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

Melsec iq-r series motion controller (machine control)
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  • Page 1 MELSEC iQ-R Motion Controller Programming Manual (Machine 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. ● For terminal block wiring, use solderless terminals with an insulation sleeve. Do not connect more than two solderless terminals to a terminal.
  • Page 8 [Wiring Precautions] CAUTION ● A protective film is attached to the top of the module to prevent foreign matter, such as wire chips, from entering the module during wiring. Do not remove the film during wiring. Remove it for heat dissipation before system operation.
  • Page 9 [Startup and Maintenance Precautions] CAUTION ● After the first use of the product, do not mount/remove the module to/from the base unit, and the terminal block to/from the module, and do not insert/remove the extended SRAM cassette to/from the CPU module more than 50 times (IEC 61131-2 compliant) respectively. Exceeding the limit of 50 times may cause malfunction.
  • Page 10 [Operating Precautions] CAUTION ● When changing data and operating status, and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or modification may cause system malfunction, damage to the machines, or accidents.

  • 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, data, and functions required for performing machine control of the relevant products listed below.

  • Page 12: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
  • Page 13 CHAPTER 6 MACHINE CONTROL DATA Machine Positioning Data..............55 Point Block Data .

  • Page 14: Relevant Manuals

    RELEVANT MANUALS Manual Name [Manual Number] Description Available form MELSEC iQ-R Motion Controller Programming Manual This manual explains the dedicated instructions to use machine Print book (Machine Control) control by machine control parameters, machine positioning data, e-Manual [IB-0300309] (This manual) device lists and others.

  • Page 15: 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 16: 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 17 ■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 18 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 19: Chapter 1 Overview

    OVERVIEW Machine Control Overview • Machine control is the controlling of a simplified robot (link configuration) with a Motion CPU. • Positioning control • Motion SFC program Machine control (Controlling a simplified robot (machine) with these functions) • Coordinate transformation •...
  • Page 20 • In machine control, parameters for machine control are set and the multiple axes that make up the robot are controlled together as a machine. A maximum of eight machines can be controlled. Articulated robot (3-axis configuration) Joint axis 2 (JNT2) The joint axes (JNT1 to JNTn) that make the robot are controlled together as a machine.

  • Page 21: Performance Specifications

    Performance Specifications Machine control specifications Item Specifications Control axes per machine Up to 4 axes per machine Machine Number of control machines 8 machines configuration Supported machine types Each machine type is supported by the machine library (add-on library) Base/tool transformation Base transformation (X, Y, Z, A, B, C), tool transformation (X, Y, Z) (The enabled coordinate components differ according to machine type) Operation range setting...

  • Page 22: Chapter 2 Starting Up The System

    STARTING UP THE SYSTEM The procedure for machine control positioning control is shown below. Starting Up the Machine Control System The procedure to start up for machine control system is shown below. Preparation • ¢ MELSEC iQ-R Motion controller STEP 1 Install the machine library to be used.

  • Page 23: Machine Control System Positioning Controls

    Machine Control System Positioning Controls The following positioning controls can be performed in a machine control system. Machine program operation start The following two methods are available for machine program start. Machine program operation start by sequence program By executing the Motion dedicated PLC instruction (machine program operation start request: M(P).MCNST/D(P).MCNST) with a PLC CPU sequence program, the machine program operation of the machine control system starts using the machine positioning data set to the devices of the PLC CPU.

  • Page 24: Machine Control System Stop Operation

    Machine Control System Stop Operation When one of the following stop causes occurs in a machine configuration axis during machine control, after the stop processing of all machine configuration axes, "[St.2127] Machine start accept flag (M43911+32m)" turns OFF, and machine control ends.

  • Page 25: Chapter 3 Machines

    MACHINES Overview of a Machine A machine can be used by installing machine library (add-on library) for the machine type to be used to the Motion CPU module. For details on each machine type, refer to the instruction manual of the machine library. Refer to the following for details on installing the machine library.
  • Page 26 ■Coordinate system Robot coordinate systems are shown below. Coordinate system Details Remarks World coordinate system The coordinate system set to the ground or the floor. When specifying end point with an absolute value command, normally, command is by the world coordinate system. Base coordinate system The coordinate system set to the base of the robot.

