Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual
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Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Melsec iq-r series, positioning control
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MELSEC iQ-R Motion Controller
Programming Manual (Positioning Control)
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Summary of Contents for Mitsubishi Electric MELSEC iQ-R16MTCPU

  • Page 1 MELSEC iQ-R Motion Controller Programming Manual (Positioning Control) -R16MTCPU -R32MTCPU -R64MTCPU...

  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. Refer to MELSEC iQ-R Module Configuration Manual for a description of the PLC system safety precautions.
  • Page 4 [Design Precautions] WARNING ● For the operating status of each station after a communication failure, refer to manuals relevant to the network. Incorrect output or malfunction due to a communication failure may result in an accident. ● When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely.
  • Page 5 [Design Precautions] CAUTION ● Do not install the control lines or communication cables together with the main circuit lines or power cables. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction due to noise. ●...
  • Page 6 [Installation Precautions] CAUTION ● Use the programmable controller in an environment that meets the general specifications in the Safety Guidelines included with the base unit. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. ●...
  • Page 7 [Wiring Precautions] CAUTION ● Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction. ● Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.
  • Page 8 [Startup and Maintenance Precautions] WARNING ● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction. ● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so may cause the battery to generate heat, explode, ignite, or leak, resulting in injury or fire.
  • Page 9 [Startup and Maintenance Precautions] CAUTION ● Startup and maintenance of a control panel must be performed by qualified maintenance personnel with knowledge of protection against electric shock. Lock the control panel so that only qualified maintenance personnel can operate it. ●...
  • Page 10 [Transportation Precautions] CAUTION ● When transporting lithium batteries, follow the transportation regulations. For details on the regulated models, refer to the MELSEC iQ-R Module Configuration Manual. ● The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a fumigant used for disinfection and pest control of wood packaging materials, may cause failure of the product.

  • Page 11: Conditions Of Use For The Product

    Mitsubishi representative in your region. INTRODUCTION Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers. This manual describes the dedicated signals, parameters, servo programs, and functions required for performing positioning control of the relevant products listed below.

  • Page 12: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
  • Page 13 G-code control common status ............. 136 G-code control common monitor device .
  • Page 14 Speed command device ..............203 Command speed acceleration time, Command speed deceleration time .
  • Page 15 CHAPTER 5 POSITIONING CONTROL Basics of Positioning Control ............250 Positioning speed .
  • Page 16 Home position return by the stopper method 2 ..........395 Home position return by the limit switch combined method .

  • Page 17: Relevant Manuals

    RELEVANT MANUALS Manual Name [Manual Number] Description Available form MELSEC iQ-R Motion Controller Programming Manual This manual explains the servo parameters, positioning Print book (Positioning Control) instructions, device lists and others. e-Manual [IB-0300241] (This manual) MELSEC iQ-R Motion Controller User's Manual This manual explains specifications of the Motion CPU modules, Print book [IB-0300235]...

  • Page 18: Terms

    TERMS Unless otherwise specified, this manual uses the following terms. Term Description R64MTCPU/R32MTCPU/R16MTCPU or Abbreviation for MELSEC iQ-R series Motion controller Motion CPU (module) MR-J4(W)-B Servo amplifier model MR-J4-B/MR-J4W-B MR-J3(W)-B Servo amplifier model MR-J3-B/MR-J3W-B AMP or Servo amplifier General name for "Servo amplifier model MR-J4-B/MR-J4W-B/MR-J3-B/MR-J3W-B" RnCPU, PLC CPU or PLC CPU module Abbreviation for MELSEC iQ-R series CPU module Multiple CPU system or Motion system...

  • Page 19: Manual Page Organization

    MANUAL PAGE ORGANIZATION Representation of numerical values used in this manual ■Axis No. representation In the positioning dedicated signals, "n" in "M3200+20n", etc. indicates a value corresponding to axis No. as shown in the following table. Axis No. Axis No. Axis No.
  • Page 20 ■Machine No. representation In the positioning dedicated signals, "m" in "M43904+32m", etc. indicates a value corresponding to machine No. as shown in the following table. Machine No. Machine No. • Calculate as follows for the device No. corresponding to each machine. For machine No.8 in MELSEC iQ-R Motion device assignment M43904+32m ([St.2120] Machine error detection) M43904+327=M44128 D53168+128m ([Md.2020] Machine type)=M53168+287=D54064...
  • Page 21 Representation of device No. used in this manual The "R" and "Q" beside the device No. of positioning dedicated signals such as "[Rq.1140] Stop command (R: M34480+32n/ Q: M3200+20n)" indicate the device No. for the device assignment methods shown below. When "R" and "Q" are not beside the device No., the device No.

  • Page 22: Chapter 1 Positioning Control By The Motion Cpu

    POSITIONING CONTROL BY THE MOTION CPU Positioning Control by the Motion CPU The following positioning controls are possible in the Motion CPU. Motion CPU Control axes R64MTCPU Up to 64 axes R32MTCPU Up to 32 axes R16MTCPU Up to 16 axes There are the following six functions as controls toward the servo amplifier/servomotor.

  • Page 23: Starting A Servo Program

    Starting a servo program There are the following two methods for starting a servo program. Starting by Motion SFC program Use the Motion control step "K" in the Motion SFC program to start the specified servo program. Refer to the following for details of starting a Motion SFC program. MELSEC iQ-R Motion controller Programming Manual (Program Design) Starting by sequence program By executing the Motion dedicated PLC instruction (Servo program start request: M(P).SVST/D(P).SVST) in the sequence...

  • Page 24: Chapter 2 Positioning Dedicated Signals

    POSITIONING DEDICATED SIGNALS The internal signals of the Motion CPU and the external signals to the Motion CPU are used as positioning signals. Internal signals The following five devices of the Motion CPU are used as the internal signals of the Motion CPU. MELSEC iQ-R Motion device assignment and Q series Motion compatible device assignment are available.
  • Page 25 Internal processing of the Motion CPU Internal processing of the Motion CPU is divided into two cycles. The "operation cycle" and the "main cycle". 1 Operation cycle Operation cycle Main cycle Main cycle (1 cycle) Main cycle (1 cycle) : One main cycle process (processing time will change) *1 Can be monitored with "Motion operation cycle (SD522)"...

  • Page 26: Internal Relays

    Internal Relays Internal relay list ■MELSEC iQ-R Motion device assignment Device No. Symbol Purpose Reference   User device (16000 points) M16000  Unusable  (14000 points) M30000 [St.1040], [St.1041], Common device Page 71 Common devices [St.1045] to [St.1050], [Rq.1120], (640 points) [Rq.1122] to [Rq.1127] M30640...
  • Page 27 Device No. Symbol Purpose Reference Page 64 Synchronous analysis request M43520 [Rq.381] Synchronous analysis request signal (64 points) signal Page 66 Machine common command M43584 [Rq.2200] Machine common command signal (32 points) signals Page 67 Machine command signals M43616 [Rq.2240], [Rq.2243] to [Rq.2247], Machine command signal (32 points ...
  • Page 28 ■Q series Motion compatible device assignment For devices on axis 1 to 32, use Q series Motion compatible device assignment. For devices on axis 33 to 64, machine command signal (M43616 to M43871), and machine status (M43904 to M44159), use MELSEC iQ-R Motion device assignment.

  • Page 29: Axis Status

    Axis status Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment M32400 to M32431 M2400 to M2419 Axis 1 status M32432 to M32463 M2420 to M2439 Axis 2 status M32464 to M34495 M2440 to M2459 Axis 3 status M34496 to M32527 M2460 to M2479...
  • Page 30 Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment M33968 to M33999 Axis 50 status M34000 to M34031 Axis 51 status M34032 to M34063 Axis 52 status M34064 to M34095 Axis 53 status M34096 to M34127 Axis 54 status M34128 to M34159 Axis 55 status...
  • Page 31 • Details for each axis Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  M32400+32n M2400+20n St.1060 Positioning start complete Operation cycle Status signal M32401+32n M2401+20n St.1061 Positioning complete M32402+32n...
  • Page 32 [St.1060] Positioning start complete (R: M32400+32n/Q:M2400+20n) • This signal turns on with the start completion for the positioning control of the axis specified with the servo program. It does not turn on at the starting using JOG operation or manual pulse generator operation. It can be used to read a M-code at the positioning start.
  • Page 33 [St.1061] Positioning complete (R:M32401+32n/Q: M2401+20n) • This signal turns on with the completion of the command output to positioning address for the axis specified with the servo program. It does not turn on at the start or stop on the way using home position return, JOG operation, manual pulse generator operation or speed control.
  • Page 34 [St.1062] In-position (R: M32402+32n/Q: M2402+20n) • This signal turns on when the number of droop pulses in the deviation counter becomes below the "in-position range" set in the servo parameters. It turns off at positioning start. Number of droop pulses In-position range [St.1062] In-position (R: M32402+32n/Q: M2402+20n)
  • Page 35 [St.1064] Speed controlling (R: M32404+32n/Q: M2404+20n) • This signal turns on during speed control, and it is used as judgment of during the speed control or position control. It is turning on while the switching from speed control to position control by the external CHANGE signal at the speed/position switching control.
  • Page 36 [St.1067] Error detection (R: M32407+32n/Q: M2407+20n) • This signal turns on with detection of a warning or error, and can be used to judge whether there is a warning or error or not. The applicable warning code is stored in the “[Md.1003] Warning code (R: D32006+48n/Q: D6+20n)” with detection of a warning.
  • Page 37 [St.1070] Home position return complete (R: M32410+32n/Q: M2410+20n) • This signal turns on when the home position return operation using the servo program has been completed normally. • This signal turns off at the positioning start, JOG operation start and manual pulse generator operation start. •...
  • Page 38 [St.1076] Torque limiting (R: M32416+32n/Q: M2416+20n) This signal turns on while torque limit is executed. The signal toward the torque limiting axis turns on. [St.1079] M-code outputting (R: M32419+32n/Q: M2419+20n) • This signal turns during M-code is outputting. • This signal turns off when the stop command, skip signal or FIN signal are inputted. M-code [St.1079] M-code outputting (R: M32419+32n/Q: M2419+20n)

  • Page 39: Axis Command Signals

    Axis command signals Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment Device assignment M34480 to M34511 M3200 to M3219 Axis 1 command signal M34512 to M34543 M3220 to M3239 Axis 2 command signal M34544 to M34575 M3240 to M3259 Axis 3 command signal M34576 to M34607...
  • Page 40 Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment Device assignment M36048 to M36079 Axis 50 command signal M36080 to M36111 Axis 51 command signal M36112 to M36143 Axis 52 command signal M36144 to M36175 Axis 53 command signal M36176 to M36207 Axis 54 command signal M36208 to M36239...
  • Page 41 • Details for each axis Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  M34480+32n M3200+20n Rq.1140 Stop command Operation cycle Command signal M34481+32n M3201+20n Rq.1141 Rapid stop command M34482+32n M3202+20n...
  • Page 42 [Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n) • This command is a signal which stop a starting axis from an external source and becomes effective at leading edge of signal. (An axis for which the stop command is turning on cannot be started.) [Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n) OFF Stop command for...
  • Page 43 [Rq.1141] Rapid stop command (R: M34481+32n/Q: M3201+20n) • This command stops a starting axis rapidly from an external source and becomes effective at leading edge of signal. (An axis for which the rapid stop command is turning on cannot be started.) [Rq.1141] Rapid stop command (R: M34481+32n/Q: M3201+20n) OFF Rapid stop command...
  • Page 44 [Rq.1143] Reverse rotation JOG start command (R: M34483+32n/Q: M3203+20n) JOG operation to the address decrease direction is executed while "[Rq.1143] Reverse rotation JOG start command (R: M34483+32n/Q: M3203+20n)" is turning on. When "[Rq.1143] Reverse rotation JOG start command (R: M34483+32n/Q: M3203+20n)"...
  • Page 45 [Rq.1147] Error reset command (R: M34487+32n/Q: M3207+20n) This command is used to clear the "[Md.1003] Warning code (R: D32006+48n/Q: D6+20n)" and "[Md.1004] Error code (R: D32007+48n/Q: D7+20n)" of an axis for "[St.1067] Error detection (R: M32407+32n/Q: M2407+20n)": ON, and reset the "[St.1067] Error detection (R: M32407+32n/Q: M2407+20n)".
  • Page 46 [Rq.1152] Feed current value update request command (R: M34492+32n/Q: M3212+20n) This signal is used to set whether the feed current value will be cleared or not at the starting in speed/position switching control or speed control (). Setting value Description The feed current value is not cleared at the starting.
  • Page 47 [Rq.1158] Control loop changing command (R: M34498+32n/Q: M3218+20n) When using the fully closed loop control servo amplifier, this signal is used to change the fully closed loop control/semi closed loop control of servo amplifier in the Motion controller by the control loop changing command ON/OFF. Setting value Description During fully closed loop control...

  • Page 48: Command Generation Axis Status

    Command generation axis status Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment M36560 to M36591 M9800 to M9819 Axis 1 command generation axis status M36592 to M36623 M9820 to M9839 Axis 2 command generation axis status M36624 to M36655 M9840 to M9859 Axis 3 command generation axis status...
  • Page 49 Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment M38128 to M38159 Axis 50 command generation axis status M38160 to M38191 Axis 51 command generation axis status M38192 to M38223 Axis 52 command generation axis status M38224 to M38255 Axis 53 command generation axis status M38256 to M38287...
  • Page 50 • Details for each axis Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment M36560+32n M9800+20n St.340 Command generation axis positioning Operation cycle  Status signal start complete M36561+32n M9801+20n St.341...

  • Page 51: Command Generation Axis Command Signal

    Command generation axis command signal Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment M40160 to M40191 M10960 to M10979 Axis 1 command generation axis command signal M40192 to M40223 M10980 to M10999 Axis 2 command generation axis command signal M40224 to M40255 M11000 to M11019 Axis 3 command generation axis command signal...
  • Page 52 Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment M41728 to M41759 Axis 50 command generation axis command signal M41760 to M41791 Axis 51 command generation axis command signal M41792 to M41823 Axis 52 command generation axis command signal M41824 to M41855 Axis 53 command generation axis command signal M41856 to M41887...
  • Page 53 • Details for each axis Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  M40160+32n M10960+20n Rq.341 Command generation axis stop Operation cycle Command signal command M40161+32n M10961+20n Rq.342...

  • Page 54: Synchronous Encoder Axis Status

    Synchronous encoder axis status Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment M38640 to M38655 M10440 to M10449 Axis 1 synchronous encoder axis status M38656 to M38671 M10450 to M10459 Axis 2 synchronous encoder axis status M38672 to M38687 M10460 to M10469 Axis 3 synchronous encoder axis status...

  • Page 55: Synchronous Encoder Axis Command Signal

    Synchronous encoder axis command signal Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment M42240 to M42247 M11600 to M11603 Axis 1 synchronous encoder axis command signal M42248 to M42255 M11604 to M11607 Axis 2 synchronous encoder axis command signal M42256 to M42263 M11608 to M11611 Axis 3 synchronous encoder axis command signal...

  • Page 56: Output Axis Status

    Output axis status Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment M38960 to M38975 M10560 to M10569 Axis 1 output axis status M38976 to M38991 M10570 to M10579 Axis 2 output axis status M38992 to M39007 M10580 to M10589 Axis 3 output axis status...
  • Page 57 Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment M39744 to M39759 Axis 50 output axis status M39760 to M39775 Axis 51 output axis status M39776 to M39791 Axis 52 output axis status M39792 to M39807 Axis 53 output axis status M39808 to M39823 Axis 54 output axis status...

  • Page 58: Output Axis Command Signal

    Output axis command signal Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment M42400 to M42415 M11680 to M11689 Axis 1 output axis command signal M42416 to M42431 M11690 to M11699 Axis 2 output axis command signal M42432 to M42447 M11700 to M11709 Axis 3 output axis command signal...
  • Page 59 Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment M43184 to M43199 Axis 50 output axis command signal M43200 to M43215 Axis 51 output axis command signal M43216 to M43231 Axis 52 output axis command signal M43232 to M43247 Axis 53 output axis command signal M43248 to M43263...

  • Page 60: Synchronous Control Signal

    Synchronous control signal Axis Device No. Symbol Signal name Refresh Fetch cycle Signal type cycle MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment M40000 M10880 St.380 Synchronous control Operation  Status signal cycle M40001 M10881 M40002 M10882 M40003 M10883 M40004...
  • Page 61 Axis Device No. Symbol Signal name Refresh Fetch cycle Signal type cycle MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  M40047 St.380 Synchronous control Operation Status signal cycle M40048 M40049 M40050 M40051 M40052 M40053 M40054 M40055 M40056 M40057 M40058...

  • Page 62: Synchronous Analysis Complete Signal

    Synchronous analysis complete signal Axis Device No. Symbol Signal name Refresh Fetch cycle Signal type cycle MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment M40080 M10912 St.381 Synchronous analysis complete Operation  Status signal cycle M40081 M10913 M40082 M10914 M40083...
  • Page 63 Axis Device No. Symbol Signal name Refresh Fetch cycle Signal type cycle MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  M40127 St.381 Synchronous analysis complete Operation Status signal cycle M40128 M40129 M40130 M40131 M40132 M40133 M40134 M40135 M40136 M40137...

