QD77MS
QD77MS
QD77MS
Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly. The precautions given in this
manual are concerned with this product only.
Refer to the Users manual of the CPU module to use for a description of the PLC system safety
precautions.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
Please save this manual to make it accessible when required and always forward it to the end user.
A-1
For Safe Operations
1. Prevention of electric shocks
DANGER
Never open the front case or terminal covers while the power is ON or the unit is running, as this
may lead to electric shocks.
Never run the unit with the front case or terminal cover removed. The high voltage terminal and
charged sections will be exposed and may lead to electric shocks.
Never open the front case or terminal cover at times other than wiring work or periodic
inspections even if the power is OFF. The insides of the module and servo amplifier are charged
and may lead to electric shocks.
Completely turn off the externally supplied power used in the system before mounting or removing
the module, performing wiring work, or inspections. Failing to do so may lead to electric shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc. Failing to do so may lead to electric shocks.
Be sure to ground the module, servo amplifier and servomotor (Ground resistance: 100 or
less). Do not ground commonly with other devices.
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the module, servo amplifier and servomotor. Failing to do so may
lead to electric shocks or damage.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to electric shocks.
Do not touch the module, servo amplifier, servomotor connector or terminal blocks while the
power is ON, as this may lead to electric shocks.
Do not touch the built-in power supply, built-in grounding or signal wires of the module and servo
amplifier, as this may lead to electric shocks.
A-2
3. For injury prevention
CAUTION
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity (+ / -), as this may lead to destruction or damage.
Do not touch the heat radiating fins of module or servo amplifier, regenerative resistor and
servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.
4. Various precautions
Strictly observe the following precautions. Mistaken handling of the unit may lead to faults,
injuries or electric shocks.
(1) System structure
CAUTION
Always install a leakage breaker on the module and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in
the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.
Install the emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the module, servo amplifier, servomotor and regenerative resistor with the correct
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
Use the CPU module, base unit, and Simple Motion module with the correct combinations listed in
the instruction manual. Other combinations may lead to faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo
amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of
the module or servo amplifier differs from the safety directive operation in the system.
In systems where coasting of the servomotor will be a problem during the forced stop, emergency
stop, servo OFF or power supply OFF, use the dynamic brake.
Make sure that the system considers the coasting amount even when using the dynamic brake.
In systems where perpendicular shaft dropping may be a problem during the forced stop,
emergency stop, servo OFF or power supply OFF, use both the dynamic brake and
electromagnetic brake.
The dynamic brake must be used only on errors that cause the forced stop, emergency stop, or
servo OFF. This brake must not be used for normal braking.
The brake (electromagnetic brake) assembled into the servomotor are for holding applications,
and must not be used for normal braking.
A-3
CAUTION
The system must have a mechanical allowance so that the machine itself can stop even if the
stroke limits switch is passed through at the max. speed.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than module, servo amplifier and servomotor)
used in a system must be compatible with the module, servo amplifier and servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during
operation.
There may be some cases where holding by the electromagnetic brake is not possible due to the
life or mechanical structure (when the ball screw and servomotor are connected with a timing belt,
etc.). Install a stopping device to ensure safety on the machine side.
A-4
DANGER
The input devices and data registers assigned to the link will hold the data previous to when
communication is terminated by an error, etc. Thus, an error correspondence interlock program
specified in the instruction manual must be used.
Use the interlock program specified in the intelligent function module's instruction manual for the
program corresponding to the intelligent function module.
A-5
CAUTION
Store and use the unit in the following environmental conditions.
Conditions
Environment
Module/Servo amplifier Servomotor
Ambient 0°C to +40°C (With no freezing)
According to each instruction manual.
temperature (32°F to +104°F)
80% RH or less
Ambient humidity According to each instruction manual.
(With no dew condensation)
Storage -20°C to +65°C
According to each instruction manual.
temperature (-4°F to +149°F)
Indoors (where not subject to direct sunlight).
Atmosphere
No corrosive gases, flammable gases, oil mist or dust must exist
Altitude 1000m (3280.84ft.) or less above sea level
Vibration According to each instruction manual
When coupling with the servomotor shaft end, do not apply impact such as by hitting with a
hammer. Doing so may lead to detector damage.
Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead
to shaft breakage.
When not using the module for a long time, disconnect the power line from the module or servo
amplifier.
Place the module and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, please contact with our sales representative.
Also, execute a trial operation.
Make sure that the connectors for the servo amplifier and peripheral devices have been securely
installed until a click is heard.
Not doing so could lead to a poor connection, resulting in erroneous input and output.
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine
are used for disinfecting and protecting wooden packaging from insects, they cause malfunction
when entering our products.