  • Page 27: Chapter 4 Machine Control Dedicated Signals

    MACHINE CONTROL DEDICATED SIGNALS Machine control devices used for machine control are shown below. Device Device range MELSEC iQ-R Motion device assignment Q series Motion compatible device assignment Internal relay (M) M43584 to M44159 (576 points) Data register (D) D52880 to D54191 (1312 points) •...

  • Page 28: Internal Relays

    Internal Relays 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 29: 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 30 [Rq.2240] Machine error reset command (M43616+32m) This command is used to clear the "[Md.2023] Machine warning code (D53171+128m)" and "[Md.2022] Machine error code (D53170+128m)" of an axis for "[St.2120] Machine error detection (M43904+32m)": ON, and reset the "[St.2120] Machine error detection (M43904+32m)". At the same time, it also resets all error statuses and monitor devices related to machine configuration axes.
  • Page 31 [Rq.2243] Machine XYZ stroke limit disable command (M43619+32m) • This signal is used to disable the XYZ stroke limit check set in [Motion Control Parameter]  [Machine Control Parameter]  [Machine Parameter]  "XYZ Stroke Limit Setting". Turn it ON when disabling the XYZ stroke limit. Setting value Description XYZ stroke limit disabled.
  • Page 32 [Rq.2246] Machine rapid stop command (M43622+32m) • This command performs a rapid stop from an external source and becomes effective at leading edge (OFFON) of the signal. • Machines with the machine rapid stop command turned ON cannot be started for machine operation. •...
  • Page 33 [Rq.2256 to 2261] Machine reverse rotation JOG start command (X to C) (M43640+32m to M43645+32m) • This command executes machine JOG operation (world coordinate machine JOG) in each coordinate of machine control. • Machine JOG operation to the address decrease direction is executed while "[Rq.2256] to [Rq.2261] Machine reverse rotation JOG start command (X to C) (M43640+32m to M43645+32m)"...

  • Page 34: 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 35 [St.2120] Machine error detection (M43904+32m) • This signal turns on with detection of a machine related 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.2023] Machine warning code (D53171+128m)" with detection of a machine related warning.
  • Page 36 [St.2124] Base/tool translation change complete (M43908+32m) This signal turns ON with the completion of base/tool transformation change. The signal turns OFF at the trailing edge (ONOFF) of "[Rq.2244] Base/tool translation change command (M43620+32m)". Refer to base/tool transformation change function for details on base/tool transformation change. (Page 101 Base/Tool Transformation Change Function) [St.2127] Machine start accept flag (M43911+32m) •...

  • Page 37: Data Registers

    Data Registers 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 38 Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ-R Q series Motion Motion device compatible assignment device assignment     D52927+32m Unusable [Cd.2160] Machine JOG speed setting (mm)(D52896+32m, D52897+32m) • This register stores the JOG speed at the JOG operation. •...
  • Page 39 [Cd.2163] Base/tool translation change method (D52901+32m) • This register stores the change method when the value of base transformation/tool transformation changes. Setting Changing data Details value Base transformation The base transformation value changes to the value of "[Cd.2164] to [Cd.2169] Base/tool translation setting (X to C) (D52902+32m to D52913+32m)".

  • Page 40: 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 41 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 42 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 43 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 [Md.2020] Machine type (D53168+128m) The machine type set in [Motion Control Parameter]  [Machine Control Parameter]  [Machine Parameter]  "Machine Type"...
  • Page 44 [Md.2024] Machine axes configuration (D53172+128m to D53175+128m) The machine configuration axes sets in [Motion Control Parameter]  [Machine Parameter]  "Joint Axis JNT1" to "Joint Axis JNT6" are stored. When the machine type setting is incorrect, or has not been set, "0" is stored. b15 b14 b13 b12 b11 b10 b9 Axis Axis...
  • Page 45 [Md.2033 to 2038] Feed current value (joint coordinate system) (J1 to J6) (D53190+128m to D53201+128m) This register stores the target coordinate value output to the servo amplifier on the basis of the positioning end point/ movement amount specified by the machine positioning data of the joint coordinate system. When the machine type setting is incorrect, or has not been set, "0"...
  • Page 46 [Md.2053 to 2059] Feed current value (base coordinate system) (X to FL1) (D53228+128m to D53240+128m) This register stores the target coordinate value output to the servo amplifier on the basis of the positioning end point/ movement amount specified by the machine positioning data of the base coordinate system. When the machine type setting is incorrect, or has not been set, "0"...
  • Page 47 [Md.2079] Positioning point block No. (D53272+128m) • This register stores the point block No. being executed during machine program operation. • The value does not change when machine JOG operation is executed, or when the machine configuration axis executes any operation other than machine operation. [Md.2080] Machine M-code (D53273+128m) •...
  • Page 48 [Md.2084 to 2090] Real current value (world coordinate system) (X to FL1) (D53278+128m to D53290+128m) This register stores the coordinate value transformed from the feedback position (pulse units) of the motor encoder of the world coordinate system. When the machine type setting is incorrect, or has not been set, "0" is stored. Coordinate Storage value -2147483648 to 2147483647(10...