  • Page 64: Synchronous Control Start Signal

    Synchronous control start signal Axis Device No. Symbol Signal name Refresh Fetch cycle Signal type cycle MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment M43440 M12000 Rq.380 Synchronous control start  Operation Command cycle signal M43441 M12001 M43442 M12002 M43443...
  • Page 65 Axis Device No. Symbol Signal name Refresh Fetch cycle Signal type cycle MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  M43487 Rq.380 Synchronous control start Operation Command cycle signal M43488 M43489 M43490 M43491 M43492 M43493 M43494 M43495 M43496 M43497...

  • Page 66: Synchronous Analysis Request Signal

    Synchronous analysis request signal Axis Device No. Symbol Signal name Refresh Fetch cycle Signal type cycle MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment M43520 M12032 Rq.381 Synchronous analysis request  At start of Command synchronous signal M43521 M12033 control...
  • Page 67 Axis Device No. Symbol Signal name Refresh Fetch cycle Signal type cycle MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  M43567 Rq.381 Synchronous analysis request At start of Command synchronous signal M43568 control M43569 M43570 M43571 M43572 M43573 M43574...

  • Page 68: Machine Common Command Signals

    Machine common command signals Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment M43584 Rq.2200 Real current value monitor enable flag  Operation cycle Command signal  ...

  • Page 69: Machine Command Signals

    Machine command signals Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment M43616 to M43647 Machine 1 machine command signal M43648 to M43679 Machine 2 machine command signal M43680 to M43711 Machine 3 machine command signal M43712 to M43743 Machine 4 machine command signal M43744 to M43775...
  • Page 70 Refer to the following for details of machine command signal. MELSEC iQ-R Motion Controller Programming Manual (Machine Control) 2 POSITIONING DEDICATED SIGNALS 2.1 Internal Relays...

  • Page 71: Machine Status

    Machine status Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment M43904 to M43935 Machine 1 machine status M43936 to M43967 Machine 2 machine status M43968 to M43999 Machine 3 machine status M44000 to M44031 Machine 4 machine status M44032 to M44063 Machine 5 machine status...
  • Page 72 Refer to the following for details of machine status. MELSEC iQ-R Motion Controller Programming Manual (Machine Control) 2 POSITIONING DEDICATED SIGNALS 2.1 Internal Relays...

  • Page 73: Common Devices

    Common devices Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  M30000 M2000 Rq.1120 PLC ready flag Main cycle Command signal      M30001 Unusable (37 points)
  • Page 74 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     M30043 M2043 Unusable (5 points) M30044 M2044 M30045 M2045 M30046 M2046 M30047 M2047  M30048 M2048 Rq.1124...
  • Page 75 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment *1*2  M30091 M2012 St.1040 Axis 12 Start accept flag Operation cycle Status signal M30092 M2013 Axis 13 M30093 M2014 Axis 14...
  • Page 76 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment *1*2  M30140 St.1040 Axis 61 Start accept flag Operation cycle Status signal M30141 Axis 62 M30142 Axis 63 M30143 Axis 64 *1*2...
  • Page 77 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment *1*2  M30189 St.1047 Axis 46 Speed change accepting Operation cycle Status signal flag M30190 Axis 47 M30191 Axis 48 M30192 Axis 49...
  • Page 78 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment *1*2  M30238 M2158 St.1048 Axis 31 Automatic decelerating flag Operation cycle Status signal M30239 M2159 Axis 32 M30240 Axis 33 M30241...
  • Page 79 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment *1*2  M30287 M2255 St.1049 Axis 16 Speed change "0" Operation cycle Status signal accepting flag M30288 M2256 Axis 17 M30289 M2257...
  • Page 80 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment *1*2  M30336 M2272 St.1050 Axis 1 Control loop monitor status Operation cycle Status signal M30337 M2273 Axis 2 M30338 M2274 Axis 3...
  • Page 81 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment *1*2  M30385 St.1050 Axis 50 Control loop monitor status Operation cycle Status signal M30386 Axis 51 M30387 Axis 52 M30388 Axis 53...
  • Page 82 [Rq.1120] PLC ready flag (R: M30000/Q: M2000) • This signal is used to start the program control of the Motion CPU. When "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" is ON, execution of the Motion SFC program, starting of axes by the servo program, and the synchronous control operation can be performed.
  • Page 83 [Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040) This flag is used when the speed change is specified at the pass point of the continuous trajectory control. • By turning "[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" on before the starting of the continuous trajectory control (before the servo program is started), control with the change speed can be executed from the first of pass point.
  • Page 84 [Rq.1124] JOG operation simultaneous start command (R: M30048/Q: M2048) • When "[Rq.1124] JOG operation simultaneous start command (R: M30048/Q: M2048)" turns on, JOG operation simultaneous start based on the JOG operation execution axis set in the "[Cd.1096] JOG operation simultaneous start axis setting register (Forward rotation JOG) (R: D35286 to D35289/Q: D710, D711)"...
  • Page 85 [St.1046] Operation cycle over flag (R: M30054/Q: M2054) This flag turns on when the time concerning motion operation exceeds the "Motion setting operation cycle (SD523)". Refer to the following for details. MELSEC iQ-R Motion controller Programming Manual (Common) Perform the following operation, in making it turn off. •...
  • Page 86 CAUTION Do not turn the start accept flags ON/OFF in the user side. • If the start accept flag is turned off using the program or user operation while this flag is on, no error will occur but the positioning operation will not be reliable.
  • Page 87 • During machine program operation, "[St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)" turns ON while automatic deceleration is performed during the execution of positioning at the final point. • The signal turns off when all normal start complete commands became achieve. •...
  • Page 88 • The flag turns off if a speed change request occurs during deceleration to a stop due to speed change "0". Speed change "0" Speed change V [St.1040] Start accept flag (R: M30080+n/Q: M2001+n) [St.1049] Speed change "0" accepting flag (R: M30272+n/Q: M2240+n) •...
  • Page 89 [St.1050] Control loop monitor status (R: M30336+n/Q: M2272+n) When using the fully closed loop control servo amplifier, this signal is used to check the fully closed loop control/semi closed loop control of servo amplifier. Setting value Description During fully closed loop control During semi closed loop control It can be changed the fully closed loop control/semi closed loop control of servo amplifier in the Motion controller by the "[Rq.1158] Control loop changing command (R: M34498+32n/Q: M3218+20n)"...

  • Page 90: Data Registers

    Data Registers Data register list ■MELSEC iQ-R Motion device assignment Device No. Symbol Purpose Reference   User device (32000 points) D32000 [Md.20], [Md.25], [Md.34], Axis monitor device Page 91 Axis monitor devices (48 points  64 axes) [Md.35], [Md.101], [Md.102], [Md.1003] to [Md.1006], [Md.1008], [Md.1011], [Md.1012] ...
  • Page 91 Device No. Symbol Purpose Reference   D53152 Unusable (16 points) D53168 [Md.2020] to [Md.2031], Page 130 Machine monitor device Machine monitor device (128 points  8 machines) [Md.2033] to [Md.2045], [Md.2047] to [Md.2059], [Md.2061] to [Md.2066], [Md.2069] to [Md.2071], [Md.2077] to [Md.2080], [Md.2083] to [Md.2090] ...
  • Page 92 ■Q series Motion compatible device assignment For devices on axis 1 to 32, use Q series Motion compatible device assignment. For devices on axis 33 to 64, machine control device (D52896 to D53151), and machine status (D53168 to D54191), use MELSEC iQ-R Motion device assignment.

  • Page 93: Axis Monitor Devices

    Axis monitor devices The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control, the real current value and the deviation counter value. It can be used to check the positioning control state using the Motion SFC program. The user cannot write data to the monitoring data area.
  • Page 94 Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D34016 to D34063 Axis 43 monitor device D34064 to D34111 Axis 44 monitor device D34112 to D34159 Axis 45 monitor device D34160 to D34207 Axis 46 monitor device D34208 to D34255 Axis 47 monitor device D34256 to D34303...
  • Page 95 • Details for each axis Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D32000+48n D0+20n Md.20 Feed current value Operation cycle Monitor device D32001+48n D1+20n D32002+48n D2+20n Md.101...
  • Page 96 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D32047+48n Unusable *1 It can be used as the travel value change register. The travel value change register can be set to the device optionally in the servo program.
  • Page 97 [Md.1004] Error code (R: D32007+48n/Q: D7+20n) • This register stores the corresponding error code at the error occurrence. If another error occurs after error code storing, the previous error code is overwritten by the new error code. • The servo error (Minor error (error code: 1C80H)) is not stored in this device. It is stored in "[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)".
  • Page 98 [Md.1008] Execute program No. (R: D32012+48n/Q: D12+20n) • This register stores the starting program No. at the servo program starting. • The following value is stored for the following items. Item Monitor value JOG operation FFFFh Manual pulse generator operation FFFEh Speed control FFDFh...
  • Page 99 [Md.1011] Data set pointer for continuous trajectory control (R: D32015+48n/Q: D15+20n) This pointer is used in the continuous trajectory control when specifying positioning data indirectly and substituting positioning data during operation. It stores a "point" that indicates which of the values stored in indirect devices has been input to the Motion CPU. Use this pointer to confirm which positioning data is to be updated using the Motion SFC program.
  • Page 100 ■Input situation of positioning data in the Motion CPU Update of data using the Motion SFC program Positioning data input to the Motion CPU at each point Positioning point Data set pointer for Updated data Indirect device D continuous trajectory control Updating Point Positioning...
  • Page 101 ■Internal processing • The positioning data ((1) to (16)) of points 0 to 7 is input to the Motion CPU by the continuous trajectory control starting process (before positioning start). The last point "7" of the input data to be input is stored in the data set pointer for continuous trajectory control at this time.
  • Page 102 [Md.28] Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n, #8005+20n) This register stores the speed (signed) at which command value to the servo amplifier for every operation cycle is converted into [pulse/s]. [Md.100] Home position return re-travel value (R: D32026+48n, D32027+48n/Q: #8006+20n, #8007+20n) If the position stopped in the position specified with the travel value after proximity dog ON using MT Developer2 (Page 181 Travel value after proximity dog ON) is not zero point, it made to travel to zero point by re-travel in the Motion CPU.
  • Page 103 It is not cleared even if the servo amplifier control circuit power supply turns OFF. [Md.1027] Servo amplifier vendor [Md.1014] Servo amplifier type (R: D32030+48n/Q: #8000+20n) ID (R: D32031+48n/Q: #8016+20n) Type code Details 0 (Mitsubishi Electric Corporation) Unused 256 (0100H) MR-J3-B MR-J3W-B (For 2-axis type) 257 (0101H) MR-J3-B-RJ006 (For fully closed loop control)
  • Page 104 ON. The contents are not cleared when the control circuit power supply of the servo amplifier is turned OFF. Monitor value Description Mitsubishi Electric Corporation ORIENTAL MOTOR Co., Ltd. CKD Nikki Denso Co., Ltd. IAI Corporation [Md.108] Servo status1 (R: D32032+48n/Q: #8010+20n) This register stores the servo status read from the servo amplifier.
  • Page 105 [Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n) This register stores the servo status read from the servo amplifier. b13 b12 b11 b10 b9 [Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n) Zero point pass Zero speed Speed limit PID control *: The 0/1 is stored in the servo status 2. 0: OFF 1: ON Item...

  • Page 106: Jog Speed Setting Registers

    JOG speed setting registers This area stores the JOG operation speed data. Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D35120, D35121 D640, D641 Axis 1 JOG speed setting register D35122, D35123 D642, D643 Axis 2 JOG speed setting register D35124, D35125 D644, D645...
  • Page 107 Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D35216, D35217 Axis 49 JOG speed setting register D35218, D35219 Axis 50 JOG speed setting register D35220, D35221 Axis 51 JOG speed setting register D35222, D35223 Axis 52 JOG speed setting register D35224, D35225 Axis 53 JOG speed setting register...

  • Page 108: Servo Input Axis Monitor Device

    Servo input axis monitor device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D35440 to D35455 D12280 to D12289 Axis 1 servo input axis monitor device D35456 to D35471 D12290 to D12299 Axis 2 servo input axis monitor device D35472 to D35487 D12300 to D12309 Axis 3 servo input axis monitor device...
  • Page 109 Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D36224 to D36239 Axis 50 servo input axis monitor device D36240 to D36255 Axis 51 servo input axis monitor device D36256 to D36271 Axis 52 servo input axis monitor device D36272 to D36287 Axis 53 servo input axis monitor device D36288 to D36303...

  • Page 110: Servo Input Axis Control Device

    Servo input axis control device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D41200 to D41207 D14600, D14601 Axis 1 servo input axis control device D41208 to D41215 D14602, D14603 Axis 2 servo input axis control device D41216 to D41223 D14604, D14605 Axis 3 servo input axis control device...
  • Page 111 Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D41592 to D41599 Axis 50 servo input axis control device D41600 to D41607 Axis 51 servo input axis control device D41608 to D41615 Axis 52 servo input axis control device D41616 to D41623 Axis 53 servo input axis control device D41624 to D41631...

  • Page 112: Command Generation Axis Monitor Device

    Command generation axis monitor device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D36480 to D36511 D12600 to D12619 Axis 1 command generation axis monitor device D36512 to D36543 D12620 to D12639 Axis 2 command generation axis monitor device D36544 to D36575 D12640 to D12659 Axis 3 command generation axis monitor device...
  • Page 113 Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D38048 to D38079 Axis 50 command generation axis monitor device D38080 to D38111 Axis 51 command generation axis monitor device D38112 to D38143 Axis 52 command generation axis monitor device D38144 to D38175 Axis 53 command generation axis monitor device D38176 to D38207...
  • Page 114 • Details for each axis Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment D36480+32n D12600+20n Md.340 Command generation axis feed current Operation cycle  Monitor device value D36481+32n D12601+20n...

  • Page 115: Command Generation Axis Control Device

    Command generation axis control device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D41760 to D41767 D14680 to D14683 Axis 1 command generation axis control device D41768 to D41775 D14684 to D14687 Axis 2 command generation axis control device D41776 to D41783 D14688 to D14691 Axis 3 command generation axis control device...
  • Page 116 Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D42152 to D42159 Axis 50 command generation axis control device D42160 to D42167 Axis 51 command generation axis control device D42168 to D42175 Axis 52 command generation axis control device D42176 to D42183 Axis 53 command generation axis control device D42184 to D42191...

  • Page 117: Synchronous Encoder Axis Monitor Device

    Synchronous encoder axis monitor device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D38560 to D38591 D13240 to D13259 Axis 1 synchronous encoder axis monitor device D38592 to D38623 D13260 to D13279 Axis 2 synchronous encoder axis monitor device D38624 to D38655 D13280 to D13299 Axis 3 synchronous encoder axis monitor device...
  • Page 118 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D38590+32n Unusable D38591+32n Refer to the following for details of synchronous encoder axis monitor device. MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control) 2 POSITIONING DEDICATED SIGNALS 2.2 Data Registers...

  • Page 119: Synchronous Encoder Axis Control Device

    Synchronous encoder axis control device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D42320 to D42335 D14820 to D14829 Axis 1 Synchronous encoder axis control device D42336 to D42351 D14830 to D14839 Axis 2 Synchronous encoder axis control device D42352 to D42367 D14840 to D14849 Axis 3 Synchronous encoder axis control device...

  • Page 120: Output Axis Monitor Device

    Output axis monitor device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D39120 to D39151 D13600 to D13629 Axis 1 output axis monitor device D39152 to D39183 D13630 to D13659 Axis 2 output axis monitor device D39184 to D39215 D13660 to D13689 Axis 3 output axis monitor device...
  • Page 121 Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D40688 to D40719 Axis 50 output axis monitor device D40720 to D40751 Axis 51 output axis monitor device D40752 to D40783 Axis 52 output axis monitor device D40784 to D40815 Axis 53 output axis monitor device D40816 to D40847...
  • Page 122 • Details for each axis Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment D39120+32n D13600+30n Md.400 Current value after composite main shaft Operation cycle  Monitor device gear D39121+32n D13601+30n...

  • Page 123: Output Axis Control Device

    Output axis control device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D42640 to D42799 D15000 to D15149 Axis 1 output axis control device D42800 to D42959 D15150 to D15299 Axis 2 output axis control device D42960 to D43119 D15300 to D15449 Axis 3 output axis control device...
  • Page 124 Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D50480 to D50639 Axis 50 output axis monitor device D50640 to D50799 Axis 51 output axis monitor device D50800 to D50959 Axis 52 output axis monitor device D50960 to D51119 Axis 53 output axis monitor device D51120 to D51279...
  • Page 125 • Details for each axis Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D42640+160n D15000+150n Pr.400 Main input axis No. At start of Command synchronous device D42641+160n D15001+150n...
  • Page 126 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D42680+160n D15040+150n Pr.428 Auxiliary shaft clutch smoothing method At start of Command synchronous device D42681+160n D15041+150n Pr.429 Auxiliary shaft clutch smoothing time control constant...
  • Page 127 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D42711+160n D15071+150n Unusable D42712+160n D15072+150n D42713+160n D15073+150n D42714+160n D15074+150n D42715+160n D15075+150n D42716+160n D15076+150n D42717+160n D15077+150n D42718+160n D15078+150n...
  • Page 128 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D42754+160n D15114+150n Unusable D42755+160n D15115+150n D42756+160n D15116+150n D42757+160n D15117+150n D42758+160n D15118+150n D42759+160n D15119+150n D42760+160n D15120+150n D42761+160n D15121+150n...
  • Page 129 • The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32. • The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.