Please take necessary precautions to ensure that remaining materials from fumigant do not enter
our products, or treat packaging with methods other than fumigation (heat method). Additionally,
disinfect and protect wood from insects before packing products.
The module and the servo amplifier must not be used with parts which contain halogen-series
flame retardant materials (such as bromine) under coexisting conditions.
A-6
(4) Wiring
CAUTION
Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal
screws for tightness after wiring. Failing to do so may lead to run away of the servomotor.
After wiring, install the protective covers such as the terminal covers to the original positions.
Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on
the output side of the servo amplifier.
Correctly connect the output side (terminal U, V, W). Incorrect connections will lead the
servomotor to operate abnormally.
Do not connect a commercial power supply to the servomotor, as this may lead to trouble.
Do not mistake the direction of the surge absorbing diode installed on the DC relay for the
control signal output of brake signals, etc. Incorrect installation may lead to signals not being
output when trouble occurs or the protective functions not functioning.
Servo amplifier Servo amplifier
24VDC 24VDC
DOCOM DOCOM
DICOM DICOM
For the sink output interface For the source output interface
Do not connect or disconnect the connection cables between each unit, the encoder cable or
PLC expansion cable while the power is ON.
Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may
lead to the cables combing off during operation.
Do not bundle the power line or cables.
Use applicable solderless terminals and tighten them with the specified torque.
If any solderless spade terminal is used, it may be disconnected when the terminal screw comes
loose, resulting in failure.
A-7
(6) Usage methods
CAUTION
Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the
module, servo amplifier or servomotor.
Always execute a test operation before starting actual operations after the program or parameters
have been changed or after maintenance and inspection.
Do not attempt to disassemble and repair the units excluding a qualified technician whom our
company recognized.
Do not make any modifications to the unit.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using
wire shields, etc.
Electromagnetic obstacles may affect the electronic devices used near the module or servo
amplifier.
When using the CE Mark-compliant equipment design, refer to the "EMC Installation Guidelines"
(data number IB(NA)-67339) and refer to the corresponding EMC guideline information for the
servo amplifiers and other equipment.
Note that when the reference axis speed is designated for interpolation operation, the speed of
the partner axis (2nd axis, 3rd axis and 4th axis) may be larger than the set speed (larger than
the speed limit value).
Use the units with the following conditions.
Item Conditions
Input power According to each instruction manual.
Input frequency According to each instruction manual.
Tolerable momentary
According to each instruction manual.
power failure
A-8
(7) Corrective actions for errors
CAUTION
If an error occurs in the self diagnosis of the module or servo amplifier, confirm the check details
according to the instruction manual, and restore the operation.
If a dangerous state is predicted in case of a power failure or product failure, use a servomotor
with an electromagnetic brake or install a brake mechanism externally.
Use a double circuit construction so that the electromagnetic brake operation circuit can be
operated by emergency stop signals set externally.
Shut off with the
Shut off with servo ON signal OFF, emergency stop
alarm, electromagnetic brake signal. signal (EMG).
Servo motor
EMG
RA1
Electromagnetic
brake
B 24VDC
If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly resume operation after a power failure is restored, so do not go near the
machine. (Design the machine so that personal safety can be ensured even if the machine
restarts suddenly.)
A-9
CAUTION
When the module or absolute value motor has been replaced, carry out a home position return
operation using one of the following methods, otherwise position displacement could occur.
1) After writing the servo data to the Simple Motion module using programming software, switch
on the power again, then perform a home position return operation.
After maintenance and inspections are completed, confirm that the position detection of the
absolute position detector function is correct.
Do not drop or impact the battery installed to the module.
Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the
dropped or impacted battery, but dispose of it.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the
module or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary
damage from faults. Please contact with our sales representative.
Lock the control panel and prevent access to those who are not certified to handle or install
electric equipment.
Do not mount/remove the module and base or terminal block more than 50 times (IEC61131-2-
compliant), after the first use of the product. Failure to do so may cause malfunction.
Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.
CAUTION
This product is not designed or manufactured to be used in equipment or systems in situations
that can affect or endanger human life.
When considering this product for operation in special applications such as machinery or
systems used in passenger transportation, medical, aerospace, atomic power, electric power, or
submarine repeating applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are
strongly advised to install safety devices to forestall serious accidents when it is used in facilities
where a breakdown in the product is likely to cause a serious accident.
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CONDITIONS OF USE FOR THE PRODUCT
(1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions;
i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or
serious accident; and
ii) where the backup and fail-safe function are systematically or automatically provided outside of the
PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.
(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries.
MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO
ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT,
PRODUCT LIABILITY) FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO
PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT
INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR WARNING CONTAINED IN
MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL BULLETINS AND
GUIDELINES FOR the PRODUCT.