  • Page 49: Chapter 5 Machine Control Parameters

    MACHINE CONTROL PARAMETERS This chapter describes the parameters used for machine control. Refer to the following for R series common parameters, and Motion CPU common parameters. MELSEC iQ-R Motion Controller Programming Manual (Common) Refer to the following for Motion control parameters. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control) When using machine control, set "Use"...

  • Page 50: Machine Parameter

    Machine Parameter The machine parameters set the machine configuration settings for performing machine control, and the parameters used in positioning control of the machine. [Motion Control Parameter]  [Machine Control Parameter]  [Machine Parameter] Item Default value Setting range Direct Indirect setting Reference setting...
  • Page 51 Item Default value Setting range Direct Indirect setting Reference setting section Valid/ Valid/ Fetch invalid invalid cycle (Required size) Base Base 0(10 [m]) -2147483648 to    Page 51 transformation transformation X 2147483647(10 [m]) (install coordinate coordinate Base 0(10 [m]) offset) transformation Y...

  • Page 52: Machine Basic Setting

    Machine basic setting Machine type Set the machine type that suits the type of machine to be controlled. When not using a machine, set "0". Refer to the instruction manual of the machine library for details on supported machine types. Operating range type Set the operating range for joint axes.

  • Page 53: Xyz Stroke Limit Setting

    Machine JOG speed limit value (degree) Set the speed limit value for performing machine JOG operation in a "degree" unit coordinate system. XYZ stroke limit setting XYZ stroke limit X to Z coordinate upper/lower limit value Set the movable range of the control point in the base coordinate system. When not using upper and lower limit values, set "0".
  • Page 54 Base transformation A rotating axis angle/B rotating axis angle/C rotating axis angle Set the rotating axis angle of the base coordinate as viewed from the world coordinates at the Multiple CPU system power supply ON, or reset. The definition of a coordinate rotating axis angle is shown below. The clockwise rotation of a coordinate axis is the forward direction.

  • Page 55: Tool Transformation

    Tool transformation If the tool transformation parameters are set, the position of the control point as viewed from the mechanical interface can be shifted. Tool transformation can be set as the default values, but can also be set using "[Rq.2244] Base/tool translation change command (M43620+32m)".

  • Page 56: Motion Control Parameter Of Machine Configuration Axes

    Motion Control Parameter of Machine Configuration Axes Axis setting parameter Set the axis setting parameters of axes defined as joint axes in accordance with the instruction manual of the machine library. Refer to the following for details on axis setting parameters. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control) When "speed control 10 ...