  • Page 130: Machine Control Device

    Machine control device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D52896 to D52927 Machine 1 machine control device D52928 to D52959 Machine 2 machine control device D52960 to D52991 Machine 3 machine control device D52992 to D53023 Machine 4 machine control device D53024 to D53055...
  • Page 131 Refer to the following for details of machine command signal. MELSEC iQ-R Motion Controller Programming Manual (Machine Control) 2 POSITIONING DEDICATED SIGNALS 2.2 Data Registers...

  • Page 132: Machine Monitor Device

    Machine monitor device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D53168 to D53295 Machine 1 machine monitor device D53296 to D53423 Machine 2 machine monitor device D53424 to D53551 Machine 3 machine monitor device D53552 to D53679 Machine 4 machine monitor device D53680 to D53807...
  • Page 133 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D53202+128m Md.2039 Command Operation cycle Monitor device coordinate value D53203+128m (world coordinate D53204+128m Md.2040 system) D53205+128m D53206+128m Md.2041 D53207+128m D53208+128m...
  • Page 134 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D53242+128m Md.2061 Base translation Operation cycle Monitor device D53243+128m D53244+128m Md.2062 D53245+128m D53246+128m Md.2063 D53247+128m D53248+128m Md.2064 D53249+128m D53250+128m Md.2065...
  • Page 135 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D53291+128m Unusable D53292+128m D53293+128m D53294+128m D53295+128m Refer to the following for details of machine command signal. MELSEC iQ-R Motion Controller Programming Manual (Machine Control) 2 POSITIONING DEDICATED SIGNALS 2.2 Data Registers...

  • Page 136: G-Code Control Common Command Signal

    G-code control common command signal Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment D54224.0  Unusable    D54224.1 D54224.2 D54224.3 D54224.4 D54224.5 D54224.6 D54224.7 D54224.8 D54224.9 D54224.A...

  • Page 137: G-Code Control Common Control Device

    G-code control common control device Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D54262 Unusable D54263  D54264 Cd.3305 Program No. for loading while running At running Command program load...

  • Page 138: G-Code Control Common Status

    G-code control common status Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment D54438.0 St.3272 G-code control operation cycle over flag G-code control  Status signal operation cycle ...

  • Page 139: G-Code Control Common Monitor Device

    G-code control common monitor device Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D54480 Md.3000 G-code control setting operation cycle STOPRUN Monitor device D54481 Md.3001 G-code control operation cycle G-code control operation cycle...

  • Page 140: G-Code Control Line Command Signal

    G-code control line command signal Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D54226 to D54227 Line 1 G-code control line command signal D54228 to D54229 Line 2 G-code control line command signal •...

  • Page 141: G-Code Control Line Control Device

    G-code control line control device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D54278 to D54293 Line 1 G-code control line control device D54294 to D54309 Line 2 G-code control line control device •...

  • Page 142: G-Code Control Line Status

    G-code control line status Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D54440 to D54443 Line 1 G-code control line status D54444 to D54447 Line 2 G-code control line status • Details for each line Device No.
  • Page 143 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D54442.0+4s St.3218 M-code output M00 G-code control Status signal operation cycle D54442.1+4s St.3219 M-code output M01 D54442.2+4s St.3220 M-code output M02 D54442.3+4s...

  • Page 144: G-Code Control Line Monitor Device

    G-code control line monitor device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D54496 to D54623 Line 1 G-code control line monitor device D54624 to D54751 Line 2 G-code control line monitor device •...
  • Page 145 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D54532+128s Md.3038 Group 08 modal status G-code control Monitor device operation cycle D54533+128s Md.3039 Tool length compensation No. D54534+128s Md.3040 Tool length compensation amount...
  • Page 146 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D54562+128s Unusable D54563+128s D54564+128s D54565+128s D54566+128s D54567+128s D54568+128s D54569+128s D54570+128s D54571+128s D54572+128s D54573+128s D54574+128s D54575+128s D54576+128s D54577+128s...
  • Page 147 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D54596+128s Unusable D54597+128s D54598+128s D54599+128s D54600+128s D54601+128s D54602+128s D54603+128s D54604+128s D54605+128s D54606+128s D54607+128s D54608+128s D54609+128s D54610+128s D54611+128s...

  • Page 148: G-Code Control Line Monitor Device (Expansion)

    G-code control line monitor device (expansion) Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D55264 to D55423 Line 1 G-code control line monitor device (expansion) D55424 to D55583 Line 2 G-code control line monitor device (expansion) •...
  • Page 149 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D55296+160s Md.3179 Program monitor being executed (2nd At block change Monitor device line) D55297+160s D55298+160s D55299+160s D55300+160s D55301+160s D55302+160s D55303+160s...
  • Page 150 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D55328+160s Md.3180 Program monitor being executed (3rd At block change Monitor device line) D55329+160s D55330+160s D55331+160s D55332+160s D55333+160s D55334+160s D55335+160s...
  • Page 151 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D55377+160s Unusable D55378+160s D55379+160s D55380+160s D55381+160s D55382+160s D55383+160s D55384+160s D55385+160s D55386+160s D55387+160s D55388+160s D55389+160s D55390+160s D55391+160s D55392+160s...
  • Page 152 Refer to the following for details of G-code control line monitor device (expansion). MELSEC iQ-R Motion Controller Programming Manual (G-Code Control) 2 POSITIONING DEDICATED SIGNALS 2.2 Data Registers...

  • Page 153: G-Code Control Axis Status

    G-code control axis status Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D54448, D54449 Line 1 G-code control axis status of axis 1 D54450, D54451 Line 1 G-code control axis status of axis 2 D54452, D54453 Line 1 G-code control axis status of axis 3 D54454, D54455...
  • Page 154 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D54449.8+2sn Unusable D54449.9+2sn D54449.A+2sn D54449.B+2sn D54449.C+2sn D54449.D+2sn D54449.E+2sn D54449.F+2sn Refer to the following for details of G-code control axis status. MELSEC iQ-R Motion Controller Programming Manual (G-Code Control) 2 POSITIONING DEDICATED SIGNALS 2.2 Data Registers...

  • Page 155: G-Code Control Axis Monitor Device

    G-code control axis monitor device Device No. Signal name MELSEC iQ-R Motion Q series Motion compatible device assignment device assignment D54752 to D54783 Line 1 G-code control axis monitor device of axis 1 D54784 to D54815 Line 1 G-code control axis monitor device of axis 2 D54816 to D54847 Line 1 G-code control axis monitor device of axis 3 D54848 to D54879...
  • Page 156 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D54768+32sn Md.3147 Machine position Operation cycle Monitor device D54769+32sn D54770+32sn Md.3148 Machine target position G-code control operation cycle D54771+32sn D54772+32sn Md.3149...

  • Page 157: Common Devices

    Common devices Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D35280 D704 Unusable (6 points) D35281 D705 D35282 D706 D35283 D707 D35284 D708 D35285 D709...
  • Page 158 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment  D35327 D741 Cd.1101 Axis 22 Manual pulse generators 1 At the manual Command pulse input magnification pulse generator device D35328 D742...
  • Page 159 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment      D35373 Unusable (67 points) D35439  D755  Unusable (45 points) D799 *1 The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32. *2 The following device area can be used as a user device.
  • Page 160 [Cd.1098] Manual pulse generator 1 axis No. setting registers (R: D35294 to D35297/Q: D714, D715) • This register stores the axis No. controlled with the manual pulse generator 1. b15 b14 b13 b12 b11 b10 b9 R: D35294/ Axis Axis Axis Axis Axis...
  • Page 161 [Cd.1101] Manual pulse generator 1-pulse input magnification setting registers (R: D35306+n/Q: D720+n) • This register sets the magnification (1 to 10000) per pulse of number of the input pulses from manual pulse generator at the pulse generator operation. Setting range 1 to 10000 •...
  • Page 162 [Cd.1103] Manual pulse generator 2 smoothing magnification setting registers (R: D35371/Q: D753) • This register sets the smoothing time constants of manual pulse generators 2 (P2). Setting range 0 to 59 The operation details are the same as "[Cd.1102] Manual pulse generator 1 smoothing magnification setting registers (R: M35370/Q: D752)".

  • Page 163: Motion Registers (#)

    Motion Registers (#) There are motion registers (#0 to #12287) in the Motion CPU. When using Q series Motion device assignment, #8000 to #8639 are used as the monitor device 2 of each axis. Motion Registers List ■MELSEC iQ-R Motion device assignment In MELSEC iQ-R Motion device assignment, the entire range of the motion registers can be used as user device.

  • Page 164: Monitor Devices 2 Of Each Axis

    Monitor devices 2 of each axis Information for each axis is stored in the monitor devices. The details of the storage data are shown below. Device No. Signal name Q series Motion compatible MELSEC iQ-R Motion device assignment device assignment #8000 to #8019 D32020 to D32039 Axis 1 monitor device 2...
  • Page 165 Device No. Signal name Q series Motion compatible MELSEC iQ-R Motion device assignment device assignment D34324 to D34343 Axis 49 monitor device 2 D34372 to D34391 Axis 50 monitor device 2 D34420 to D34439 Axis 51 monitor device 2 D34468 to D34487 Axis 52 monitor device 2 D34516 to D34535 Axis 53 monitor device 2...
  • Page 166 • The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32. • The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.

  • Page 167: Special Relays (Sm)

    Special Relays (SM) There are 4096 special relay points of SM0 to SM4095 in the Motion CPU. Refer to the following for details of special relays. MELSEC iQ-R Motion controller Programming Manual (Common) Special Registers (SD) There are 4096 special register points of SD0 to SD4095 in the Motion CPU. Refer to the following for details of special registers.

  • Page 168: Chapter 3 Parameters For Positioning Control

    PARAMETERS FOR POSITIONING CONTROL Parameters Used by the Motion CPU The parameters used by the Motion CPU are as follows. Parameters Details R series common parameters Common parameters for R series CPU modules Motion CPU common parameters Common parameters for Motion CPU modules Motion control parameters Positioning control parameters and synchronous control parameters used by the Motion CPU for Motion control The list of the parameters used by the Motion CPU is shown below.
  • Page 169 Parameter item Parameter input timing Details Reference At ON/reset of At STOP to Multiple CPU RUN/ test system power mode request supply   Page Motion Axis setting Expansion Set when the following functions are used. control parameter parameter • Monitor individually the positive and negative parameter direction torque limit value.

  • Page 170: Indirect Setting Method By Devices For Parameters

    Indirect Setting Method by Devices for Parameters Some Motion control parameters can be set indirectly by devices. However, special relays (SM) and special registers (SD) cannot be set as devices for indirect setting. Refer to the following for the details of devices. MELSEC iQ-R Motion controller Programming Manual (Common) Fixed Parameters The fixed parameters are set for each axis and their data is fixed based on the mechanical system, etc.

  • Page 171: Unit Setting

    Unit Setting Set the unit used for defining positioning operations. Choose from the following units depending on the type of the control target: mm, inch, degree, or pulse. Different units (mm, inch, degree, and pulse) are applicable to different systems: Unit System mm, inch...
  • Page 172 For example, suppose that the servomotor was connected to the ball screw. Because the travel value (S) of machine per motor rotation is [mm]/[inch] unit, the travel value (positioning address) set in the program is commanded in [mm]/[inch] unit. However, the servomotor is positioning controlled by the servo amplifier in pulse unit.
  • Page 173 Number of pulses/travel value at linear servo use Motion CPU Linear servo motor Servo Command pulse Control pulse amplifier value units pulse Feedback pulse Linear encoder Calculate the number of pulses (AP) and travel value (AL) for the linear encoder in the following conditions. Number of pulses (AP) Linear encoder resolution = Travel value (AL)

  • Page 174: Backlash Compensation Amount

    Backlash compensation amount The machine backlash amount is set in the backlash compensation amount. Whenever the positioning direction changes during positioning control, compensation is performed using the backlash compensation amount. Refer to the Backlash Compensation Function for details. (Page 427 Backlash Compensation Function) Upper/lower stroke limit value The upper/lower limit value for the travel range of mechanical system is set.
  • Page 175 • Besides setting the upper/lower stroke limit value in the fixed parameters, the range of mechanical system can also be controlled by using the external limit signals (FLS, RLS). • When the external limit signal turns off, a deceleration stop is executed. "Deceleration time" and "Rapid stop deceleration time"...

  • Page 176: Command In-Position Range

    Command in-position range The command in-position is the difference between the positioning address (command position) and feed current value. Once the value for the command in-position has been set, the "[St.1063] Command in-position (R: M32403+32n/Q: M2403+20n)" turns on when the difference between the command position and the feed current value enters the set range "(command position - feed current value) ...
  • Page 177 Example for positioning control An example for positioning control is shown below when the "speed control 10  multiplier setting for degree axis" of fixed parameter and "interpolation control unit" of parameter block are set as follows. • Speed control 10  multiplier setting for degree axis Speed control 10 ...
  • Page 178 ■2 axis linear interpolation control program (Axis 1, Axis 2) • Vector speed specification <K 30> INC-2 2 axes linear interpolation control Axis 360.00000 Axis used ..Axis 1, Axis 2 Axis 1 ..360.000 [degree] Axis 360.00000 Travel value to stop position...
  • Page 179 • Reference-axis speed setting <K 60> INC-2 2 axes linear interpolation control Axis 360.00000 Axis used ..Axis 1, Axis 2 Axis 1 ..360.00000 [degree] Axis 20000.00000 Travel value to stop position Axis 2 .

  • Page 180: Home Position Return Data

    Home Position Return Data The home position return data is used to perform the home position return. [Motion Control Parameter]  [Axis Setting Parameter]  "Home Position Return Data" No. Item Default Setting range Direct Indirect setting Reference value setting Section inch degree...

  • Page 181: Home Position Return Direction

    No. Item Default Setting range Direct Indirect setting Reference value setting Section inch degree pulse Valid/ Valid/ Fetch invalid invalid cycle (Required size) Operation 0: Execute a servo program    Page setting for 1: Not execute a servo program incompletion of home position return...

  • Page 182: Home Position Return Method

    Home position return method The home position return method for executing home position return is set. Refer to the following for details of the home position return methods. Home position return methods Reference Page 380 Home position return by the proximity dog method 1 0: Proximity dog method 1 Page 382 Home position return by the proximity dog method 2 4: Proximity dog method 2...

  • Page 183: Travel Value After Proximity Dog On

    Travel value after proximity dog ON The travel value after proximity dog ON is set to execute the count method home position return. After the proximity dog ON, the home position is the first zero-point after travel by the setting travel value. Set the travel value after proximity dog ON more than the deceleration distance from the home position return speed.

  • Page 184: Parameter Block Setting

    Parameter block setting Set the number of the parameter block (1 to 64) used for home position return. (Page 215 Parameter Block) Valid/invalid of the parameter block setting for each home position return method is shown below. : Valid : Invalid Home position return methods Valid/invalid of the parameter block setting ...

  • Page 185: Home Position Return Retry Function/Dwell Time At The Home Position Return Retry

    Home position return retry function/dwell time at the home position return retry Valid/invalid of home position return retry is set. When the valid of home position return retry function is set, the time to stop at return of travel direction is set with dwell time at the home position return retry.

  • Page 186: Home Position Shift Amount/Speed Set At The Home Position Shift

    Home position shift amount/speed set at the home position shift The shift (travel) amount from position stopped by home position return is set. If the home position shift amount is positive value, it shifts from detected zero point signal to address increase direction. If it is negative value, it shifts from detected zero point signal to address decrease direction.

  • Page 187: Torque Limit Value At The Creep Speed

    • Home position shift function is used to rectify a home position stopped by the home position return. When there are physical restrictions in the home position by the relation of a proximity dog setting position, the home position is rectified to the optimal position. Also, by using the home position shift function, it is not necessary to care the zero point for mounting of servomotor.
  • Page 188 Operation in selecting "0: Execute servo program" • Servo program can be executed even if the "[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n)" is CAUTION • Do not execute the positioning control in "[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n)" is ON for the axis which uses in the positioning control.

  • Page 189: Setting Items For Home Position Return Data

    Setting items for home position return data The home position return data that require setting are listed below by home position return method. : Must be set (Indirect setting) : Must be set : Must be not set Items Home position return methods Dogless home position...

  • Page 190: Jog Operation Data

    JOG Operation Data JOG operation data is the data required to execute JOG operation. [Motion Control Parameter]  [Axis Setting Parameter]  "JOG Operation Data" Item Default Setting range Direct Indirect setting value setting inch degree pulse Valid/ Valid/ Fetch invalid invalid cycle...