("Prohibited Application")
Prohibited Applications include, but not limited to, the use of the PRODUCT in;
• Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases
in which the public could be affected if any problem or fault occurs in the PRODUCT.
• Railway companies or Public service purposes, and/or any other cases in which establishment of a
special quality assurance system is required by the Purchaser or End User.
• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and
Escalator, Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and
Amusement, and Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and
Drilling, and/or other applications where there is a significant risk of injury to the public or property.
Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the
PRODUCT in one or more of the Prohibited Applications, provided that the usage of the PRODUCT is
limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality
assurance or fail-safe, redundant or other safety features which exceed the general specifications of the
PRODUCTs are required. For details, please contact the Mitsubishi representative in your region.
A - 11
INTRODUCTION
Thank you for purchasing the Mitsubishi MELSEC-Q series programmable controllers.
This manual describes the functions and programming of the Simple Motion module.
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity
with the functions and performance of the MELSEC-Q series programmable controller to handle the product
correctly.
When applying the program examples introduced in this manual to the actual system, ensure the applicability
and confirm that it will not cause system control problems.
Please make sure that the end users read this manual.
REMARK
• Unless otherwise specified, this manual describes the program examples in which
the I/O numbers of X/Y00 to X/Y1F are assigned for a Q series Simple Motion
module. I/O number assignment is required for using the program examples
described in the manual.
For I/O number assignment, refer to the following.
QnUCPU User's Manual (Function Explanation, Program Fundamentals)
Qn(H)/QnPH/QnPRHCPU User's Manual (Function Explanation, Program
Fundamentals)
• Operating procedures are explained using GX Works2.
A - 12
REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
Feb., 2012 IB(NA)-0300185-A First edition
Sep., 2013 IB(NA)-0300185-B [Additional function]
Driver communication function, Inverter FR-A700 series, Synchronous
encoder via servo amplifier, Operation cycle setting for
QD77MS2/QD77MS4
[Additional correction/partial correction]
Safety precautions, Relevant manuals, Restrictions by the SERIAL
No. and version, Parameters, Monitor data, Control data, List of
errors, List of warnings, List of buffer memory address, Serial absolute
synchronous encoder cable
Nov., 2014 IB(NA)-0300185-C [Additional function]
Servo driver VCII series manufactured by Nikki Denso Co., Ltd.
(SSCNET /H compatible), MR-JE-B
[Additional correction/partial correction]
Restrictions by the SERIAL No. and version, Parameters, Monitor
data, List of errors, List of warnings
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which
may occur as a result of using the contents noted in this manual.
2012 MITSUBISHI ELECTRIC CORPORATION
A - 13
CONTENTS
A - 14
3.3.2 Details of input signals (QD77MS PLC CPU) ............................................................................ 3-19
3.3.3 Details of output signals (PLC CPU QD77MS) .......................................................................... 3-21
3.4 Specifications of interfaces with external devices ................................................................................... 3-23
3.4.1 Electrical specifications of input signals ........................................................................................... 3-23
3.4.2 Signal layout for external input connection connector ..................................................................... 3-25
3.4.3 List of input signal details .................................................................................................................. 3-27
3.4.4 Interface internal circuit ..................................................................................................................... 3-30
3.5 External circuit design .............................................................................................................................. 3-34
A - 15
5.6.1 System monitor data ....................................................................................................................... 5-116
5.6.2 Axis monitor data............................................................................................................................. 5-130
5.7 List of control data .................................................................................................................................. 5-158
5.7.1 System control data ........................................................................................................................ 5-158
5.7.2 Axis control data .............................................................................................................................. 5-166
5.7.3 Expansion axis control data ............................................................................................................ 5-200
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Section 2 Control Details and Setting
A - 17
9.2.22 LOOP ............................................................................................................................................. 9-130
9.2.23 LEND ............................................................................................................................................. 9-132
A - 18
12.1.2 Setting the required parameters for speed-torque control ........................................................... 12- 4
12.1.3 Setting the required data for speed-torque control ...................................................................... 12- 5
12.1.4 Operation of speed-torque control ................................................................................................ 12- 7
12.2 Synchronous control ............................................................................................................................ 12-34
A - 20
Appendix 7 External dimension drawing ..........................................................................................Appendix-86
A - 21
COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES
RELEVANT MANUALS
A - 22
(3) Programming tool
Manual Name
Description
<Manual number (model code)>
GX Works2 Version1 Operating Manual System configuration, parameter settings, and online
(Common) operations (common to Simple project and Structured
<SH-080779ENG, 13JU63> project) of GX Works2
GX Works2 Version1 Operating Manual Parameter settings, monitoring, and operations of the
(Intelligent Function Module) predefined protocol support function of intelligent function
<SH-080921ENG, 13JU69> modules, using GX Works2
A - 23
MANUAL PAGE ORGANIZATION
A - 24
TERMS
Term Description
PLC CPU Abbreviation for the MELSEC-Q series PLC CPU module.