  • Page 57: Chapter 6 Machine Control Data

    MACHINE CONTROL DATA Machine Positioning Data The machine positioning data area used in machine program operation is shown below. Offset Name Description Setting range Data type Number of positioning points Set the number of positioning points. ■When starting with Motion dedicated 16-bit integer PLC instruction (M(P).MCNST/ (signed)
  • Page 58 Offset Name Description Setting range Data type +(42R-6) Positioning Control method The number of positioning points set Page 57 Control method 16-bit integer point (R) in "Number of positioning points" is (signed) valid. +(42R-5) Coordinate system 0: World coordinate system 16-bit integer setting 1: Base coordinate system...
  • Page 59 Positioning data item settings • Set the positioning data items used at the execution of the instruction. Turn the bit of the item to be set ON(1: Valid). Items that are turned OFF (0: Invalid) use the data of the parameter block No. set in the machine parameter to start positioning. b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 Parameter block No.
  • Page 60 Auxiliary point/central point block No. Set the point block No. to be used at the auxiliary point/central point of 3D circular interpolation control (auxiliary point- specified, central point-specified). For control other than 3D circular interpolation control (auxiliary point-specified, central point-specified), set "0". Expansion point item settings •...
  • Page 61 ■Dwell time The operation for when dwell time is set is shown below. Refer to the following for the contents of data set in dwell time. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control) Item Operation When dwell time is set the end point Positioning is completed after waiting for the set time to elapse.
  • Page 62 ■Sequential coordinate command control smoothing time constant The sequential coordinate command control smoothing time constant sets the averaged time when changing position command during sequential coordinate command control. However, a delay equivalent to the set time constant in [ms] occurs. The time constant can only be used for sequential coordinate command control.
  • Page 63 • When WAIT-ON/OFF is set to "0: Disabled", WAIT-ON/OFF is disabled. • When the value of the WAIT-ON/OFF specification is outside of range, a minor error (error code: 1FE0H (details code: 003EH)) occurs, and operation does not start. • When a device outside of the setting range is set, a minor error (error code: 1FE0H (details code: 003FH)) occurs, and operation does not start.
  • Page 64 • Notification setting value (third expansion point data item) Set the value for turning ON/OFF the notification device. Notifcation setting value • 0 to 10000(×0.01[%]) • When notification method is set to "0: Disabled", point arrival notification is disabled. • When the notification method or notification setting value are set outside of the setting range, a minor error (error code: 1FE0H (details code: 0040H)) occurs, and operation does not start.

  • Page 65: Point Block Data

    Point Block Data Set the point block data to be used by machine program operation. When setting point block data, set the devices to be allocated to the point block No. by selecting [Motion Control Parameter]  [Machine Control Parameter]  [Machine Common Parameter]  "Point Block Setting". Refer to point block setting for details of point block setting.
  • Page 66 ■Joint type (JOINT) Offset Point block Item Description Data type Setting range Position (distance) for moving 32-bit integer mm: -2147483648 to 2147483647(10 [m]) JNT1 (signed) degree: -72000000 to 72000000(10 [degree]) Position (distance) for moving JNT2 Position (distance) for moving JNT3 Position (distance) for moving JNT4 Position (distance) for moving...
  • Page 67 Point block data setting A setting example for point block data is shown below. ■Setting data to X and Y of P201 • Point block setting Item Point block No. P201 Device Setting value D22800, D22801 1000000(10 [m]) D22802, D22803 1500000(10 [m]) D22804, D22805...

  • Page 68: Chapter 7 Positioning Control

    POSITIONING CONTROL This chapter explains the positioning methods. Basics of Positioning Control This section describes the common items for positioning control (machine control), which is described in detail after Section 7.2.(Page 76 Continuous Trajectory Control (Machine Program Operation)) Positioning speed The positioning speed is set using machine positioning data.

  • Page 69: Positioning Speed At The Interpolation Control

    Positioning speed at the interpolation control The positioning speed of the Motion CPU sets the movement speed of the control system. In machine control, the unit for the positioning speed is determined by the interpolation control unit of the parameter block specified in the machine parameter.
  • Page 70 Speed at joint interpolation The movement time of each joint axis is determined by the specified positioning speed. (The same movement time as linear interpolation) The speed of each moving joint axis is determined so that they operate in that movement time. For articulated robots, the speed of the control point is not fixed.
  • Page 71 ■Moving machine 1 to positioning points P1 to P3 at command speed 1800.00[mm/min] When only moving degree unit coordinate axes when the interpolation control unit of positioning point 3 is mm. Positioning point Point block No. Operation Move to P1(start point) Move to P2 (move X coordinate only) Move to P3 (move B coordinate only) •...
  • Page 72 • Motion SFC program [F 21] // Set machine positioning data 1 // Number of points, Machine No. D2000=K3 // Number of positioning points (3) D2001=K1 // Machine No. [F 22] // Set machine positioning data 2 // Positioning data items D2002L=K0 // Positioning data items setting (all disabled) FMOV D2004,K0,K32 // Positioning data items (32 words) (Not use(0))