  • Page 191: External Signal Parameter

    External Signal Parameter This parameter is used to the servo external signal (Upper stroke limit (FLS), Lower stroke limit (RLS), Stop signal (STOP), Proximity dog/Speed-position switching (DOG/CHANGE)) used for each axis. [Motion Control Parameter]  [Axis Setting Parameter]  "External Signal Parameter" Item Setting range Default value...
  • Page 192 Contact Set the signal contact used as the external signal. ■Normal open External signal Details FLS signal ON The upper stroke limit is detected, and "operation of direction that the feed current value increase" cannot be executed. RLS signal ON The lower stroke limit is detected, and "operation of direction that the feed current value decrease"...
  • Page 193 ■General The detection precision is based on the fixed-cycle processing of the Motion CPU. When the input module setting is "Inter-module synchronization valid" and the servo amplifier DI3 signal setting is "high precision input", the general detection precision is applied. ■High precision When the input module setting is "Inter-module synchronization valid", the stopping precision of the count method home position return or the speed-position switching control can be high by setting the DOG signal precision setting to "high...

  • Page 194: Expansion Parameters

    Expansion Parameters The expansion parameters are data to execute the following operation by the parameters set in each axis. • Monitor individually the positive and negative direction torque limit value. • Change the acceleration/deceleration time when changing speed. • When performing positioning control in the absolute data method on a degrees axis, specify the positioning direction. [Motion Control Parameter] ...

  • Page 195: Positive Direction Torque Limit Value Monitor Device/Negative Direction Torque Limit Value Monitor Device

    Positive direction torque limit value monitor device/negative direction torque limit value monitor device The positive direction torque limit value monitor device and negative direction torque limit value monitor device are set for every axis, and the positive and negative direction torque limit value are monitored (0.1 to 1000.0[%]) individually. Positive direction torque limit value monitor device Set the device to monitor the positive torque limit value.

  • Page 196: Acceleration/Deceleration Time Change Parameter

    Acceleration/deceleration time change parameter The acceleration/deceleration time change parameter arbitrarily changes the acceleration/deceleration time at speed change, when changing speed with the Motion dedicated function (CHGV) of Motion SFC program (and also the Motion dedicated PLC instruction (M(P).CHGV/D(P).CHGV)). Acceleration/deceleration time change enable device Set the device to enable the change of acceleration/deceleration time at a speed change request.

  • Page 197: Servo Motor Maximum Speed Check Parameter

    Servo motor maximum speed check parameter Setting the servo motor maximum speed avoids an incorrect command value being sent to the servo amplifier, and shortens the braking distance when the servo motor stops. The servo motor maximum speed check parameter is enabled only on axes set as "Joint axis structure"...
  • Page 198 • Relationship between the servo motor maximum speed and speed limit value When setting the servo motor maximum speed, make sure to set it so that the speed calculated from the servo motor maximum speed([r/min]) is larger than the speed limit value. If the speed calculated from the servo motor maximum speed is smaller than the speed limit value, the motor stops before reaching the speed limit value.

  • Page 199: Abs Direction In Degrees Device

    ABS direction in degrees device If performing positioning control in the absolute data method on an axis where the control unit is degrees and when the stroke limit is invalid, a shortcut operation occurs. By setting the positioning direction in the ABS direction in degrees device expansion parameter, positioning control can be performed in a specified direction.
  • Page 200 Setting range of ABS direction in degrees device Positioning control is performed in the specified direction based on the value of ABS direction in degrees device at the start. The following values can be set in ABS direction in degrees device. ABS direction in degrees device value Positioning direction Shortcut...
  • Page 201 • When the setting of ABS direction in degrees device is omitted, a shortcut operation occurs. • If one of the following conditions is not satisfied, the setting of ABS direction in degrees device is disabled. (1) Control unit is set to a degrees axis. (2) Stroke limit is set to invalid.
  • Page 202 ■When value of ABS direction in degrees is changed at positioning address change Changing the ABS direction in degrees device from "1: Forward direction" to "2: Reverse direction" Speed The ABS direction in degrees device value becomes valid at the time of when Positioning Feed current the positioning address was changed.

  • Page 203: Speed-Torque Control Data

    Speed-torque control data Speed-torque control data are for executing "speed-torque control". [Motion Control Parameter]  [Axis Setting Parameter]  "Speed-Torque Control Data" Setting Setting necessity Default Setting range Direct Indirect Reference item value setting setting section Speed Torque Conti- inch degree pulse Valid/ Valid/...
  • Page 204 Setting Setting necessity Default Setting range Direct Indirect Reference item value setting setting section Speed Torque Conti- inch degree pulse Valid/ Valid/ Fetch control control nuous invalid invalid cycle operat- (Requir ion to ed size) torque control    ...

  • Page 205: Control Mode Switching Request Device

    Control mode switching request device Set the device to request switching of the control mode. When the control mode switching request device is turned OFF to ON, the mode is switched to the control mode set in the control mode setting device. Control mode setting device Set the device to set the control mode after switching.

  • Page 206: Command Speed Acceleration Time, Command Speed Deceleration Time

    Command speed acceleration time, Command speed deceleration time Set the acceleration time for the speed to increase from "0" to reach the speed limit value at speed-torque control and deceleration time taken to stop from the speed limit value at speed-torque control during speed control or continuous operation to torque control.

  • Page 207: Command Torque Time Constant (Positive Direction), Command Torque Time Constant (Negative Direction)

    Continuous operation to torque control The relation between setting of command torque and torque generation direction of servomotor is fixed regardless of the setting of servo parameter "Rotation direction selection (PA14)" and "Function selection C-B (PC29) (POL reflection selection at torque control)". Function selection C-B Rotation direction Torque command device...

  • Page 208: Speed Initial Value Selection At Control Mode Switching

    Speed initial value selection at control mode switching Set the speed initial value at the following control mode switching. • Position control to speed control • Position control to continuous operation to torque control • Speed control to continuous operation to torque control Speed initial value Command speed to servo amplifier immediately after control mode switching selection at control...

  • Page 209: Pressure Control Data

    Pressure control data Set pressure control parameters when using a pressure profile. Pressure control data for up to 8 axes can be set. [Motion Control Parameter]  [Axis Setting Parameter]  "Pressure Control Data" No. Item Default Setting range Direct Indirect setting Reference value...

  • Page 210: Pressure Control Selection

    Pressure control selection Set whether to use pressure control, or not use pressure control. Pressure control data for up to 8 axes can be set. When pressure control selection is enabled on an axis on a SSCNET line or the number of axes set to pressure control selection enabled exceeds eight, a moderate error (error code: 30F7H) occurs.

  • Page 211: Abnormal Pressure Setting Time

    Abnormal pressure setting time Set the value for forcibly switching to dwell operation when abnormal pressure exceeds the set time during feed operation. Mode reset selection after passing dwell time Set whether to reset mode or not after passing dwell time. If "1: Reset mode after passing dwell time"...

  • Page 212: Override Data

    3.10 Override Data Override data is for using the override function. [Motion Control Parameter]  [Axis Setting Parameter]  "Override Data" No. Item Default Setting range Direct Indirect setting Reference value setting Section inch degree pulse Valid/ Valid/ Fetch invalid invalid cycle (Required...

  • Page 213: Vibration Suppression Command Filter Data

    3.11 Vibration Suppression Command Filter Data Vibration suppression command filter data is for using the vibration suppression command filter. [Motion Control Parameter]  [Axis Setting Parameter]  "Vibration Suppression Command Filter Data" No. Item Default Setting range Direct Indirect setting Reference value setting...

  • Page 214: Vibration Suppression Command Filter 1

    Vibration suppression command filter 1 Mode selection device Set the device that assigns vibration suppression command filter 1 as the filter method. With the filter enabled, the device is reflected while command output is stopped after filter (Command output complete signal after filter: ON).

  • Page 215: Vibration Suppression Command Filter 2

    Vibration suppression command filter 2 Mode selection device Set the device that assigns vibration suppression command filter 2 as the filter method. With the filter enabled, the device is reflected while command output is stopped after filter (Command output complete signal after filter: ON).

  • Page 216: Servo Parameters

    3.12 Servo Parameters The servo parameters are the data set in each axis and are determined by the specifications of the servo amplifier, servo motor, and sensing module to be controlled. The data is used to control the servo motors . [Motion Control Parameter] ...

  • Page 217: Parameter Block

    3.13 Parameter Block The parameter blocks serve to make setting changes easy by allowing data such as the acceleration/deceleration control to be set for each positioning processing. A maximum 64 blocks can be set. [Motion Control Parameter]  [Parameter Block] Setting item Default Setting range...
  • Page 218 Data set in the parameter block • Parameter blocks are specified in the home position return data, JOG operation data or servo program. • The various parameter block data can be changed using the servo program. (Page 242 Positioning Data) •...

  • Page 219: Interpolation Control Unit

    • The parameter block No. used in the home position return or JOG operation is set at the setting of the "home position return data" or "JOG operation data" using MT Developer2. (Page 178 Home Position Return Data, Page 188 JOG Operation Data) [Home position return data setting screen] Parameter block No.

  • Page 220: Speed Limit Value, Acceleration Time, Deceleration Time And Rapid Stop Deceleration Time

    Speed limit value, acceleration time, deceleration time and rapid stop deceleration time The speed limit value is the maximum speed at the positioning/home position return. The acceleration time is the time taken to reach the set speed limit value from the start of positioning. The deceleration time and rapid stop deceleration time are the time taken to effect a stop from the set speed limit value.
  • Page 221 • If the rapid stop deceleration time is long than the deceleration time, an overrun may occur. The deceleration distance increases Speed command by rapid stop command. Real deceleration time [Rq.1141] Rapid stop command (R: M34481+32n/Q: M3201+20n) • If a large value than deceleration time is set as the rapid stop deceleration time for the parameter block and positioning data of servo program, a warning will occur.

  • Page 222: S-Curve Ratio

    S-curve ratio S-curve ratio can be set as the acceleration/deceleration processing method for S-curve acceleration/deceleration processing. (Refer to S-curve acceleration/deceleration processing (Page 266 S-curve acceleration/deceleration processing) for S- curve acceleration/deceleration processing.) Setting range of the S-curve ratio is 0 to 100[%]. If it is set outside the range, an error occurs at the start and control is executed with the S-curve ratio set as 0[%] (Trapezoidal acceleration/deceleration).

  • Page 223: Advanced S-Curve Acceleration/Deceleration

    Advanced S-curve acceleration/deceleration Processing for smooth acceleration/deceleration can be executed by using the advanced S-curve acceleration/deceleration function. The acceleration section is set as a sine curve as shown in the diagram below. Each section of acceleration/deceleration is set as a ration using the advanced S-curve acceleration/deceleration setting. Speed Trapezoidal acceleration /deceleration...
  • Page 224 Set the following parameters in the parameter block. Item Abbre- Setting range Processing Operation viation Accele Decele Rapid -ration -ration stop    Speed limit value S.R. 1 to 600000000 (10 [mm/min]) Maximum speed at positioning/ home position return inch 1 to 600000000 (10 [inch/min])
  • Page 225 Positioning speeds of acceleration patterns/deceleration patterns There are patterns (below pattern 1 to 4 respectively) that depends on the positioning speed of the acceleration pattern/ deceleration pattern of advanced S-curve acceleration/deceleration. Speed S.R. Pattern (1): Positioning speed = S.R. Trapezoidal acceleration Pattern (2): Vacc <...
  • Page 226 ■Actual deceleration time Positioning Pattern Positioning Description Actual Deceleration time Negative actual maximum speed speed acceleration High Positioning It accelerates with the DmaxA  speed = S.R. deceleration section 1,  maximum negative acceleration section and deceleration section 2. Vdac < Maximum negative (S.R.-Positioning speed) Positioning...
  • Page 227 Parameter calculations The maximum acceleration and advanced S-curve acceleration time/deceleration time are calculated by parameters. Speed Speed Trapezoidal acceleration/deceleration Trapezoidal acceleration/deceleration S.R. S.R. Time Time Maximum Maximum negative acceleration acceleration Acceleration Acceleration section section AmaxA Time Trapezoidal acceleration /deceleration Trapezoidal acceleration Time DmaxA /deceleration...
  • Page 228 Acceleration/deceleration time and the parameter block acceleration/deceleration time Advanced S-curve acceleration/deceleration time is calculated as a function of the acceleration/deceleration time set in the parameter block by using the parameter setting of advanced S-curve acceleration/deceleration as shown below. ■Advanced S-curve acceleration time Condition Advanced S-curve acceleration time Acceleration section 1 ratio (A1R) = Acceleration section 2 ratio (A2R) = 0.0...
  • Page 229 Set the advanced S-curve acceleration/deceleration setting using the parameter block on the following screen of MT Developer2. The Advanced S-curve Acceleration time and maximum acceleration are displayed by setting acceleration section 1 ratio, acceleration section 2 ratio and the acceleration time. The advanced S-curve deceleration time and advanced S-curve rapid stop deceleration time, maximum negative acceleration and maximum negative at rapid stop are displayed by setting deceleration section 1 ratio, deceleration section 2 ratio and deceleration time.
  • Page 230 Program A sample servo program using the advanced S-curve acceleration/deceleration is shown below. Speed S.R. D1R = 20.0% Section A2R = 35.0% ABS-1 D2R = 35.0% Axis 1200000pulse A1R = 20.0% Speed 500000pulse/s S.R. 500000pulse/s Acceleration ASC System ASC Accel.1 20.0% ASC Accel.2 35.0%...
  • Page 231 When the stop command turns ON during acceleration processing of advanced S-curve acceleration/ deceleration, in order to maintain smoothness of acceleration, the speed will continue to increase until acceleration reaches zero. Use the rapid stop command if an increase in speed is not desired. ■Rapid stop processing •...
  • Page 232 When the rapid stop command turns ON during deceleration stop processing of advanced S-curve acceleration/deceleration, timing may be such that a rapid stop will take longer than the advanced S-curve deceleration. In this case, the advanced S-curve deceleration stop processing will automatically continue instead of using the rapid stop processing.
  • Page 233 ■Speed control with fixed position stop processing The "fixed position stop acceleration/deceleration time" set in the servo program is used during acceleration/deceleration processing when a positioning start, speed change request (CHGV) or fixed position stop command ON occurs. It operates in the fixed acceleration/deceleration time method. •...
  • Page 234 ■Speed change (fixed time method) Operation in which a speed change during deceleration is executed is shown below. Speed change V (Deceleration) Speed Before speed change Command speed V (Before speed change) Deceleration from speed V to V Command speed V Time (After speed change) Before speed...

  • Page 235: Torque Limit Value

    ■[St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n) When the automatic deceleration processing is started during acceleration, the acceleration is decreased according to the acceleration section 2 ratio setting until the acceleration reaches zero. Therefore, the speed increases for a while before deceleration stop processing is executed.

  • Page 236: Allowable Error Range For Circular Interpolation

    Allowable error range for circular interpolation The locus of the arc calculated from the start point address and central point address may not coincide with the set end point address for the central-specified control. The allowable error range for circular interpolation sets the allowable range for the error between the locus of the arc determined by calculation and the end point address.
  • Page 237 Cautions • Bias speed at start is valid regardless of motor type. Set "0" when using the motor other than the stepping motor. Otherwise, it may cause vibration or impact even though a warning does not occur. • Set bias speed at start according to the specification of stepping motor driver. If the setting is outside the range, it may cause the following troubles by rapid speed change or overload.

  • Page 238: Chapter 4 Servo Programs For Positioning Control

    SERVO PROGRAMS FOR POSITIONING CONTROL Servo programs specify the type of the positioning data required to execute the positioning control in the Multiple CPU system. This chapter describes the configuration and setting method of the servo programs. Refer to the positioning control for details of the servo program. (Page 250 POSITIONING CONTROL) Servo Program Composition Area This section is described the composition of servo programs and the area in which stores the servo program.
  • Page 239 • Positioning data This is the data required to execute servo instructions. The data required to execute is fixed for each servo instruction. (Page 242 Positioning Data) The following table applies to the servo program shown above. Setting condition Item Items which must be set •...

  • Page 240: Servo Instructions

    Servo Instructions The servo instructions used in the servo programs are shown below. Refer to positioning control for details of the servo instruction. (Page 250 POSITIONING CONTROL) The servo instructions that can be used in servo programs are shown in the table below. Refer to positioning data for details of the positioning data set in the servo instructions.
  • Page 241 Positioning control Instruction Processing Command Reference symbol generation axis usable/unusable  Page 295 Helical Helical Auxiliary Absolute auxiliary point- specified helical interpolation interpolation point- Interpolation Control  Incremental auxiliary point- specified helical control specified interpolation Radius- Absolute radius-specified helical interpolation less than ...
  • Page 242 Positioning control Instruction Processing Command Reference symbol generation axis usable/unusable  Page 348 1 axis Continuous trajectory control 1-axis continuous trajectory control start CPSTART1 continuous trajectory control  Page 351 2 to 4 axes 2-axis continuous trajectory control start CPSTART2 continuous trajectory ...
  • Page 243 Positioning control Instruction Processing Command Reference symbol generation axis usable/unusable  Page 355 Continuous Continuous trajectory control Continuous trajectory control passing point helical incremental specification trajectory control for  helical interpolation       Page 341 Repeat range start setting for repeat of the same control FOR-TIMES Specification of pass ...