QCPU Another term for the MELSEC-Q series PLC CPU module.
Simple Motion module Abbreviation for the MELSEC-Q series Simple Motion module.
QD77MS Another term for the MELSEC-Q series QD77MS Simple Motion module.
MR-J4(W)-B MR-J4-_B/MR-J4W-_B servo amplifier series
MR-J3(W)-B MR-J3-_B/MR-J3W-_B servo amplifier series
MR-JE-B MR-JE-_B Servo amplifier series
Programming tool Generic term for GX Works2 and MR Configurator2.
GX Works2 Product name of the software package for the MELSEC programmable controllers (Version
1.77F or later).
MR Configurator2 Product name of the setup software for the servo amplifier (Version 1.09K or later).
Intelligent function module A MELSEC-Q/L series module that has functions other than input or output, such as A/D
converter module and D/A converter module
Servo amplifier (drive unit) Abbreviation for SSCNET /H and SSCNET compatible servo amplifier (drive unit).
Manual pulse generator Abbreviation for manual pulse generator (MR-HDP01) (prepared by user).
OPR Generic term for "Home position return".
OP Generic term for "Home position".
(Note)
SSCNET /H
(Note)
High speed synchronous communication network between QD77MS and servo amplifier.
SSCNET
Servo network Generic term for SSCNET /H, SSCNET .
(Note): SSCNET: Servo System Controller NETwork
A - 25
PACKING LIST
The following items are included in the package of this product. Before use, check that
all the items are included.
(1) QD77MS2
QD77MS2
RUN AX1
AX2
ERR.
AX1
AX2
QD77MS2
(2) QD77MS4
QD77MS4
RUN AX1
AX2
AX3
ERR. AX4
QD77MS4
AX3 AX1
AX4 AX2
(3) QD77MS16
QD77MS16
RUN AX
ERR.
QD77MS16
AX3 AX1
AX4 AX2
A - 26
Section 1 Product Specifications and Handling
Section 1
Section 1 is configured for the following purposes (1) to (5).
(1) To understand the outline of positioning control, and the Simple Motion module
specifications and functions
(2) To carry out actual work such as installation and wiring
(3) To set parameters and data required for positioning control
(4) To create a sequence program required for positioning control
(5) To understand the memory configuration and data transmission process
When diverting any of the program examples introduced in this manual to the actual
system, fully verify that there are no problems in the controllability of the target system.
The purpose and outline of positioning control using the Simple Motion module are
explained in this chapter.
Reading this chapter will help you understand what can be done using the positioning
system and which procedure to use for a specific purpose.
By understanding "What can be done", and "Which procedure to use" beforehand, the
positioning system can be structured smoothly.
1-1
Chapter 1 Product Outline
1-2
Chapter 1 Product Outline
1-3
Chapter 1 Product Outline
(10) Connection between the QD77MS and servo amplifier with high
speed synchronous network by SSCNET (/H)
The QD77MS can be directly connected to the Mitsubishi servo amplifiers of
MR-J4-B/MR-J3-B series using the SSCNET (/H). Also, it can be directly
connected to the Mitsubishi servo amplifiers of MR-JE-B series using the
SSCNET /H.
(a) Because the high speed synchronous network by SSCNET (/H) is used
to connect the QD77MS and the servo amplifier, or servo amplifiers,
saving wiring can be realized. The maximum distance between the
QD77MS and servo amplifier, servo amplifier and servo amplifier of the
SSCNET cable on the same bus was set to 50(164.04)[m(ft.)], and the
flexibility will improve at the system design.
(c) The servo parameters can be set on the QD77MS side to write or read
them to/from the servo amplifier using the SSCNET communication.
(d) The actual current value and error description contained in the servo can
be checked by the buffer memory of the QD77MS.
1-4
Chapter 1 Product Outline
(b) Once the OP have been established, the OPR operation is unnecessary at
the system's power supply ON.
(c) With the absolute position system, the data set method OPR is used to
establish the OP. The wiring of near-point dog, etc. is unnecessary.
(d) When the setting unit is "degree", the absolute position system with
unlimited length fed can be configured.
1-5
Chapter 1 Product Outline
Palletizer
Conveyor control
Using the servo for one axis, the palletizer is
Conveyor
positioned at a high accuracy.
Servomotor The amount to lower the palletizer according to
(with a brake)
the material thickness is saved.
Position detector
G
Servo
Reduction Palletizer
amplifier gear
Ball screw Unloader control
QD77MS
Positioning Tool
pin (12 pcs., 20 pcs.)
