A ........
  • Page 655 Data transmission process......7- 6 Error correction (explanation of terms) Deceleration ratio (explanation of terms) ............Appendix-34 ............Appendix-31 Error history pointer ( ) ......5-86 Md.23 Deceleration time (explanation of terms) Error judgment ( ) ... 5-82, 84 Md.11 Md.17 ............
  • Page 656 In test mode flag ( ) ......5-80 Last executed positioning data No. ( Md.1 Md.52 Increment system (explanation of terms) ................ 5-98 ............Appendix-35 LED display function ........13- 7 Increment system .......... 9-14 Limit switch (explanation of terms) Incremental encoder (explanation of terms) ............
  • Page 657 Manual pulse generator ....... A-20, 2- 4 Outline drawing ......... Appendix- 3 Master axis (explanation of terms) .. Appendix-37 Outline of communication ......1-18 Master module ..........2- 6 Outline of main positioning control ....9- 2 initialization ..........6- 6 Outline of starting ...........
  • Page 658 Positioning data No. ( Cd.5 ) ..... 5-102 Pulse generator (explanation of terms) Positioning data No. being executed ( ............Appendix-41 Md.54 ............... 5-98 Pulse output mode ( ) ......5-21 Pr.5 Positioning data setting ......... 9-22 Pulse output mode (explanation of terms) Positioning parameter (explanation of terms) ............
  • Page 659 Setting item Speed control ......... 1-7, 9-46 condition data ..........5-10 Speed designation during zero point shift positioning data........... 5- 7 )............5-55 Pr.57 positioning parameter ......... 5- 4 Speed integral compensation (explanation of start block data ........... 5- 9 terms) ..........
  • Page 660 Step function (explanation of terms) Torque control (explanation of terms) ............Appendix-44 ............Appendix-46 Step function ..........12-53 Torque limit function ........12-24 Step mode ( ) ........5-108 Torque limit setting value ( ) ....5-31 Cd.27 Pr.18 Step out (explanation of terms) ..Appendix-45 Torque limit stored value ( ) ....
  • Page 661 Zero point return acceleration time selection ) ............5-53 Pr.53 Zero point return control ......... 8- 2 Zero point return deceleration time selection ) ............5-53 Pr.54 Zero point return direction ( Pr.46 ) ....5-48 Zero point return dwell time ( ) ...
  • Page 662 MEMO Index - 10...
  • Page 663 WARRANTY...
  • Page 664 Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies. In some cases, trademark symbols such as '™' or ' ®...
  • Page 666 IB(NA)-66824-I(1706)MEE MODEL: AJ65BT-D75P2-U-E MODEL CODE: 13JL46 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.