  • Page 244: Positioning Data

    Positioning Data The positioning data set in the servo instructions that are used in the servo programs is shown below. Name Default Setting range Valid/invalid Number value of steps inch degree pulse Direct Indirect setting (Number of used words) Common Parameter block No.
  • Page 245 Name Default Setting range Valid/invalid Number value of steps inch degree pulse Direct Indirect setting (Number of used words)    Circular Auxiliary Absolute -2147483648 -2147483648 0 to -2147483648 interpolation point data method 35999999 (2 word) /Helical 2147483647 2147483647 (10 2147483647 interpolation...
  • Page 246 Name Default Setting range Valid/invalid Number value of steps inch degree pulse Direct Indirect setting (Number of used words)   Parameter Interpolation control unit block (1 word)   Speed limit value 200000 1 to 1 to 1 to 1 to [pulse/s] 600000000...
  • Page 247 Name Default Setting range Valid/invalid Number value of steps inch degree pulse Direct Indirect setting (Number of used words)    Others Repeat condition (Number 1 to 32767 of repetitions) (1 word) Repeat condition (ON/OFF)     (1 bit) ...
  • Page 248 ■Dwell time Set the time until outputs the "[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" after positioning to positioning address. ■M-code Set the M-code. Set for every point at the continuous trajectory control. Updated at the start or specified point. ■Torque limit value Set the torque limit value.
  • Page 249 Parameter block Set when changing the parameter block (if not set, the default value) set in the servo program. (The data of the parameter block is not changed.) Only the data in the specified parameter block that is changed can be set. Refer to Parameter block for details.

  • Page 250: Setting Method For Positioning Data

    Setting Method for Positioning Data This section describes how to set the positioning data used in the servo program. There are two ways to set positioning data, as follows: • Direct setting of data by numerical values (Page 248 Setting method for direct setting by numerical values) •...
  • Page 251 Inputting of positioning data In indirect setting by word devices, the word device data is inputted when the servo program is executed using the Motion CPU. It must be executed the start request of the servo program after data is set in the device used for indirect setting at the positioning control.

  • Page 252: Chapter 5 Positioning Control

    POSITIONING CONTROL This section describes the positioning control methods. Basics of Positioning Control This section describes the common items for positioning control, which is described in detail after Section 5.2. (Page 270 1 Axis Linear Positioning Control) Positioning speed The positioning speed is set using the servo program. Refer to servo programs for positioning control for details of the servo programs.

  • Page 253: Positioning Speed At The Interpolation Control

    Positioning speed at the interpolation control The positioning speed of the Motion CPU sets the travel speed of the control system. 1 axis linear control Travel speed is the positioning speed of the specified axis at the 1 axis positioning control. Linear interpolation control Positioning is controlled with the speed which had the control system specified at the interpolation control.
  • Page 254 ■Long-axis speed specification It is controlled based on the positioning speed (Long-axis speed: V) of the largest travel value axis among address set as each axis. The Motion CPU calculates the positioning speed of other axes (V to V ) using each axis travel value (D to D Set the long-axis speed and the travel value of each axis using the servo program.
  • Page 255 Speed limit value and positioning speed • The setting speed limit value applies to the long-axis speed. • Be careful that the vector speed may exceed the speed limit value at the long-axis speed specification. (Example) The following settings at the 2 axes linear interpolation, the vector speed exceeds the speed limit value. <K 2 >...
  • Page 256 ■Reference-axis speed specification The Motion CPU calculates the positioning speed of other axes (V to V ) based on the positioning speed (reference-axis speed: V) of the setting reference-axis using each axis travel value (D to D Set the reference-axis No., reference-axis speed and each axis travel value using the servo program. 4 axes linear interpolation control [Program example] <K...

  • Page 257: Control Units For 1 Axis Positioning Control

    • Reference-axis speed and positioning speed of other axes Be careful that the positioning speed of an axis for a larger travel value than the reference-axis may exceed the setting reference-axis speed. • Indirect specification of the reference-axis The reference-axis can be set indirectly using the word devices. (Page 248 Indirect setting method by devices) •...

  • Page 258: Control Units For Interpolation Control

    Control units for interpolation control Interpolation control unit check • The interpolation control units specified with the parameter block and the control units of the fixed parameter are checked. If the interpolation control units specified with the parameter block differ from the control units of each axis fixed parameter for the interpolation control, it shown below.

  • Page 259: Control In The Control Unit "Degree

    Discrepancy units: (3) • The travel value and positioning speed are calculated for each axis. • The electronic gear converts the travel value for the axis to [pulse]. • For axis where the units match, the electronic gear converts the positioning speed to units of [pulse/s]. Positioning is conducted using position commands calculated from travel values converted to [pulse] and speeds and electronic gear converted to [pulse/s].
  • Page 260 • Circular interpolation including the axis which set the stroke limit as invalid cannot be executed. • When the upper/lower limit value of the axis which set the stroke limit as valid are changed, perform the home position return after that. •...

  • Page 261: Stop Processing And Restarting After Stop

    Stop processing and restarting after stop This section describes the stop processing after a stop cause is input during positioning and restarting after stop. Stop processing ■Stop processing methods Stop processing during positioning by stop cause are as follows. • Deceleration stop Deceleration stop by "stop deceleration time"...
  • Page 262 ■Priority for stop processing Priority for stops when a stop cause is input is as follows: Deceleration stop < Rapid stop < Immediate stop A rapid stop is started if a rapid stop cause is input during one of the following types of deceleration stop processing: •...
  • Page 263 For example, both Axis 1 and Axis 2 stop after input of a stop command (stop cause) during the Axis 1 and Axis 2 interpolation control. Stop cause Axis Stop processing classifica Servo Advanced Torque Manual pulse Machine G-code tion program/ synchronous control...
  • Page 264 Stop cause Axis Stop processing classifica Servo Advanced Torque Manual pulse Machine G-code tion program/ synchronous control generator program control control Continuous operation/ operation/ operation operation to Speed Machine JOG torque control control operation mode Pressure control  "[Rq.3376] G-code control G-code Deceleration stop request (D54226.0+2s)"...
  • Page 265 Speed before speed change Speed after re-starting Stop by the speed Re-starting change to speed "0" Servo program start [St.1040] Start accept flag (R: M30080+n/Q: M2001+n) CHGV instruction [St.1047] Speed change accepting flag (R: M30144+32n/Q: M2061+n) [Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n) (1) The "[St.1040] Start accept flag ( R: M30080+n/Q: M2001+n )"...
  • Page 266 Continuation of positioning control This section describes the processing which performed servo program No. which was being performed before the stop, after stop by turning on the STOP input of the external signal ON, the "[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)" ON or the "[Rq.1141] Rapid stop command (R: M34481+32n/Q: M3201+20n)"...
  • Page 267 Processing in the Motion SFC Program Transfer the start address to word devices of the Motion CPU before starting. Calculate the target address by applying the travel value to the address before starting. Calculate the residual travel value by subtracting the stop address from the target address. Store the residual travel value in the servo program for travel value register.

  • Page 268: Acceleration/Deceleration Processing

    Acceleration/deceleration processing Acceleration/deceleration are processed by the following three methods. Trapezoidal acceleration/deceleration processing This is a conventional linear acceleration/deceleration processing. The acceleration/deceleration graph resembles a trapezoid, as shown in the diagram below. Positioning speed Time Acceleration time Deceleration time S-curve acceleration/deceleration processing S-curve ratio is set as a parameter to smoothly provide acceleration/deceleration processing than trapezoidal acceleration/ deceleration processing.
  • Page 269 S-curve ratio can be set by the servo program is following two methods. ■Specification by numerical value S-curve ratio is set a numerical value from 0 to 100. <K 10> INC-2 2 axes linear interpolation control Axis 100000 • Axis used ... Axis 1, Axis 2 Axis 250000...
  • Page 270 Advanced S-curve acceleration/deceleration processing Processing for smooth acceleration/deceleration can be executed by using the Advanced S-curve acceleration/deceleration function. The acceleration section is set as a sine curve as shown in the diagram below. Set the advanced S-curve acceleration/deceleration by the parameter block (Page 221 Advanced S-curve acceleration/ deceleration) or servo program.
  • Page 271 ■Specification by devices Advanced S-curve acceleration/deceleration system and advanced S-curve acceleration/deceleration ratio is set by devices. Refer to the following for the setting range of usable devices. MELSEC iQ-R Motion controller Programming Manual (Common) <K 10> ABS-1 1 axis linear positioning control Axis 30000 Axis used ......

  • Page 272: Axis Linear Positioning Control

    1 Axis Linear Positioning Control Positioning control from the current stop position to the fixed position for specified axis is executed. Positioning is controlled using ABS-1 (Absolute data method) or INC-1 (Incremental data method) servo instructions. : Must be set, : Set if required Servo Positioning Number...
  • Page 273 ■Control using INC-1 (Incremental data method) • Positioning control of the specified travel value from the current stop position address is executed. • The travel direction is set by the sign (+/ -) of the travel value, as follows: Travel direction Description Positive Positioning control to forward direction (Address Increase direction)
  • Page 274 ■Motion SFC program The Motion SFC program for executing the servo program (No. 0) for 1 axis linear positioning control is shown below. 1 axis linear positioning control [F10] Turn on all axes servo ON command. SET M2042 [G10] Wait until X0 and Axis 4 servo ready turn on. X0*M2475 [K0] INC-1...

  • Page 275: Axes Linear Interpolation Control

    2 Axes Linear Interpolation Control Linear interpolation control from the current stop position with the specified 2 axes is executed. ABS-2 (Absolute data method) and INC-2 (Incremental data method) servo instructions are used in the 2 axes linear interpolation control. : Must be set, : Set if required Servo Positioning...
  • Page 276 ■Control using INC-2 (Incremental data method) • Positioning control from the current stop address to the position which combined travel direction and travel value specified with each axis is executed. • The travel direction for each axis is set by the sign (+/ -) of the travel value for each axis, as follows: Travel direction Description Positive...
  • Page 277 ■Operation timing Operation timing for 2 axes linear interpolation control is shown below. Servo program No.11 [Rq.1120] PLC ready flag (M2000) [Rq.1123] All axes servo ON command (M2042) [St.1045] All axes servo ON accept flag (M2049) Axis 3 [St.1075] Servo ready (M2455) Axis 4 [St.1075] Servo ready (M2475) Start command (X0) Servo program start...

  • Page 278: 5.4 3 Axes Linear Interpolation Control

    3 Axes Linear Interpolation Control Linear interpolation control from the current stop position with the specified 3 axes is executed. : Must be set, : Set if required Servo Positioning Number Positioning data set in servo instructions instruction method Common Parameter block Others control...
  • Page 279 When the current stop address is (1000, 2000, 1000), and the specified address is (4000, 8000, 4000). Positioning address (4000, 8000, 4000) Forward direction 8000 X-axis, Y-axis and Z-axis linear interpolation operation Forward direction Current stop address (1000, 2000, 1000) 2000 4000 1000...
  • Page 280 Program example The program for performing 3 axes linear interpolation control of Axis 1, Axis 2, and Axis 3 is explained as an example This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■Positioning operation details The positioning is used the Axis 1, Axis 2 and Axis 3 servomotors.
  • Page 281 ■Motion SFC program The Motion SFC program for executing the servo program (No. 21) for 3 axes linear interpolation control is shown below. 3 axes linear interpolation control [F10] Turn on all axes servo ON command. SET M2042 [G10] Wait until X0, Axis 1 servo ready, Axis 2 servo X0*M2415*M2435*M2455 ready and Axis 3 servo ready turn on.

  • Page 282: 5.5 4 Axes Linear Interpolation Control

    4 Axes Linear Interpolation Control Linear interpolation control from the current stop position with 4 axes specified with the positioning command of the sequence program is executed. : Must be set, : Set if required Servo Positioning Number Positioning data set in servo instructions instruction method Common...
  • Page 283 Program example The program for performing 4 axes linear interpolation control of Axis 1, Axis 2, Axis 3, and Axis 4 is explained as an example. This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■Positioning operation details The positioning is used the Axis 1, Axis 2, Axis 3 and Axis 4 servomotors.
  • Page 284 ■Operation timing Operation timing for 4 axes linear interpolation control is shown below. Servo program No.22 [Rq.1120] PLC ready flag(M2000) [Rq.1123] All axes servo ON command (M2042) [St.1045] All axes servo ON accept flag (M2049) Axis 1 [St.1075] Servo ready (M2415) Axis 2 [St.1075] Servo ready (M2435) Axis 3 [St.1075] Servo ready (M2455) Axis 4 [St.1075] Servo ready (M2475)

  • Page 285: Auxiliary Point-Specified Circular Interpolation Control

    Auxiliary Point-Specified Circular Interpolation Control Circular interpolation control by specification of the end point address and auxiliary point address (a point on the arc) for circular interpolation is executed. Auxiliary point-specified circular uses ABS (Absolute data method) and INC (Incremental data method) servo instructions.
  • Page 286 • The maximum arc radius is 2 Maximum arc Radius R Arc central point ■Control using INC (Incremental data method) • Circular interpolation from the current stop address through the specified auxiliary point address to the end point address is executed.
  • Page 287 Program example The program for performing auxiliary point-specified circular interpolation control of Axis 1 and Axis 2 is explained as an example. This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■Positioning details The positioning uses the Axis 1 and Axis 2 servomotors.
  • Page 288 ■Motion SFC program The Motion SFC program for executing the servo program (No. 31) for auxiliary point-specified circular interpolation control is shown below. Auxiliary point-specified circular interpolation control [F10] SET M2042 Turn on all axes servo ON command. Waits until X0, Axis 1 servo ready and Axis 2 servo [G10] X0*M2415*M2435 ready turn on.

  • Page 289: Radius-Specified Circular Interpolation Control

    Radius-Specified Circular Interpolation Control Circular interpolation control by specification of the end point address and radius for circular interpolation is executed. Radius-specified circular interpolation control uses ABS , ABS , ABS and ABS (Absolute data method) and , INC , INC and INC (Incremental data method) servo instructions.
  • Page 290 Processing details Details for the servo instructions are shown in the table below. Instruction Rotation direction of the Maximum controllable angle of arc Positioning path servomotors 0 <  < 180 Clockwise Positioning path Start End point θ < 180 ° point Radius R Central point...
  • Page 291 ■Control using INC , INC , INC , INC (Incremental data method) • Circular interpolation from the current stop address (0, 0) to the specified end point with specified radius. • The center of the arc is the point of intersection of the perpendicular bisectors of the start point address (current stop address) to the end address.
  • Page 292 ■Positioning conditions • Positioning conditions are shown below. Item Servo Program No. No.41 Positioning method Absolute data method Positioning speed 1000 • Positioning start command: X0 Leading edge (OFF  ON) ■Operation timing Operation timing for radius-specified circular interpolation control is shown below. Vector speed Servo Program No.41 [Rq.1120] PLC ready flag (M2000)

  • Page 293: Central Point-Specified Circular Interpolation Control

    Central Point-Specified Circular Interpolation Control Circular interpolation control by specification of the end point for circular interpolation and arc central point is executed. Central point-specified circular interpolation control uses ABS and ABS (Absolute data method) and INC (Incremental data method) servo instructions. : Must be set, : Set if required Servo Positioning...
  • Page 294 ■Control using ABS , ABS (Absolute data method) • Circular interpolation of an arc with a radius equivalent to the distance between the start point and central point, between the current stop address (address before positioning) based on the home position and the specified end point address. Operation by circular interpolation Forward direction End address (X...
  • Page 295 • Positioning control of a complete round is possible in the central point-specified circular interpolation control. Forward direction Circular interpolation control Arc central point Reverse Start address, end address Forward direction direction Reverse direction • Setting range of travel value to end point address and arc central point is 0 to  (2 -1).
  • Page 296 ■Operation timing Operation timing for central point-specified circular interpolation is shown below. Vector speed Servo Program No.51 [Rq.1120] PLC ready flag (M2000) [Rq.1123] All axes servo ON command (M2042) [St.1045] All axes servo ON accept flag (M2049) Axis 1 [St.1075] Servo ready (M2415) Axis 2 [St.1075] Servo ready (M2435) Start command (X0) Servo program start...

  • Page 297: Helical Interpolation Control

    Helical Interpolation Control The linear interpolation control with linear axis is executed simultaneously while the circular interpolation specified with any 2 axes is executed, the specified number of pitches rotates spirally and performs the locus control to command position. : Must be set, : Set if required Servo Positioning Number...