1-6
Chapter 1 Product Outline
Lifter
Unloader During the aging process, storage onto the
Loader/unloader rack is carried out by positioning with the AC
servo.
B conveyor The up/down positioning of the lifter is carried
Aging rack out with the 1-axis servo, and the horizontal
Lifter
position of the aging rack is positioned with the
C conveyor 2-axis servo.
Counter- A conveyor
weight Servo
amplifier
G2
Reduction
gear QD77MS
Loader Servomotor
G1
Servo
Servomotor
amplifier
(with a brake)
Index table
Detector
Worm gears Servomotor
QD77MS
1-7
Chapter 1 Product Outline
In the positioning system using the Simple Motion module, various software and
devices are used for the following roles.
The Simple Motion module realizes complicated positioning control when it reads in
various signals, parameters and data and is controlled with the PLC CPU.
Servo motor
Working
parts of a
machine
1-8
Chapter 1 Product Outline
Positioning control
An overview of positioning using positioning data is described below.
(1) Linear control
(a) 1-axis linear control
This performs positioning from the start point address (location the axis is
presently stopped) defined on the specified axis to the specified position.
[Control using the absolute system]
1) This performs positioning from the start point address to the specified
position.
2) The start point address and the specified address determine the
movement direction.
[Example]
The following figure shows the operations when the start point address
is 5000 and the positioning addresses are 2000 and 8000:
Positioning when the specified
address is 2000
Positioning when the specified
address is 8000
2000 5000 8000
[Example]
The following figure shows the operations when the start point address
is 5000 and the travel increments are 3000 and -3000:
Positioning when the specified
address is -3000.
Positioning when the specified
address is 3000.
1-9
Chapter 1 Product Outline
(Note-1)
(b) 2-axis linear interpolation control
This controls interpolation along a linear locus from the start point address
(current stop position) defined by two axes.
[Control using the absolute system]
1) This performs linear interpolation using two axes from the start point
address to the specified address.
2) The start point address and the specified address determine the
direction of travel.
[Example]
The operation when the start point address is 800 for axis 1 and 2000
for axis 2 and the positioning address specified to 2000 for axis 1 and
8000 for axis 2, is shown below.
Axis 1 Specified address
(8000, 2000)
2000
Axis 2
0 2000 8000
[Control using the increment system]
1) This performs positioning to the composite position of the travel
direction and the travel increment specified by each axis from the start
point address.
2) The sign of the travel increment determines the direction of travel.
• For positive travel increment……Positioning in the positive direction
(direction of address increase)
• For negative travel increment……Positioning in the negative direction
(direction of address decrease)
[Example]
The operation when the start point address is 800 for axis 1 and 2000
for axis 2 and the positioning address specified to 1200 for axis 1 and
6000 for axis 2, is shown below.
Axis 1 End position when the travel increment
is 1200 for axis 1 and 6000 for axis 2.
2000
Axis 2
0 2000 8000
REMARK
(Note-1): The interpolation speed during linear interpolation control can be selected
from "composite speed" and "reference axis speed" using the interpolation
speed designation method of detailed parameter 1. (Refer to Section 5.2.3
information about setting "[Pr.20] Interpolation speed designation method"
of the detailed parameter 1.)
1 - 10
Chapter 1 Product Outline
Reverse Forward
direction direction
Reverse
direction Stop position Center point
Reverse Forward
direction direction
REMARK
(Note-1): The interpolation speed during circular interpolation control may only be
set to "composite speed" for the interpolation speed designation method of
detailed parameter 1. (Refer to Section 5.2.3 information about setting
"[Pr.20] Interpolation speed designation method" of the detailed parameter
1.)