  • Page 73: Interpolation Operation And Acceleration/Deceleration Processing

    Interpolation operation and acceleration/deceleration processing This section explains interpolation operation processing. Flowchart of interpolation operation and acceleration/deceleration processing Machine interpolation operation and acceleration/deceleration are processed as follows. Motion CPU Acceleration/ JNT1 (Interpolation operation processing) Gear ratio Servo Servo deceleration processing conversion amplifier motor...
  • Page 74 Acceleration/deceleration after interpolation (speed smoothing filter of each axis) When smoothing the movement amount to each joint axis after coordinate transformation, set a smoothing filter by vibration suppression command filter. With the vibration suppression command filter, extreme changes in the speed of the joint axes can be managed.

  • Page 75: Control Units During Machine Control

    Control units during machine control The interpolation control unit specified in the parameter block is checked with the interpolation control unit of the machine at the Multiple CPU system power supply ON/reset, and at the start of machine program operation. The interpolation control unit of the parameter block is set according to the specifications of the machine library.

  • Page 76: Control When Control Unit Is "Degree

    Control when control unit is "degree" This section explains machine control when the control unit (coordinate axis unit) is "degree". Machine configuration axes with "degree" control unit • Refer to the following for details of axes with "degree" control unit. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control) •...

  • Page 77: Stop Processing And Restarting After Stop

    Stop processing and restarting after stop During machine control, if a stop command (stop cause) occurs in the machine or machine configuration axis, stop processing is performed for the machine. Refer to the following for details of stop processing when a stop cause occurs during positioning and restarting after a stop. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control) Operation at home position return incomplete When "[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n)"...

  • Page 78: Continuous Trajectory Control (Machine Program Operation)

    Continuous Trajectory Control (Machine Program Operation) Positioning is performed to a predetermined passing point by the specified positioning method and positioning speed, with one start only. The positioning method and positioning speed can be changed for each pass point. The positioning method and positioning speed are set with machine positioning data. Refer to machine positioning data for details of machine positioning data.(Page 55 Machine Positioning Data) PTP control PTP control repeats acceleration and deceleration for each point.

  • Page 79: Linear Interpolation/Joint Interpolation

    Linear interpolation/joint interpolation Linear interpolation • Linear interpolation operation performs interpolation control that makes the trajectory from the start point (point of the start of movement) to the end point a straight line. • The point block data of the positioning point is specified by position type(POSE) of the world coordinate system or base coordinate system.

  • Page 80: Circular Interpolation

    Circular interpolation • Circular interpolation operation controls with 3D circular interpolation by auxiliary point specification, and 3D circular interpolation by central point specification. • Positioning points and auxiliary point/central point of point block data are specified by position type(POSE) of the world coordinate system or base coordinate system.
  • Page 81 ■Control using INC (Incremental method) 3D circular interpolation control from the current stop position through the specified auxiliary point, and to the end point is executed. The center of the arc is the point of intersection of the perpendicular bisectors of the start point (current stop point) and the auxiliary point, and the auxiliary point to the end point.
  • Page 82 ■Control using ABS , ABS (Absolute method) 3D circular interpolation of an arc with a radius equivalent to the distance between the start point and central point, betweenthe current stop position (point before positioning) based on the home position and the specified end point. Operation by circular interpolation Forward direction End point address (P2)