  • Page 298: Circular Interpolation Specified Method By Helical Interpolation

    Circular interpolation specified method by helical interpolation The following method of circular interpolation is possible for the helical interpolation. The specified method of circular interpolation connected start point and end point at the seeing on the plane for which performs circular interpolation are as follows. Servo instruction Positioning method Circular interpolation specified method...
  • Page 299 , ABH , ABH , ABH Absolute radius-specified helical interpolation control Processing details The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X ) to specified circular end address (X ) or linear axis end point address (Z ), and the absolute helical interpolation is executed so that it may become a spiral course.
  • Page 300 • The setting range of end point address for the both of circular interpolation axis and linear interpolation axis is (-2 ) to (2 • The maximum arc radius on the circular interpolation plane is (2 -1). For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7 [m].
  • Page 301 , INH , INH , INH Incremental radius-specified helical interpolation control Processing details The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X ) or linear axis end point relative address (Z ), and the incremental helical interpolation control is executed so that it may become a spiral course.
  • Page 302 • The maximum arc radius on the circular interpolation plane is 2 -1. For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7 [m]. Maximum arc Arc central point Radius R • Set the command speed with the vector speed for 2 axes circular interpolation axis. •...
  • Page 303 , ABH Absolute central point-specified helical interpolation control Processing details The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X ) to specified circular end address (X ) or linear axis end point address (Z ), and the absolute helical interpolation is executed so that it may become a spiral course.
  • Page 304 • Set the command speed with the vector speed for 2 axes circular interpolation axis. • The command speed unit is specified in the parameter block. • Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the minor error (error code: 1A36H) occurs and operation does not start.
  • Page 305 , INH Incremental central point-specified helical interpolation control Processing details The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X ) or linear axis end point relative address (Z ), and the incremental helical interpolation control is executed so that it may become a spiral course.
  • Page 306 • Set the command speed with the vector speed for 2 axes circular interpolation axis. • The command speed unit is specified in the parameter block. • Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the minor error (error code: 1A36H) occurs and operation does not start.
  • Page 307 Absolute auxiliary point-specified helical interpolation control Processing details The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X ) to specified circular end address (X ) or linear axis end point address (Z ), and the absolute helical interpolation is executed so that it may become a spiral course.
  • Page 308 Program example This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■Motion SFC program The Motion SFC program for executing the servo program (No. 60) for absolute auxiliary point-specified helical interpolation control is shown below. Absolute auxiliary point-specified helical interpolation control [F10]...
  • Page 309 Incremental auxiliary point-specified helical interpolation control Processing details The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X ) or linear axis end point relative address (Z ), and the incremental helical interpolation control is executed so that it may become a spiral course.
  • Page 310 Program example This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■Motion SFC program The Motion SFC program for executing the servo program (No. 61) for incremental auxiliary point-specified helical interpolation control is shown below. Incremental auxiliary point-specified helical interpolation control [F10]...

  • Page 311: Axis Fixed-Pitch Feed Control

    5.10 Axis Fixed-Pitch Feed Control Positioning control for specified axis of specified travel value from the current stop point. Fixed-pitch feed control uses the FEED-1servo instruction. : Must be set, : Set if required Servo Positioning Number Positioning data set in servo instructions instruction method Common...
  • Page 312 Precautions The feed current value is changed to "0" at the start. When fixed-pitch feed control is executed in the absolute position system, the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power supply is turned ON again, may be different from the feed current value before the power supply was turned ON again.
  • Page 313 ■Motion SFC program The Motion SFC program for executing servo program (No. 300) for 1 axis fixed-pitch feed control is shown below. 1 axis fixed-pitch feed control [F10] SET M2042 Turn on all axes servo ON command. [G10] X0*M2475 Wait until X0 and Axis 4 servo ready turn on. [K300] FEED-1 1 axis fixed-pitch feed control...

  • Page 314: Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation

    5.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation Fixed-pitch feed control using 2 axes linear interpolation from the current stop position with the specified 2 axes. Fixed-pitch feed control using 2 axes linear interpolation uses the FEED-2 servo instruction. : Must be set, : Set if required Servo Positioning...
  • Page 315 Precautions The feed current value is changed to "0" at the start. When fixed-pitch feed control is executed in the absolute position system, the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power supply is turned ON again, may be different from the feed current value before the power supply was turned ON again.
  • Page 316 ■Motion SFC program The Motion SFC program for executing the servo program (No. 310) for fixed-pitch feed control using 2 axes linear interpolation is shown below. Fixed-pitch feed using 2 axes linear interpolation [F10] SET M2042 Turn on all axes servo ON command. Wait until X0, Axis 2 servo ready and Axis 3 [G10] X0*M2435*M2455...

  • Page 317: Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation

    5.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation Fixed-pitch feed control using 3 axes linear interpolation from the current stop position with the specified 3 axes. Fixed-pitch feed control using 3 axes linear interpolation uses the FEED-3 servo instruction. : Must be set, : Set if required Servo Positioning...
  • Page 318 Precautions The feed current value is changed to "0" at the start. When fixed-pitch feed control is executed in the absolute position system, the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power supply is turned ON again, may be different from the feed current value before the power supply was turned ON again.
  • Page 319 ■Motion SFC program The Motion SFC program for executing the servo program (No. 320) for fixed-pitch feed control using 3 axes linear interpolation is shown below. Fixed-pitch feed using 3 axes linear interpolation [F10] SET M2042 Turn on all axes servo ON command. [G10] Wait until X0, Axis 1 servo ready, Axis 2 X0*M2415*M2435*M2455...

  • Page 320: Speed Control (I)

    5.13 Speed Control (I) • Speed control for the specified axis is executed. • Control includes positioning loops for control of servo amplifiers. Refer to the speed-torque control for performing speed control that does not include positioning loops without using the servo program. (Page 431 Speed-Torque Control) •...
  • Page 321 Precautions • When "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" is OFF, the feed current value is changed to "0". When speed control () is executed in the absolute position system, the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power supply is turned ON again, may be different from the feed current value before the power supply was turned ON again.
  • Page 322 ■Motion SFC program The Motion SFC program for executing the servo program (No. 91) for speed control () is shown below. Speed control (³) [F10] SET M2042 Turn on all axes servo ON command. [G10] X0*M2415 Wait until X0 and Axis 1 servo ready turn on. [K91] Speed control (³) (Forward rotation) Axis...

  • Page 323: Speed Control (Ii)

    5.14 Speed Control (II) • Speed control for the specified axis is executed. • Speed control not includes positioning loops for control of servo amplifiers. It can be used for control, etc. so that it may not become error excessive. Refer to the speed-torque control for executing speed control that does not include positioning loops without using the servo program.
  • Page 324 Program example The program for performing speed control () of Axis 3 is explained as an example. This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■Speed control (II) conditions • Speed control () conditions are shown below. Item Setting Servo program No.
  • Page 325 ■Motion SFC program The Motion SFC program for executing the servo program (No. 55) for speed control () is shown below. Speed control (´) [F10] SET M2042 Turn on all axes servo ON command. [G10] Wait until X0 and Axis 3 servo ready turn on. X0*M2455 [K55] Speed control (´) (Forward rotation)

  • Page 326: Speed/Position Switching Control

    5.15 Speed/Position Switching Control Speed/position switching control start Speed/position switching control for specified axis is executed. Speed/position switching control uses the VPF (Forward rotation), VPR (Reverse rotation) and VPSTART (Re-start) servo instructions. : Must be set, : Set if required Servo Positioning Number...
  • Page 327 • The CHANGE signal from external source is effective during "[Rq.1145] Speed/position switching enable signal (R: M34485+32n/Q: M3205+20n)" is on only. If "[Rq.1145] Speed/position switching enable signal (R: M34485+32n/Q: M3205+20n)" turns on after the CHANGE signal turned on, it does not change from speed control to position control and speed control is continued.
  • Page 328 If it is started with "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" on, leave "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" on until positioning control is completed. If it is turns off during control, the feed current value cannot be guaranteed. ■Change of the travel value during speed control The travel value for position control can be changed during speed control after speed/position switching control start.
  • Page 329 ■No speed control Position control only is executed if "[Rq.1145] Speed/position switching enable command (R: M34485+32n/Q: M3205+20n)" and CHANGE signal are turning on at the start. The "[Rq.1064] Speed controlling (R: M32404+32n/Q: M2404+20n)" does not turn on. Position control only is executed if "[Rq.1145] Speed/position switching enable command (R: M34485+32n/Q: M3205+20n)"...
  • Page 330 Program example The program for performing speed/position switching control of Axis 4 is explained as an example. This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■Positioning conditions • Positioning conditions are shown below. Item Positioning conditions Servo program No.
  • Page 331 ■Motion SFC program The Motion SFC program for executing the servo program (No. 101) for speed-position switching control is shown below. Speed/position switching control [F10] SET M2042 Turn on all axes servo ON command. [G10] X0*M2475 Wait until X0 and Axis 4 servo ready turn on. [F20] Axis 4 speed/position switching enable command ON.

  • Page 332: Re-Starting After Stop During Control

    Re-starting after stop during control Re-starting (continuing) after stop with stop command during speed/position switching control is executed. Re-starting uses VPSTART servo instruction. : Must be set, : Set if required Servo Positioning Number Positioning data set in servo instructions instruction method Common...
  • Page 333 • If the stop occurred during position control, re-start with position, and the positioning control of setting travel value. The travel value after the re-start is calculated as follows: Travel value after re-start (P2) = Setting travel value (P) - Travel value before stop (P1) P1: Travel value before stop P2: Travel value after restart CHANGE...
  • Page 334 ■Operation timing Operation timing for speed/position switching control and re-starting are shown below. CHANGE signal accept 1000 Speed Position control control [Rq.1120] PLC ready flag (M2000) [Rq.1123] All axes servo ON command (M2042) [St.1045] All axes servo ON accept flag (M2049) Axis 4 [St.1075] Servo ready (M2475) Start command (X0) Restart command (X1)
  • Page 335 ■Motion SFC program The Motion SFC program for executing the servo programs (No. 101 and No. 102) for re-starting after stop during control is shown below. Re-starting after stop during control [F10] Turn on all axes servo ON command. SET M2042 [G10] X0*M2475 Wait until X0 and Axis 4 servo ready turn on.

  • Page 336: Speed Control With Fixed Position Stop

    5.16 Speed Control with Fixed Position Stop Speed control with fixed position stop of the specified axis is executed. Speed control with fixed position stop is started using the PVF (forward rotation) or PVR (reverse rotation) of servo program instruction. : Must be set, : Set if required Servo Positioning...
  • Page 337 • It is controlled in the fixed position stop acceleration/deceleration time set in the servo program at positioning start, speed change request (CHGV) and fixed position stop command ON. The fixed acceleration/deceleration time method is used as an acceleration/deceleration processing in this case. •...
  • Page 338 • When the fixed position stop command turns on, the command in-position check starts. When the absolute value of difference between the setting address and feed current value below the "command in-position range" set in the fixed parameter, the "[St.1063] Command in-position (R: M32403+32n/Q: M2403+20n)" turns on. The "[St.1063] Command in- position (R: M32403+32n/Q: M2403+20n)"...
  • Page 339 ■Motion SFC program The Motion SFC program for executing the servo program (No. 55) for speed control with fixed position stop is shown below. Speed control with fixed position stop [F10] Turn on all axes servo ON command. SET M2042 [G10] Wait until X0, Axis 1 servo ready turn on.

  • Page 340: Continuous Trajectory Control

    5.17 Continuous Trajectory Control • Positioning to the pass point beforehand set by one starting is executed with the specified positioning method and positioning speed. • The positioning method and positioning speed can be changed for each pass point. • The following parameters is set in the servo program. •...
  • Page 341 Operation timing Operation timing for continuous trajectory control is shown below. ■Example operation timing for 2 axes continuous trajectory control Axis 3 positioning direction 80000 60000 Axis2 positioning direction 40000 60000 100000 Positioning speed Change speed after speed-switching for 2 axes linear interpolation 15000 speed...
  • Page 342 Caution • The number of control axes cannot be changed during control. • The pass point can be specified the absolute data method (ABS) and incremental method (INC) by mixed use. • The pass point can also be specified an address which change in travel direction. The acceleration processing at a pass point is executed for 1 axis continuous trajectory control.

  • Page 343: Specification Of Pass Points By Repetition Instructions

    Specification of pass points by repetition instructions This section describes the method of the pass points for which executes between any pass points repeatedly. : Must be set, : Set if required Servo Positioning Number Positioning data set in servo instructions instruction method Common...
  • Page 344 ■Repetition control operation The repetition control operation using FOR-TIMES, FOR-ON and FOR-OFF is shown below. <K 701> CPSTART2 Axis Axis Speed 1000 ABS-2 Axis 40000 Axis 20000 INC-2 Axis 30000 Axis INC-2 Axis 20000 Axis 20000 NEXT CPEND Condition 1 Condition 2 Condition 3 FOR-TIMES...
  • Page 345 • During a FOR-ON loop, or a FOR-OFF loop, if the time from satisfaction of trigger conditions until reaching end point of the loop is shorter than the indicated time below, positioning operations are not normal. Set the trigger conditions so that the time from satisfaction of trigger conditions until reaching end point of the loop is longer than the indicated time below.
  • Page 346 ■Motion SFC program The Motion SFC program for executing the servo program (No.510) for continuous trajectory control is shown below. Continuous trajectory control [F10] Turn on all axes servo ON command. SET M2042 Wait until X0, Axis 2 servo ready and Axis 3 servo [G10] X0*M2435*M2455 ready turn on.

  • Page 347: Speed-Switching By Instruction Execution

    Speed-switching by instruction execution The speed can be specified for each pass point during the continuous trajectory control instruction. The speed change from a point can be specified directly or indirectly in the servo program. Precautions • The speed switching during servo instruction is possible at the continuous trajectory control for 1 to 4 axes. •...
  • Page 348 Program example The program for switching speed of Axis 1 and Axis 2 by turning ON "[Rq.1122] Speed-switching point specified flag (M2040)" during the continuous trajectory control instruction is explained as an example. This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■Positioning conditions •...
  • Page 349 ■Motion SFC program The Motion SFC program for executing the servo program (No. 310) for speed switching during instruction is shown below. Speed-switching during instruction execution [F10] Turn on all axes servo ON command. SET M2042 Wait until X0, Axis 1 servo ready and Axis 2 servo [G10] X0*M2415*M2435 ready turn ON.

  • Page 350: Axis Continuous Trajectory Control

    1 axis continuous trajectory control Continuous trajectory control for 1 axis. : Must be set, : Set if required Servo Positioning Number Positioning data set in servo instructions instruction method Common Parameter block Others control axes     ...
  • Page 351 Program example The program for repeating 1 axis continuous trajectory control of Axis 4 is explained as an example. This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■Positioning conditions • Continuous trajectory control conditions are shown below. Item Setting Servo program No.
  • Page 352 ■Motion SFC program The Motion SFC program for executing the servo program (No. 500) for 1 axis continuous trajectory control is shown below. 1 axis continuous trajectory control [F10] SET M2042 Turn on all axes servo ON command. [G10] X0*M2475 Wait until X0 and Axis 4 servo ready turn ON.

  • Page 353: To 4 Axes Continuous Trajectory Control

    2 to 4 axes continuous trajectory control Continuous trajectory control for 2 to 4 axes. : Must be set, : Set if required Servo Positioning Number Positioning data set in servo instructions instruction method Common Parameter block Others control axes «...
  • Page 354 Processing details ■Start and end for 2 to 4 axes continuous trajectory control 2 to 4 axes continuous trajectory control is started and ended using the following instructions: Instruction Description CPSTART2 Starts the 2 axes continuous trajectory control. Sets the axis No. and command speed. CPSTART3 Starts the 3 axes continuous trajectory control.
  • Page 355 • Positioning operation details Axis 2 and axis 3 servomotors is used for positioning operation. Positioning details for Axis 2 and Axis 3 servomotors are shown below. Axis 3 positioning direction 100000 50000 30000 Axis 2 positioning direction 30000 50000 90000 •...
  • Page 356 ■Program example 2 The program for performing 4 axes continuous trajectory control of Axis 1, Axis 2, Axis 3, and Axis 4 is explained as an example. • Positioning conditions • Continuous trajectory control conditions are shown below. Item Setting Servo program No.

  • Page 357: Continuous Trajectory Control For Helical Interpolation

    Continuous trajectory control for helical interpolation The helical interpolation can be specified as the positioning control method to pass point for 3 or 4 axes continuous trajectory control. Starting or ending instruction for continuous trajectory control uses the same CPSTART3, CPSTART4 or CPEND as 3 or 4 axes continuous trajectory control instruction.
  • Page 358 Processing details Helical interpolation specified methods for continuous trajectory control are shown below. Servo instruction Positioning method Circular interpolation specified method Absolute Radius-specified method less than CW180 Incremental Absolute Radius-specified method less than CCW180 Incremental Absolute Radius-specified method CW180 or more. Incremental Absolute Radius-specified method CCW180...
  • Page 359 Program example This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■Program 1 • Motion SFC program The Motion SFC program for executing the servo program (No. 510) for specifying helical interpolation at the pass points of 3 axes continuous trajectory control is shown below.
  • Page 360 ■Program 2 The program that controls the nozzle direction so that the nozzle stays perpendicular to the circular arc curve by 3 axes continuous trajectory control of Axis 1, Axis 2, and Axis 3 is explained as an example. • Positioning operation details The operation to start as the following figure from start point and witch keeps a nozzle at right angles toward the contour of line and that it goes around the contour and witch is returned to start point.
  • Page 361 • Motion SFC program Motion SFC program for is shown below. Helical interpolation [F10] SET M2042 Turn ON all axes servo ON command. Wait until X0, Axis 1 servo ready, Axis 2 servo ready and [G10] X0*M2415*M2435*M2455 Axis 3 servo ready turn ON 3 axes linear interpolation control (Travel to start point) [K61] ABS-3...