1 - 11
Chapter 1 Product Outline
t
[2-axis fixed-feed control]
Forward
direction
ON
Start OFF
command
Travel along
axis 1
Reverse Forward
direction direction
Stop position Travel along axis 2
Reverse
direction
ON
Positioning start OFF (By the sequence
signal program creation)
ON
OFF
BUSY signal
ON
OFF
Axis stop signal
1 - 12
Chapter 1 Product Outline
Dwell time
ON
OFF (By the sequence
Positioning start signal
program creation)
ON
OFF
BUSY signal
ON
OFF
Speed-position switching
signal
ON
Speed-position switching OFF
enable flag
1 - 13
Chapter 1 Product Outline
Dwell time
ON
(By the sequence
Positioning start signal OFF
program creation)
ON
Positioning start OFF
complete signal
ON
BUSY signal OFF
ON
Positioning complete OFF
signal
1 - 14
Chapter 1 Product Outline
Dwell time
V Positioning continue (01)
Address(-)
direction
Positioning
complete
V
(00)
ON
Positioning start signal OFF (By the sequence
program creation)
ON
Positioning start OFF
complete signal
ON
BUSY signal OFF
ON
Positioning complete OFF
signal
1 - 15
Chapter 1 Product Outline
Address(-)
direction
V
ON
Positioning start signal OFF (By the sequence
program creation)
ON
Positioning start OFF
complete signal
ON
BUSY signal OFF
ON
Positioning complete OFF
signal
1 - 16
Chapter 1 Product Outline
V
Positioning continue (01)
Dwell time
Positioning complete (00) Positioning
Address(+) Positioning
complete (00)
direction complete (00)
Address(-) Positioning
direction continue (11)
Positioning
continue (11)
V
One block One block One block
ON
Positioning start signal OFF
ON
Start complete signal OFF
ON
BUSY signal OFF
ON
Positioning complete OFF
signal
1 - 17
Chapter 1 Product Outline
Velocity
Time
Velocity
Time
1 - 18
Chapter 1 Product Outline
The outline of the positioning system operation and design using the Simple Motion
module is shown below.
PLC Servo
CPU Simple Motion module Servo amplifier motor
S S
Positioning S S
command + Positioning + Speed + Current
C C Inverter M
control control control
Control N N - - -
command E E
T T Current feedback
OS Monitor data Positioning command
(
(
/ Control command /
Read H Monitor data H Speed feedback
(
(
and External input signal
I I Interface PLG
write, of the servo amplifier Position feedback
/ /
etc. Interface F F
SSCNET (/H) External input signal of servo amplifier (Refer to the servo
amplifier Instruction manual.)
FLS (Upper limit signal) (Note)
RLS (Lower limit signal) (Note)
DOG (Near-point dog signal) (Note)
(Note): The external input signal of QD77MS, external input signal of servo amplifier,
or external input signal via CPU (buffer memory of QD77MS) can be used in
the parameter setting. (Refer to Section 5.2.3.)
Fig. 1.1 Outline of the operation of positioning system using Simple Motion module
1 - 19
Chapter 1 Product Outline
The outline of the signal communication between the Simple Motion module and PLC
CPU, GX Works2 and servo amplifier, etc., is shown below.
(GX Works2 communicates with the Simple Motion module via the PLC CPU to which
it is connected.)
(1) QD77MS2/QD77MS4
QD77MS2/QD77MS4
PLC CPU
PLC READY signal
Y0
X0
READY signal SSCNET (/H)
All axis servo ON signal
Y1 Operating information of
Synchronization flag the servo amplifier
X1 Positioning command
Forward run JOG start signal Servo
Y8,YA,YC,YE Control command
Servo parameter amplifier
Reverse run JOG start signal
Y9,YB,YD,YF External input signal of
Execution prohibition flag the servo amplifier
Y14,Y15,Y16,Y17
External
interface
Data write/read
Parameter write/read
Positioning data write/read
Operation monitor
POINT
GX Works2 When using the upper/lower limit signal, stop signal, near-point dog signal of the external
input signal via CPU, use the buffer memory in " Cd.44 External input signal operation
device".
1 - 20
Chapter 1 Product Outline
(2) QD77MS16
QD77MS16
PLC CPU
PLC READY signal
Y0
READY signal SSCNET (/H)
X0
All axis servo ON signal
Y1 Operating information of
Synchronization flag the servo amplifier
X1 Positioning command
Servo
Control command
Servo parameter amplifier
External input signal of
the servo amplifier
External
interface
Operation monitor
GX Works2 POINT
(1) For QD77MS16, M code ON signal, error detection signal, start complete signal and
positioning complete signal are assigned to the bit of " Md.31 Status".
(2) For QD77MS16, axis stop signal, forward run JOG start signal, reverse run JOG start
signal, execution prohibition flag are assigned to the buffer memory Cd.180 to Cd.183 .
(3) When using the upper/lower limit signal, stop signal, near-point dog signal of the
external input signal via CPU, use the buffer memory in " Cd.44 External input signal
operation device".
1 - 21
Chapter 1 Product Outline
1 - 22
Chapter 1 Product Outline
1 - 23
Chapter 1 Product Outline
The positioning control processes, using the Simple Motion module, are shown below.
Servo
GX Works2 PLC CPU QD77MS amplifiers, etc.
1)
Design
2)
Installation, wiring
3)
Setting of parameters
and data for QD77MS
4)
Creation of sequence
program for operation Writing of setting data
5)
Preparation
Writing of program 6)
7) Connection confirmation
Monitoring and
debugging of setting
data with test function
8)
Monitoring and Test operation
debugging of
operation program
Operation
9)
Monitor Actual operation
10) Maintenance
Maintenance
11) Disposal
1 - 24
Chapter 1 Product Outline
The following work is carried out with the processes shown on the previous page.