  • Page 83: Sequential Coordinate Command Control

    Sequential coordinate command control Sequential coordinate command control performs positioning by making the coordinate values specified in the point block No. as the target position, and outputting the command for the movement amount from the current position in one operation cycle. From the start of the sequential coordinate command control positioning point until the leading edge (OFFON) of "[Rq.2247] Execute point switching command (M43623+32m)"...
  • Page 84 Cautions • When starting, preset the position data for the start of sequential coordinate command control by SFC program in the sequential coordinate command control point block data. If a position away from the position before start is set, the motor may operate suddenly when starting the execute point.
  • Page 85 Program example The program for following the synchronous encoder axis current value per cycle of synchronous encoder axis 1 is explained as an example. Point Positioning operation M-code P1P2 Positioning (linear interpolation (ABS)) from start point (P1) to follow-up starting position (P2) P2P3(End) Follow-up processing (sequential coordinate command) with synchronous encoder axis 1 position (P3) P3(End)(P4)
  • Page 86 ■Program example • Program for machine program operation start (task type: Normal task) ProgStart [F1] //Set point block data FMOV #6000,K0,K64 //Clear point block P1 to P4 //P1(start point) setting #6000L=1000000L //P1.X coordinate=100000.0[μm] #6004L=2000000L //P1.Z coordinate=200000.0[μm] //P2(follow-up starting position) setting #6014L=800000L //P2.X coordinate=80000.0[μm] #6018L=500000L //P2.Z coordinate=50000.0[μm] //P3(position during follow-up control) setting...

  • Page 87: Speed Switching During Instruction

    • Program for point block data update (task type: Event task (fixed-cycle: 0.444ms), number of consecutive transitions: 1) PointDataSet [F10] //Update point block data P3 //P3 setting(set the synchronous encoder value to X coordinate) #6028L=D38562L //P3.X coordinate=synchronous encoder axis 1 current value per cycle Speed switching during instruction During machine program operation, switching the speed of machine positioning data is possible.

  • Page 88: Chapter 8 Manual Control

    MANUAL CONTROL This chapter describes the manual control methods for a machine control system. JOG Operation For machine configuration axes, JOG operation of a specified axis can be performed. Refer to the following for details of JOG operation. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control) Manual Pulse Generator Operation For machine configuration axes, manual pulse generator operation of a specified axis can be performed.

  • Page 89: Machine Jog Operation

    Machine JOG Operation Machine JOG operation for each machine is started by specifying the coordinate system (world coordinate system, base coordinate system, tool coordinate system) and coordinates axes (X, Y, Z, A, B, C) of the machine. Machine JOG operation cannot be started simultaneously with the specified machine or the specified axes.
  • Page 90 ■Machine JOG coordinate system setting Set the coordinate system to execute machine JOG operation with "[Cd.2162] Machine JOG coordinate system setting (D52900+32m)". When a value outside the setting range is input, a minor error (error code: 1FE0H (details code: 00E0H)) occurs, and operation does not start.
  • Page 91 Program example The program for performing machine JOG operation moving in the X coordinate direction is explained as an example. This program example is explained in the "MELSEC iQ-R Motion device assignment" device assignment method. ■Machine JOG operation conditions Item Machine JOG operation conditions Joint axis structure Joint axis 1...

  • Page 92: Chapter 9 Auxiliary And Applied Functions

    AUXILIARY AND APPLIED FUNCTIONS Relationship between Machine Control and Each Function The relationship between machine control and each function is shown below. : Valid, : Invalid Function Machine Details control Torque limit function  Torque limit value can be changed by torque limit value change instruction(M(P).CHGT/ D(P).CHGT, CHGT).

  • Page 93: Proximity Pass Function

    Proximity Pass Function The proximity pass function is for smooth continuous operation between interpolation operations when performing consecutive interpolation operations. For the operation of the proximity pass function, set proximity pass(b3) of the expansion point item setting ON, and set the proximity pass method, and proximity range in the machine positioning data of each point. Proximity pass method and setting range are shown below.
  • Page 94 • Points with no proximity pass setting (expansion point item setting proximity pass(b3): OFF) take the setting from the previous point. However, when there is no setting for proximity pass from the start of the program, proximity pass method is "0: Invalid"...
  • Page 95 • Also, when the control method is set to NOP for all points after the point where proximity pass is set, proximity pass becomes invalid. When positioning point 4 and positioning point 5 are NOP instructions START Positioning point 1 Control method=Linear interpolation Proximity pass is set Positioning point 2...
  • Page 96 • The proximity start point for circular interpolation is within the proximity range after half of the arc distance has been passed. Proximity range When proximity pass is valid for a program that passes through P1-P2-P3, movement to P3 starts from the point A1. Even if P1 is inside the proximity range, proximity operation Movement trajectory will not start until half of the arc distance has been travelled.
  • Page 97 Time of deceleration stop by proximity When proximity is started, the point being executed starts deceleration processing. The time of deceleration stop by proximity is calculated by the following methods. • Calculate the deceleration time from the remaining movement amount at the time of proximity start and the current speed. Deceleration time at the current proximity=(remaining movement amount2current speed) •...
  • Page 98 Adjustment of acceleration time by proximity Acceleration time can be adjusted with the time of deceleration stop by proximity and acceleration time of the next point as follows. Condition Time of deceleration time by Time of deceleration time by proximity<acceleration time of next point proximityacceleration time of next point (When "time of deceleration time by proximity"...
  • Page 99 ■Operation example 2 Time of deceleration stop by proximity<acceleration time of next point (setting value of acceleration time of next point is long) Point 1 proximity start No proximity Proximity Proximity deceleration completion range Time of deceleration stop by proximity Point 2 movement start Acceleration time Deceleration time...
  • Page 100 Stop causes When a stop/rapid stop event occurs in the proximity section, a deceleration stops is performed as shown below. Upon proximity processing, and the stopping of the point being executed, "[St.2127] Machine start accept flag (M43911+32m)" turns OFF. Point Operation Point during proximity Deceleration operation by proximity processing is continued.