  • Page 362: Pass Point Skip Function

    Pass point skip function This function stops positioning to executing point and executes positioning to next point, by setting a skip signal toward each pass point for continuous trajectory control. Setting data ■Skip signal devices A bit device (or a specified bit in a word device) can be used. Refer to the following for the setting range of usable devices.
  • Page 363 CAUTION When a skip is specified during continuous trajectory control and the axis which has no stroke range [degree] is included, the operation at the execution of skip is described. • If there is an ABS instruction after the skip in these conditions, the end positioning point and the travel distance in the program as a whole will be the same regardless of whether the skip is executed or not.

  • Page 364: Fin Signal Wait Function

    FIN signal wait function By selecting the FIN signal wait function and setting a M-code at each executing point, a process end of each executing point is synchronized with the FIN signal, the FIN signal turns ON to OFF and then the next positioning is executed. Turn the FIN signal on/off using the Motion SFC program or sequence program.
  • Page 365 Program example This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■FIN signal wait function by the PLC program The program for executing the FIN signal wait function for continuous trajectory control of Axis 1 and Axis 2 is explained as an example.
  • Page 366 • Sequence program Sequence program for FIN signal wait function is shown below. DP.SFCS H3E1 K110 Motion SFC program start request MOVP Substitutes 1 for D51 after program start. Reads data of D13 for Multiple CPU M2419 DP.DDRD H3E1 "D13" system No.2 by turning M2419 on, and stores in the data area D1 of self M3219...
  • Page 367 • Parameter setting The refresh (END) setting example for FIN signal wait function is shown below. [Example of allocating the devices allocated as Motion dedicated devices to the PLC CPU] ■CPU No. 1 (PLC CPU) (GX Works3) ■CPU No. 2 (Motion CPU) (MT Developer2) •...
  • Page 368 ■FIN signal wait function using the Motion SFC program The program for executing the FIN signal wait function for continuous trajectory control of Axis 1 and Axis 2 is explained as an example. • Positioning conditions • Continuous trajectory control conditions are shown below. Item Setting Servo program No.
  • Page 369 • The Motion SFC program which outputs M-code of each point for continuous trajectory control to Y20 to Y2F by BCD code is shown below. FIN signal wait *: Details of #0 is used as control. [G50] M2419*M2439 Turn ON Axis 1, Axis 2 M-code outputting signal. [F20] #0=BCD(D13) Output Axis 1 M-code.
  • Page 370 • The fixed acceleration/deceleration time method is acceleration/deceleration processing that the time which acceleration/deceleration takes is fixed, even if the command speed differs. Acceleration/deceleration time is fixed (1) Rapid stop deceleration time in parameter block, completion point specification method for speed change point, and S-curve acceleration/deceleration processing and parameters are invalid in the fixed acceleration/ deceleration time method.

  • Page 371: Position Follow-Up Control

    5.18 Position Follow-Up Control Positioning to the address set in the word device of the Motion CPU specified with the servo program at one start is executed. Position follow-up control is started using the PFSTART servo program instruction. : Must be set, : Set if required Servo Positioning Number...
  • Page 372 Program example The program for performing Axis 3 position follow-up control for PLC CPU (CPU No.1) to Motion CPU (CPU No.2) is explained as an example. This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■Positioning conditions •...
  • Page 373 ■Motion SFC program The Motion SFC program for executing the servo program (No. 100) for position follow-up control is shown below. This program is started using D(P).SFCS instruction from PLC CPU (CPU No. 1). Position follow-up control [F10] SET M2042 Turn on all axes servo ON command.
  • Page 374 ■Parameter setting The refresh (END) setting example for position follow-up control is shown below. [Allocation example of devices allocated in the Motion dedicated device to the PLC CPU] ■CPU No. 1 (PLC CPU) (GX Works3) ■CPU No. 2 (Motion CPU) (MT Developer2) •...

  • Page 375: High-Speed Oscillation

    5.19 High-Speed Oscillation Positioning of a specified axis is caused to oscillate on a sine wave. : Must be set, : Set if required Servo Positioning Number Positioning data set in servo instructions instruction method Common Parameter block Others control axes «...
  • Page 376 Precautions • If the amplitude setting is outside the range, the minor error (error code: 1A52H) occurs and operation does not start. • If the starting angle setting is outside the range, the minor error (error code: 1A53H) occurs and operation does not start. •...

  • Page 377: Simultaneous Start

    5.20 Simultaneous Start Simultaneous start of the specified servo program at one start is executed. Simultaneous start is started using the START servo program instruction. : Must be set, : Set if required Servo Positioning Number Positioning data set in servo instructions instruction method Common...
  • Page 378 Precautions A check is made at the start. An error occurs and operation does not start in the following cases. • Specified servo program does not exist. • START instruction is set as the specified servo program. • The specified servo program start axis is already used. •...

  • Page 379: Home Position Return

    5.21 Home Position Return • Use the home position return at the power supply ON and other times where decision of axis is at the machine home position is required. • The home position return data must be set for each axis to execute the home position return. Refer to the following details of the home position return data.

  • Page 380: Servo Program For Home Position Return

    Servo program for home position return The home position return executed using the ZERO servo instruction. : Must be set, : Set if required Servo Positioning Number Positioning data set in servo instructions instruction method Common Parameter block Others control axes «...
  • Page 381 Program example The servo program No. 0 for performing home position return of Axis 4 is explained as an example. This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■Motion SFC program The Motion SFC program for executing the servo program (No. 0) for home position return is shown below. Home position return [F10] SET M2042...

  • Page 382: Home Position Return By The Proximity Dog Method 1

    Home position return by the proximity dog method 1 Proximity dog method 1 Zero point position after proximity dog ON to OFF is home position in this method. When it does not pass ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" OFF) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, an error will occur and home position return is not executed.
  • Page 383 • The position executed deceleration stop by the proximity dog OFF is near zero point, a home position discrepancy equivalent to one revolution of the servomotor may occur. Adjust the position of proximity dog OFF, such that the home position return re-travel value becomes half the travel value for one revolution of the servomotor. If the position executed deceleration stop by the proximity dog OFF is near zero point, the creep speed and deceleration settings may result in a home position discrepancy equivalent...

  • Page 384: Home Position Return By The Proximity Dog Method 2

    Home position return by the proximity dog method 2 Proximity dog method 2 Zero point position after proximity dog ON to OFF is home position in this method. When it passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON the zero point from home position return start to deceleration stop by proximity dog ON to OFF, operation for "proximity dog method 2"...
  • Page 385 Cautions • A system which the servomotor can rotate one time or more is required. • When a servomotor stops with specified condition enables and rotates to reverse direction one time after proximity dog ON, make a system for which does not turn OFF the external upper/lower stroke limit. •...

  • Page 386: Home Position Return By The Count Method 1

    Home position return by the count method 1 Count method 1 After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. When the zero point is not passed ("[St.1066] Zero pass "(R: M32406+32n/Q: M2406+20n)" OFF) until it travels the distance set in the "travel value after proximity dog ON"...

  • Page 387: Home Position Return By The Count Method 2

    Home position return by the count method 2 Count method 2 After the proximity dog ON, the position which traveled the specified distance (travel value after proximity dog ON) is home position in this method. It is not related for zero point pass or not pass. A count method 2 is effective method when a zero point signal cannot be taken.

  • Page 388: Home Position Return By The Count Method 3

    Home position return by the count method 3 Count method 3 After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. When the zero point is passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) during travel of specified distance set in the "travel value after proximity dog ON"...
  • Page 389 Cautions • A system which the servomotor can rotate one time or more is required. • After the proximity dog ON, when a servomotor rotates one time to reverse direction after stop with travel value set in the "travel value after proximity dog ON", make a system which does not turn OFF the external upper/lower stroke limit. •...

  • Page 390: Home Position Return By The Data Set Method 1

    Home position return by the data set method 1 Data set method 1 The proximity dog is not used in this method. Home position return by the data set method 1 Home position is the command position at the home position return operation. The address at the home position return operation is registered as the home position address.

  • Page 391: Home Position Return By The Data Set Method 2

    Home position return by the data set method 2 Data set method 2 The proximity dog is not used in this method. Home position return by the data set method 2 Home position is the real position of servo motor at the home position return operation. Machine travel range Command position Real position of...

  • Page 392: Home Position Return By The Data Set Method 3

    Home position return by the data set method 3 Data set method 3 The proximity dog is not used in this method that allows home position return to be performed during servo ON/OFF. Home position return by the data set method 3 Home position is the real position of servo motor at the home position return operation.

  • Page 393: Home Position Return By The Dog Cradle Method

    Home position return by the dog cradle method Dog cradle method After deceleration stop by the proximity dog ON, it travels to reverse direction. If the zero point is passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) after traveling to reverse direction and turning the proximity dog OFF, a deceleration stop is made.
  • Page 394 Cautions • When home position return retry function is not set, if home position return is executed again after home position return end, a minor error (error code: 197BH) will occur, the home position return is not executed. • If the home position return is executed in the proximity dog, it travels to reverse direction of home position return. If proximity dog turns OFF, a deceleration stop is made, it travels to direction of home position return again with the creep speed and the first zero point after proximity dog ON is home position.
  • Page 395 • When it starts in the proximity dog, the zero point is not passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" OFF) at the time of the proximity dog is turned OFF during travel to reverse direction of home position return. It continues to travel with home position return speed until the zero point is passed.

  • Page 396: Home Position Return By The Stopper Method 1

    Home position return by the stopper method 1 Stopper method 1 Position of stopper is home position in this method. It travels to the direction set in the "home position return direction" with the "home position return speed", after a deceleration starts by proximity dog OFF to ON and it presses against the stopper and makes to stop with the torque limit value set in the "torque limit value at the creep speed"...

  • Page 397: Home Position Return By The Stopper Method 2

    Home position return by the stopper method 2 Stopper method 2 Position of stopper is home position in this method. It travels the direction set in the "home position return direction" with the "creep speed", and it presses against the stopper and makes to stop with the "creep speed".

  • Page 398: Home Position Return By The Limit Switch Combined Method

    Home position return by the limit switch combined method Limit switch combined method The proximity dog is not used in this method. Home position return can be executed by using the external upper/lower limit switch. When the home position return is started, it travels to direction of home position return with "home position return speed". Deceleration is made by turning the limit switch of home position return direction ON to OFF, it travels to reverse direction of home position return with creep speed, and the zero point just before limit switch is home position.
  • Page 399 Cautions • For the axis which executes the home position return by the limit switch combined method, if the external input signal has not been set in [Motion Control Parameter]  [Axis Setting Parameter]  "External Signal Parameter", a minor error (error code: 19ECH) will occur and home position return is not executed.

  • Page 400: Home Position Return By The Scale Home Position Signal Detection Method

    Home position return by the scale home position signal detection method Scale home position signal detection method Home position return is executed using home position signal (zero point). After detecting the proximity dog, it makes to travel to reverse direction of home position return. And the detecting position of home position signal (zero point) is home position in this method.
  • Page 401 • Home position return is executed in the proximity dog, it travels to reverse direction of home position return. If home position signal (zero point) is detected, a deceleration stop is made, it travels to direction of home position return again with the creep speed and the detecting position of home position signal (zero point) is home position.

  • Page 402: Home Position Return By The Dogless Home Position Signal Reference Method

    Home position return by the dogless home position signal reference method Dogless home position signal reference method Home position return is executed using home position signal (zero point). This is a home position return method that does not use proximity dogs. Home position, home position return operation, home position return data (home position return retry function, dwell time at the home position return retry) differ by the servo amplifier connected as shown below.
  • Page 403 Home position return by the dogless home position signal reference method ■Operation A "Operation A" of a home position return by the dogless home position signal reference method is shown below. • When the zero point is in the home position return direction Home position Home position return speed...
  • Page 404 Set home position return retry function to "valid". When set as "invalid" at the detection of the external limit switch, an error occurs and stops. ■Operation B "Operation B" of a home position return by the dogless home position signal reference method is shown below. Home position return direction It travels to preset direction of home...
  • Page 405 • When the position where address of absolute linear encoder becomes 0 is not in the home position return direction Home position return direction It travels to reverse of preset direction of home position return with Creep speed the home position return speed. Home position The position where address of absolute return start...
  • Page 406 • If executing home position return with a fully closed loop control servo amplifier (MR-J3-B-RJ006, MR-J4-B), do not change fully closed loop control/semi closed loop control during home position return operation. When fully closed loop control/semi closed loop control is changed during home position return operation, the home position return might not be completed normally •...

  • Page 407: Home Position Return By The Driver Home Position Return Method

    Home position return by the driver home position return method Driver home position return method The stepping driver performs home position return autonomously based on the positioning patterns set on the stepping driver side. Home position return data is set with the parameters on the stepping driver side. Driver home position return method cannot be used on anything other than a stepping driver.

  • Page 408: Home Position Return Retry Function

    Home position return retry function When a current value has been exceeded home position during positioning control, etc., even if it executes the home position return, depending on the position of current value, a current value may not travel to home position direction. In this case, a current value is normally travelled before the proximity dog by the JOG operation etc., and the home position return is started again.
  • Page 409 ■Home position return retry operation setting a current value outside the range of external limit switch • When the direction of "current value  home position" and home position return is same, normal home position return is operated. Direction of "current value → home position" and home position return is same Home position return direction...
  • Page 410 ■Dwell time setting at the home position return retry Reverse operation by detection of the external upper/lower limit switch and dwell time function at the home position return start after stop by proximity dog OFF are possible with the dwell time at the home position return retry in the home position return retry function.

  • Page 411: Home Position Shift Function

    Home position shift function Normally, when the machine home position return is executed, a position of home position is set by using the proximity dog or zero point signal. However, by using the home position shift function, the position to which only the specified travel value was travelled from the position which detected the zero point signal can be regarded as home position.
  • Page 412 ■Setting range of home position shift amount Set the home position shift amount within the range of from the detected zero signal to external upper/lower limit switch (FLS/ RLS). If the range of external upper/lower limit switch is exceeded, a minor error (error codes: 1905H, 1907H) will occur at that time and the home position return is not ended.
  • Page 413 Precautions • Valid/invalid of home position shift amount setting value by the home position return method. : Valid, : Invalid Home position return methods Possible/not possible of home position return retry function Proximity dog method   Count method Data set method ...

  • Page 414: Condition Selection Of Home Position Set

    Condition selection of home position set A home position return must be made after the servomotor has been rotated more than one revolution to pass the axis through the Z-phase (motor reference position signal) and the "[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" has been turned ON.

  • Page 415: Current Value Change

    5.22 Current Value Change The current value of the specified servo motor/command generation axis is changed. : Must be set, : Set if required Servo Positioning Number Positioning data set in servo instructions instruction method Common Parameter block Others control axes ¨...
  • Page 416 ■Operation timing The operation timing for current value change is shown below. CHGA instruction Start accept flag Current value change completion ■Motion SFC program The Motion SFC program for executing the servo program (No. 10) for current value change is shown below. Current value change control [F10] SET M2042...

  • Page 417: Chapter 6 Manual Control

    MANUAL CONTROL This section describes the manual control methods. JOG Operation The setting JOG operation is executed. Individual start or simultaneous start can be used in the JOG operation. JOG operation can be executed using the Motion SFC program or test mode of MT Developer2. Refer to the following for JOG operation method in the test mode of MT Developer2.
  • Page 418 Precautions • If the "[Rq.1142] Forward JOG start command (R: M34482+32n/Q: M3202+20n)" and "[Rq.1143] Reverse JOG start command (R: M34483+32n/Q: M3203+20n)" turn on simultaneously for a single axis, the forward JOG operation is executed. When a deceleration stop is made by the "[Rq.1142] Forward JOG start command (R: M34482+32n/Q: M3202+20n)"...
  • Page 419 Program example The program for performing JOG operation of Axis 1 and Axis 2 is explained as an example. This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■JOG operation conditions Item JOG operation conditions Axis No.

  • Page 420: Simultaneous Start

    Simultaneous start Simultaneous start JOG operation for specified multiple axes. Processing details • JOG operation continues at the JOG speed setting register value for each axis while the "[Rq.1124] JOG operation simultaneous start command (R: M30048/Q: M2048)" turns on, and a deceleration stop is made by the "[Rq.1124] JOG operation simultaneous start command (R: M30048/Q: M2048)"...
  • Page 421 Program example The program for performing simultaneous start of JOG operations of Axis 1 and Axis 2 is explained as an example. This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■JOG operation conditions •...