Details Reference
Chapter 1
Understand the product functions and usage methods, the configuration devices Chapter 2
1)
and specifications required for positioning control, and design the system. Chapter 3
Chapter 8 to Chapter 14
Install the Simple Motion module onto the base unit, wire the Simple Motion
2) module and external connection devices (servo amplifier, etc.) and wire the PLC Chapter 4
CPU and peripheral devices.
Chapter 5
Using GX Works2, set the servo parameters, parameter, positioning data, block Chapter 8 to Chapter 14
3)
start data and condition data required for the positioning control to be executed. Simple Motion Module Setting
Tool Help
Chapter 6
4) Using GX Works2, create the sequence program required for positioning operation. GX Works2 Version1
Operating Manual (Common)
Chapter 7
Write the parameters and positioning data, etc., created with GX Works2 into the
5) Simple Motion Module Setting
Simple Motion module.
Tool Help
Chapter 7
6) Using GX Works2, write the created sequence program into the PLC CPU. GX Works2 Version1
Operating Manual (Common)
Carry out test operation and adjustments in the test function of GX Works2 to Chapter 14
check the connection with the Simple Motion module and external connection
7) Simple Motion Module Setting
device, and to confirm that the designated positioning operation is executed
correctly. (Debug the set "parameters" and "positioning data", etc.) Tool Help
Carry out test operation and adjustment to confirm that the designated positioning GX Works2 Version1
8)
operation is executed correctly. (Debug the created sequence program.) Operating Manual (Common)
Chapter 5
Chapter 16
Actually operate the positioning operation. At this time, monitor the operation state Simple Motion Module Setting
9)
as required. If an error or warning occurs, remedy. Tool Help
GX Works2 Version1
Operating Manual (Common)
10) Maintenance of the Simple Motion module as required. Chapter 4
11) Dispose of the Simple Motion module. Chapter 4
1 - 25
Chapter 1 Product Outline
The outline for starting each control is shown with the following flowchart.
(It is assumed that each module is installed, and the required system configuration,
etc., has been prepared.)
Flow of starting
Installation and connection of module
Preparation Setting of hardware
Position control Block start (Normal start) Machine OPR control JOG operation
Speed control Condition start
Speed-position Wait start
Fast OPR control Inching operation
switching control Simultaneous start
Position-speed Repeated start
switching control Manual pulse generator
Other control operation
Positioning
Set the positioning parameters. ( Pr.1 to Pr.42 , Pr.80 to Pr.84 , Pr.89 , Pr.90 , Pr.95 )
parameters
Expansion
Set the expansion parameters. ( Pr.91 to Pr.94 , Pr.96 , Pr.97 , Pr.114 )
parameters
Servo
Set the servo parameters. ( Pr.100 , PA, PB, PC, PD, PE, PS, PF, Po, PL)
parameters
All axis
Turn the All axis servo ON signal ON (Y1 ON)
servo ON
Control start
Operation
Control end
Stop
1 - 26
Chapter 1 Product Outline
Setting method
: Indicates the sequence program that must be created.
Expansion control
Speed-torque control
<GX Works2>
Write
Set with Simple Motion Module
Setting Tool
<GX Works2>
Write
Set with sequence program for
setting data
PLC CPU
QD77MS
Set the acceleration/ Set the torque time Set the acceleration/ <GX Works2>
deceleration time at constant (forward deceleration time,
speed control mode. direction/reverse torque time constant Create sequence program for
( Cd.141 , Cd.142 ) direction) and speed (forward direction/ executing main function
limit value at torque reverse direction) and
control mode. speed limit value at Create sequence program for PLC CPU
( Cd.144 to Cd.146 ) continuous operation outputting control signals,
to torque control such as start signal, to
mode. QD77MS.
Cd.147 to Cd.149 , Write
Cd.151 to Cd.152
Operation sequence
program
Set the command Set the command Set the target torque at <GX Works2>
speed at speed torque at torque continuous operation
control mode control mode to torque control mode Speed change
Create a sequence
Current value changing
( Cd.140 ) ( Cd.143 ) ( Cd.150 ) program for the sub
Torque limit
functions.
Restart, etc.
1 - 27
Chapter 1 Product Outline
The outline for the stopping process in these cases is shown below. (Excluding (1) for
normal stopping.)
Refer to Section 12.1 "Speed-torque control" for the stop processing during the speed
control mode, torque control mode or continuous operation to torque control mode.