  • Page 101: Speed Restriction Function

    Speed Restriction Function Depending on the control classification, the function of the speed restriction is different. The valid speed restriction functions in positioning control are shown below. : Valid, : Invalid Control Basic Control details Control classification Reference details operation Joint Linear Circular...

  • Page 102: Servo Motor Maximum Speed Check

    • Because the joint interpolation speed restriction function adjusts the command speed set at program analysis, when override function is used, the joint interpolation speed restriction function operation is as follows. Command speed Operation Automatically adjusted by joint Automatically adjusted speed operates at a speed for override ratio 100.0[%]. If a value exceeding 100.0[%] is set to interpolation speed restriction function the override ratio, a warning (error code: 0EE0H) occurs, and operation is at override ratio of 100.0[%].

  • Page 103: Base/Tool Transformation Change Function

    Base/Tool Transformation Change Function This function changes the base transformation value and tool transformation value of the machine. When the base transformation value and tool transformation value are changed, the machine coordinate values (world coordinates, base coordinates) are changed. : Change value, : Do not change value Base/tool Machine monitor device transformation...
  • Page 104 Base/tool transformation change procedure The change procedure for base/tool transformation is shown below. Set the change method to "[Cd.2163] Base/tool translation change method (D52901+32m)", and the change values to "[Cd.2164] to [Cd.2169] Base/tool translation setting (X to C)(D52902+32m to D52913+32m)". After checking that "[St.2124] Base/tool translation change complete (M43908+32m)"...
  • Page 105 ■When an error occurs at base transformation change [St.1040] Start accept flag (R: M30080+n/Q: M2001+n) [Cd.2163] Base/tool translation change method 0: Base transformation (D52901+32m) [Cd.2164] to [Cd.2169] Base/tool translation setting (0, 0, 0, 0, 0, 0) (0, 0, 50000000, 0, 0, 0) (X to C) (D52902+32m to D52913+32m) [Rq.2244] Base/tool translation change command (M43620+32m)

  • Page 106: Wait-On/Off

    WAIT-ON/OFF The WAIT-ON/OFF function starts/pauses the positioning for points that are set, depending on the bit device status. For WAIT-ON/OFF operation, set the expansion point item setting (b6) to ON, and set the WAIT-ON/OFF setting and device No. for each point of machine positioning. WAIT-ON/OFF is set in the machine positioning data. (Page 55 Machine Positioning Data) Operation example When WAIT-ON and dwell time are set to the second positioning point, WAIT-OFF is set to the third positioning point, and M-...
  • Page 107 Using with the proximity pass function When proximity pass is set to the positioning point with WAIT-ON/OFF set, the operation pattern of proximity pass changes with the timing of when the WAIT-ON/OFF condition value is updated. The operations for when proximity pass is set to a positioning point with WAIT-ON/OFF set are shown below.