  • Page 422: Manual Pulse Generator Operation

    Manual Pulse Generator Operation Positioning control based on the number of pulses inputted from the manual pulse generator is executed. Simultaneous operation for 1 to 3 axes is possible with one manual pulse generator, the number of connectable modules are shown below.
  • Page 423 Processing details ■Manual pulse generator enable flag • Positioning of the axis set in the manual pulse generator axis setting register based on the pulse input from the manual pulse generator. Manual pulse generator operation is only valid while the manual pulse generator enable flag turn ON. Manual pulse generator Manual pulse generator axis No.
  • Page 424 ■Check of the manual pulse generator 1-pulse input magnification The setting manual pulse generator 1-pulse input magnification checks the "1-pulse input magnification setting registers of the manual pulse generator" of the applicable axis at leading edge of manual pulse generator enable flag. If the value is outside of range, a warning (error code: 0988H) occurs and a value of "1"...
  • Page 425 Precautions • The start accept flag turns on for axis during manual pulse generator operation. Positioning control or home position return cannot be started using the Motion CPU or MT Developer2. Turn off the manual pulse generator enable flag after the manual pulse generator operation end.
  • Page 426 Program example The program for performing manual pulse generator operation of Axis 1 and Axis 2 is explained as an example. This program example is explained in the "Q series Motion compatible device assignment" device assignment method. ■System configuration Motion CPU control module R61P R32MT RX40...

  • Page 427: Chapter 7 Auxiliary And Applied Functions

    AUXILIARY AND APPLIED FUNCTIONS This section describes the auxiliary and applied functions for positioning control in the Multiple CPU system. M-code Output Function M-code is a code No. between 0 and 32767 which can be set for every positioning control. During positioning control, these M-codes are read using the Motion SFC program to check the servo program during operation and to command auxiliary operations, such as clamping, drill rotation and tool replacement.
  • Page 428 Program example This program example is explained in the "Q series Motion compatible device assignment" device assignment method. • The Motion SFC program to read M-codes is shown as the following conditions. Item Condition of use Axis used No. Axis 3 Processing at the positioning start by M-code M-code No.

  • Page 429: Backlash Compensation Function

    Backlash Compensation Function This function compensates for the backlash amount in the machine system. When the backlash compensation amount is set, extra feed pulses equivalent to the backlash compensation amount set up whenever the travel direction is generated at the positioning control, JOG operation or manual pulse generator operation. Feed screw Workpiece Backlash compensation amount...

  • Page 430: Torque Limit Function

    Torque Limit Function This function restricts the generating torque of the servomotor within the setting range. If the torque required for control exceeds the torque limit value during positioning control, it restricts with the setting torque limit value. Default of the torque limit value The default 300.0[%] is set as torque limit value at the servo amplifier's control circuit power supply or Multiple CPU system's power supply ON.
  • Page 431 Monitoring of torque limit status The torque limit value of each axis can be monitored with "[Md.35] Torque limit value (R: D32014+48n/Q: D14+20n)", and the positive/negative direction torque limit value can be monitored by setting "Positive Direction Torque Limit Value Monitor Device"...

  • Page 432: Skip Function In Which Disregards Stop Command

    Skip Function in which Disregards Stop Command When the current positioning is stopped by input from external source and the next positioning control is performed, it enables starting of the next positioning control even if the input from external source is on (continuation). There are following tow functions in the function called "Skip".

  • Page 433: Speed-Torque Control

    Speed-Torque Control This function is used to execute the speed control or torque control that does not include the position loop for the command to servo amplifier. The "continuous operation to torque control mode" that switches the control mode to torque control mode without stop of servomotor during positioning operation when tightening a bottle cap or a screw.

  • Page 434: Operation Of Speed-Torque Control

    Operation of speed-torque control Switching of control mode (Speed control/Torque control) ■Switching method of control mode Turn OFF to ON the control mode switching request device after setting the control mode (10: Speed control mode, 20: Torque control mode) in the control mode setting device to switch to the speed control or torque control. When the mode is switched to the speed control mode or torque control mode, the control data used in each control mode must be set before turning ON the control mode switching request device.
  • Page 435 ■Operation for "Position control mode  Speed control mode switching" When the mode is switched from position control mode to speed control mode, the command speed immediately after switching is the speed set in "speed initial value selection at control mode switching". Speed initial value selection at Command speed to servo amplifier immediately after switching from position control mode control mode switching...
  • Page 436 ■Operation for "Position control mode  torque control mode switching" When the mode is switched from position control mode to torque control mode, the command torque immediately after switching is the torque set in "torque initial value selection at control mode switching". Torque initial value selection at Command torque to servo amplifier immediately after switching from position control mode control mode switching...
  • Page 437 ■Operation for "Speed control mode  Torque control mode switching" When the mode is switched from speed control mode to torque control mode, the command torque immediately after switching is the torque set in "Torque initial value selection at control mode switching". Torque initial value selection at Command torque to servo amplifier immediately after switching from speed control mode to control mode switching...
  • Page 438 Switching of control mode (Continuous operation to torque control) ■Switching method of control mode Turn OFF to ON the control mode switching request device after setting the control mode in the control mode setting device (30: Continuous operation to torque control mode) to switch from position control mode or speed control mode to continuous operation to torque control.
  • Page 439 • When the mode is switched from position control mode to continuous operation to torque control mode, only the switching from continuous operation to torque control mode to position control mode is possible. If the mode is switched to other control modes, a warning (error code: 09E8H) will occur, and the control mode is not switched.
  • Page 440 The following chart shows the operation timing. Continuous operation to torque Position control mode control mode Position control mode Contact with target 1000 Torque 30.0% Control mode switching request device Control mode setting device 0: Position control mode 30: Continuous operation to torque control mode Speed command device (During continuous operation 1000...
  • Page 441 The following chart shows the operation timing. Continuous operation to torque Speed control mode control mode Speed control mode 10000 Contact with target 1000 -10000 Torque 30.0% Control mode switching request device Control mode setting device 30: Continuous operation to torque control mode 10: Speed control mode Speed command device (During continuous operation...
  • Page 442 Speed control mode ■Operation for speed control mode The speed control is executed at speed set in "Speed command device" in the speed control mode. Set a positive value for forward rotation and a negative value for reverse rotation. "Speed command device" can be changed any time during speed control mode.
  • Page 443 Torque control mode ■Operation for torque control mode The torque control is executed at command torque set in "Torque command device" in the torque control mode. Command torque can be changed any time during torque control mode. Set time that reaches "Torque limit value at speed-torque control" from 0[%] in "Command torque time constant (Positive direction)"...
  • Page 444 ■Stop cause during speed control mode The operation for stop cause during torque control mode is shown below. Item Operation during torque control mode The "[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)" The speed limit command value commanded to servo amplifier is "0" regardless of the turned ON.
  • Page 445 ■Torque command setting method During continuous operation to torque control mode, set time for the command torque to increase from 0[%] to torque limit value at speed-torque control" in "Command torque time constant (Positive direction)", and the command torque to decrease from "Torque limit value at speed-torque control"...
  • Page 446 ■Speed during continuous operation to torque control mode The speed during continuous operation to torque control mode is limited with the absolute value of speed limit command value after acceleration/deceleration processing with signed value set in "Speed command device". Speed direction depends on the torque command.

  • Page 447: Acceleration/Deceleration Time Change Function

    Acceleration/Deceleration Time Change Function This function arbitrarily changes the acceleration/deceleration time at speed change, when changing speed with Motion dedicated functions (CHGV, CHGVS) of Motion SFC program (and also the Motion dedicated PLC instruction M(P).CHGV/ D(P).CHGV, M(P).CHGVS/D(P).CHGVS). Normally (speed change without changing the acceleration/deceleration time), the acceleration/deceleration time is controlled by the positioning data of the servo program or the parameter block at the start.
  • Page 448 • Operation at acceleration/deceleration time change is shown below. [When acceleration/deceleration time change enable is invalid] [K100] INC-1 Acceleration time set Axis [pulse/s] by servo instruction 1000000 pulse Travel 200000 Deceleration time set 100000 pulse/s Speed by servo instruction 200000 pulse/s S.R.
  • Page 449 Cautions • In the following cases acceleration time or deceleration time does not change when a speed change is executed. The acceleration time or deceleration time at the time of speed change accept is maintained. • When setting of the acceleration/deceleration time change enable device was omitted. •...
  • Page 450 • After changing deceleration time, operations for a stop or rapid stop are shown below: Operation Description Stop Deceleration stop by the deceleration speed after change. Rapid stop Rapid stop by parameter setting values at start. If changing deceleration time by the acceleration/deceleration time change function, regardless of whether the "Rapid stop deceleration time setting error invalid flag (SM805)"...
  • Page 451 • For control with changed acceleration/deceleration time, even if acceleration/deceleration time change enable device is turned OFF (invalid), control at acceleration/deceleration time after change continues until the operation ends. Control at acceleration/ deceleration time after change Acceleration/deceleration time change enable device New acceleration time 2000 value device...

  • Page 452: Pressure Control

    Pressure Control In "pressure control" the pressure value of a load cell is controlled by performing pressure control with a pressure control compatible servo amplifier (MR-J4-B-LL). By setting the feed, dwell, and pressure release processes to devices as profiles, and turning ON the "feed/dwell startup device", control switches to "pressure control mode"...

  • Page 453: System Configuration

    System configuration A system configuration that uses a pressure control compatible servo amplifier (MR-J4-B-LL) is shown below. Motion CPU module RMTCPU Servo amplifier Servo amplifier MR-J4(W)-B MR-J4-B-LL SSCNET/H (CN1) SSCNETcable MR-J3BUSM(-A/-B) Analog input of servo amplifier • Pressure feedback Servo amplifier Servo amplifier (load cell pressure feedback) MR-J4(W)-B...

  • Page 454: Outline Of Pressure Control

    Outline of pressure control Pressure control Pressure control for feed/dwell is available. The load cell pressure can be monitored with the optional data monitor function. (The load cell pressure is used for feedback for pressure control in the servo amplifier) Change speed switching point In the feed operation, the setting of switching points that are before the current value are skipped.

  • Page 455: Pressure Profile

    Pressure profile Set the pressure profile data specified by the pressure profile start device in order to perform feed/dwell operation. Setting pressure profile data Pressure profile data can be set with a Motion SFC program, or with MT Developer2. ■Setting with Motion SFC program Write the values directly from the Motion SFC program to the devices on or after the pressure profile start device set in the pressure control data.
  • Page 456 Device assignment of pressure profile data Pressure profile data is stored to the device that is set as the pressure profile start device as follows. Offset Name Description Range Feed data Number of steps Set the number of steps for feed data. 1 to 16 Set the data for the set number of steps.
  • Page 457 Offset Name Description Range +162 Feed to Switching address (SC) Specify the feed to dwell switching address. -2147483648 to 2147483647 dwell +163 switching +164 Feed/dwell switching mode Specify the feed to dwell switching condition. 0: Address conditions 1: Address & load cell +165 pressure +166...
  • Page 458 Offset Name Description Range +324 Dwell Step No.16 Set time (T16) Data for the number of steps set in "Number of steps" is valid. 0 to 999999 [ms] data Setting of data for steps after the set number of steps is not +325 necessary.

  • Page 459: Feed/Dwell Operation

    Feed/dwell operation A servo program for feed/dwell operation is not necessary. Pressure profile data from the device specified with the pressure control parameter "Pressure profile start device" is written to the device, and feed/dwell operation starts by turning the feed/ dwell startup device from OFF to ON.
  • Page 460 Processing details • Feed/dwell operation starts by turning ON the feed/dwell startup device from the sequence program or Motion SFC program. When feed/dwell operation is started, a check of set data, change speed switching point, and speed zero check is performed.

  • Page 461: Pressure Release Operation

    Pressure release operation A servo program for pressure release operation is not necessary. Pressure profile data from the device specified with the pressure control parameter "Pressure profile start device" is written to the device, and pressure release operation starts by turning the pressure release startup device from OFF to ON.

  • Page 462: Pressure Control Settings

    Pressure control settings This section explains the address for feed/dwell operation, and setting method for speed/pressure. Feed Dwell Feed step 1 step 2 step 1 Dwell step 2 Motor speed Load cell pressure Speed limit value Pressure command value Feed Dwell Switching point is change by the time constant setting.

  • Page 463: Mode Reset After Passing Dwell Time

    Mode reset after passing dwell time When "1: Reset mode after passing dwell time" is set in mode reset selection after passing dwell time, the system (Motion CPU) automatically resets mode after passing the set time of the dwell final step. (Operation is returned to positioning control from pressure control.) Without turning the feed/dwell startup device OFF, control automatically returns to positioning control when the set dwell time passes.

  • Page 464: Override Function

    Override Function The override function sets an override ratio of 0.0 to 300.0[%] in increments of 0.1[%] to be applied to the command speed during positioning control. The speed command with the override ratio applied is the actual feed speed. For interpolation operations or machine operations, the override ratio setting of the lowest axis is valid.
  • Page 465 Precautions • The acceleration/deceleration processing for when the override ratio is changed during positioning control is performed at the acceleration/deceleration time set in the parameter block (or positioning data of the servo instruction) at the start. However when the acceleration/deceleration time change function is valid, acceleration/deceleration processing is performed at the acceleration/deceleration time set in the acceleration/deceleration time change function.
  • Page 466 • When "[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" is ON in continuous trajectory control, speed is not changed by override ratio if the override ratio is changed during deceleration for a speed change at a pass point. For this case, from the pass point, speed is changed to the speed calculated by "command speed of the next point ...
  • Page 467 Operation timing The operation timing of a speed change by the override function is shown below. ■When override ratio is changed [Servo program] [K 1] [K 2] [K 3] INC-1 INC-1 INC-1 Axis Axis Axis Travel value 50000 pulse Travel value 10000 pulse Travel value 100000 pulse...
  • Page 468 ■When speed change request (CHGV) is executed [Servo program] [K1] CPSTART1 Axis Speed 20000 pulse/s INC-1 Axis Travel value 50000 pulse INC-1 Axis Travel value 80000 pulse Speed 40000 pulse/s CPEND [Operation timing] Command speed [pulse/s] 40000 30000 20000 10000 Override ratio setting device Speed change request...

  • Page 469: Vibration Suppression Command Filter

    Vibration Suppression Command Filter The vibration suppression command filter function is used to suppress vibrations in position control on the load-side such as vibrations of the work platform and shaking of the machine frame. The function is used to suppress vibrations of low frequencies that cannot be set in a filter such as the servo amplifier command notch filter, and applications where frequency is changed during operation.
  • Page 470 ■Operation example • Smoothing filter The smoothing filter can remove frequencies higher than the set frequency creating smooth acceleration/deceleration waveforms from all waveforms higher than the set value. The smoothing time constant is 1/frequency[s], and the acceleration/deceleration times are extended by the smoothing time constant only. Depth setting is invalid in the smoothing filter.
  • Page 471 Deceleration stop by stop command/rapid stop command Because a deceleration stop at a stop command/rapid stop command is conducted at command values after filter, the travel distance after a stop signal is longer compared to when filter is invalid. Also, when a stop command and rapid stop command are input during acceleration, because of the delay from the filter, a time delay occurs until speed begins to decelerate, thus the stop takes more time.

  • Page 472: Precautions When Using Vibration Suppression Command Filter

    Monitor values when using vibration suppression command filter Although the positioning complete signal is turned ON after positioning control, because of the delay caused by the filter, the actual positioning operation may not be complete. To check the completion of command outputs to the positioning address, check the command output complete signal after the filter.
  • Page 473 • If the filter method setting (1: Smoothing filter, 2: FIR filter, 3: IIR filter) for the "mode selection device" of "vibration suppression filter 1/2" is changed to "0: Invalid" while the vibration suppression command filter is operating, the vibration suppression command filter is not invalid immediately.
  • Page 474 • M-code output for continuous trajectory control (CPSTART instruction) is output at the time when the feed current value before filter reaches the specified point. Consequently, due to the delay by the filter, M-code may be updated before the feed current value after filter reaches the specified point. [Md.20] Feed current value (R: D32000+48n, D32001+48n/D0+20n, D1+20n) 30000 20000...

  • Page 475: Appendices

    APPENDICES Appendix 1 Processing Times of the Motion CPU The processing time of each signal and each instruction for positioning control in the Multiple CPU system is shown below. Motion operation cycle [ms] (Default) The following shows the operation cycles of the Motion CPU. Motion CPU No.
  • Page 476 CPU processing time [ms] The instruction processing time means the time until the content is reflected to servo amplifier side after each instruction is executed. (Including the transmission time between Motion controller and servo amplifier.) R64MTCPU/R32MTCPU/R16MTCPU Operation cycle [ms] 0.222 0.444 0.888 1.777...
  • Page 477 MEMO APPENDICES Appendix 1 Processing Times of the Motion CPU...

  • Page 478: Revisions

    Japanese manual number: IB-0300240-H This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 479: Warranty

    WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.

  • Page 480: Trademarks

    TRADEMARKS Ethernet is a registered trademark of Fuji Xerox Corporation in Japan. Microsoft, Microsoft Access, Excel, SQL Server, Visual Basic, Visual C++, Visual Studio, Windows, Windows NT, Windows Server, Windows Vista, and Windows XP are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.
  • Page 482 IB(NA)-0300241-H(1712)MEE MODEL: RMT-P-POS-E MODEL CODE: 1XB008 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.

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