  • Page 108: Point Arrival Notification

    Point Arrival Notification The point arrival notification turns bit devices ON/OFF at coordinate positions during positioning to indicate the arrival at points. For point arrival notification operation, set the expansion point item setting (b8) to ON, and set the notification method, device No., and notification setting value for each point of machine positioning.
  • Page 109 Using with the proximity pass function When proximity pass is set to positioning points that have point arrival notification set, the timing of when the notification device turns ON changes depending on the proximity pass start position and the notification setting value. The operation for when proximity pass is set to a positioning point that has point arrival notification (notification method: Arrival rate specification (device ON), notification setting value: 7000 (0.01[%])) set is shown below.

  • Page 110: Appendices

    APPENDICES Appendix 1 Sample Program of Machine Control The following shows a sample program for machine control with axis 1 to 3 of R64MTCPU as machine No.1. This program example is explained in the "MELSEC iQ-R Motion device assignment" device assignment method. Set MR-J4(W)-B on the axis 1 to 3 in the servo network setting.
  • Page 111 Set machine No.1 in machine parameter. Item Machine 1 Machine basic setting Machine type Operation range type Joint axis structure Joint axis JNT1 Joint axis JNT2 Joint axis JNT3 Machine speed setting Parameter block designation Machine JOG speed limit 1500000[0.01mm/min] value (mm) Machine JOG speed limit 1500000[0.001degree/min]...
  • Page 112 Set the axis setting parameter of axis 1 to 3 to match the machine configuration. Item Setting value Axis 1 Axis 2 Axis 3 Fixed parameter Unit setting 0: mm Number of pulses/rev. 4194304[pulse] Movement amount/rev. 2000.0[m] Backlash compensation 0.0[m] Upper stroke limit 5000000.0[m] 10000000.0[m]...
  • Page 113 Set the point block setting in machine common parameter. Setting Point block setting Device setting Start Number of point Required device point Start block number (word number) P100 1400 #6000 #7399 APPENDICES Appendix 1 Sample Program of Machine Control...
  • Page 114 Create the Motion SFC program to start machine control. (Executed after home position return completion) • Machine program operation when M100 turns ON • Point 1: Linear interpolation(ABS), dwell time=500ms • Point 2: Central point-specified circular interpolation(ABS, angle of arc<180) ProgStart_Mcn1 [F0] SET M30042 //All axes servo ON...

  • Page 115: Appendix 2 Machine Control Error Details Codes

    Appendix 2 Machine Control Error Details Codes Machine error details codes The details codes when a machine error is detected are shown below. Detailed information 1 ■Machine control setting data warning (warning (error code: 0EE0H)), machine control setting data incorrect (minor error (error code: 1FE0H)) The details codes for when machine control setting data warning (warning (error code: 0EE0H)), and machine control setting data incorrect(minor error (error code: 1FE0H)) are detected are shown below.
  • Page 116 Details code Description Error details and cause Corrective action 003EH WAIT-ON/OFF setting A WAIT-ON/OFF specification that cannot be used is Set the correct WAIT-ON/OFF specification. incorrect set. 003FH WAIT-ON/OFF setting device The device No. of the device set to WAIT-ON/OFF is Correct the program so that the device No.
  • Page 117 ■Machine control machine library error (minor error (error code: 1FE1H)), machine configuration error (moderate error (error code: 30FAH)) The details codes for when machine control machine library error (minor error(error code: 1FE1H)), and machine configuration error (moderate error(error code: 30FAH)) are detected are shown below. Details code Description Error details and cause...
  • Page 118 Details code Description Error details and cause Corrective action 0D01H iQ Monozukuri license not An iQ Monozukuri dedicated machine library was Authenticate the iQ Monozukuri license. (Refer to authenticated used without license authentication of the iQ the instruction manual of iQ Monozukuri for license Monozukuri application package.

  • Page 119: Appendix 3 Machine Control Event Details Codes

    Appendix 3 Machine Control Event Details Codes Machine event details codes The details codes when a machine event is detected are shown below. Detailed information 1 ■Machine control system information (information (event code: 07FB)) The details codes for when machine control system information (information (event code: 07FB)) are detected are shown below.

  • Page 120: Revisions

    Japanese manual number: IB-0300308-F 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 121: 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 122: 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 124 IB(NA)-0300309-F(1806)MEE MODEL: RMT-P-MCN-E MODEL CODE: 1XB024 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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