1 - 28
Chapter 1 Product Outline
(Note-1): If an error occurs in a positioning data due to an invalid setting value, when the continuous positioning control uses multiple
positioning data successively, it automatically decelerates at the previous positioning data. It does not stop suddenly even the
setting value is sudden stop in stop group 3. If any of the following error occurs, the operation is performed up to the positioning
data immediately before the positioning data where an error occurred, and then stops immediately.
• No command speed (Error code: 503)
• Outside linear movement amount range (Error code: 504)
• Large arc error deviation (Error code: 506)
• Software stroke limit + (Error code: 507)
• Software stroke limit - (Error code: 508)
• Sub point setting error (Error code: 525)
• End point setting error (Error code: 526)
• Center point setting error (Error code: 527)
• Outside radius range (Error code: 544)
• Illegal setting of ABS direction in unit of degree (Error code: 546)
REMARK
Provide the emergency stop circuits outside the servo system to prevent cases
where danger may result from abnormal operation of the overall system in the event
of an external power supply fault or servo system failure.
1 - 29
Chapter 1 Product Outline
When a stop cause has occurred during operation with position control causing the
axis to stop, positioning to the end point of the positioning data can be restarted from
the stopped position by using the "[Cd.6] Restart command".
If issued during a continuous positioning or continuous path control operation, the
restart command will cause the positioning to be re-executed using the current position
(pointed by the positioning data No. associated with the moment when the movement
was interrupted) as the start point.
(a) The restart operation when the axis 1 movement amount is 300 and the
axis 2 movement amount is 600 is shown below.
Axis 1 Axis 1
Stop position due to stop cause Stop position due to stop cause
400 Designated end 400 Stop position
Start point Restart
point position after restart
address
200 200 Operation during
100 100 restart
Axis 2 Axis 2
100 300 700 100 300 700
REMARK
If the positioning start signal/external command signal is turned ON while the
"[Md.26] Axis operation status" is standby or stopped, positioning will be restarted
from the start of the positioning start data regardless of the absolute system or
incremental system. ( : When the external command signal is set to "External
positioning start") (Same as normal positioning.)
Axis 2 Axis 2
100 300 700 100 300 900
1 - 30
Chapter 2 System Configuration
In this chapter, the general image of the system configuration of the positioning control
using Simple Motion module, the configuration devices, applicable CPU and the
precautions of configuring the system are explained.
Prepare the required configuration devices to match the positioning control system.
2-1
Chapter 2 System Configuration
The general image of the system, including such as the QD77MS, PLC CPU and
peripheral devices is shown below.
Expansion cable
Expansion system
QD77MS4
AX3 AX1
AX4 AX2
RS-232 cable
Personal computer
Manual pulse generator
/Incremental synchronous encoder 1
External command signal
/Switching signal (4 points)
Servo Servo Servo
Upper stroke limit (4 points)
motor motor motor
Lower stroke limit (4 points)
MR-J3(W)-_B type servo amplifier
Near-point dog signal (4 points)
MR-J4(W)-_B type servo amplifier
Stop signal (4 points) MR-JE-_B type servo amplifier
Servo driver VCII series manufactured
Forced stop input (24VDC) by Nikki Denso Co., Ltd.
Inverter FR-A700 series
QD77MS2 :Up to 2 axes
QD77MS4 :Up to 4 axes
QD77MS16 :Up to 16 axes
Synchronous encoder via servo amplifier
Q171ENC-W8:
Up to 4 modules via MR-J4-_B-RJ
2-2
Chapter 2 System Configuration
REMARK
(Note-1): Refer to Section "2.3 Applicable system" for the CPU modules that can be used.
(Note-2): Refer to the CPU module User's Manual for the base units that can be used.
(Note-3): The external input signal cannot be used depending on the connected device.
Confirm the specification of the connected device.
2-3
Chapter 2 System Configuration
The positioning system using the Simple Motion module is configured of the following
devices.
No. Part name Type Remarks
QD77MS2 QD77MS
Simple Motion Number of control axes
1 QD77MS4
module MS: SSCNET (/H)model
QD77MS16
Personal
computer which (Prepared by user)
2 Personal computer
supports Refer to the "GX Works2 Version1 Operating Manual (Common)" for details.
Windows
R
(Prepared by user)
An RS-232 cable is needed for connecting the CPU module with a personal
3 RS-232 cable QC30R2
computer.
Refer to the "GX Works2 Version1 Operating Manual (Common)" for details.
(Prepared by user)
A USB cable is needed for connecting the CPU module with a personal
4 USB cable –
computer.
Refer to the "GX Works2 Version1 Operating Manual (Common)" for details.
(Prepared by user)
An Ethernet cable is needed for connecting the CPU module with a personal
5 Ethernet cable –
computer. Refer to the "GX Works2 Version1 Operating Manual (Common)"
for details.
6 Servo amplifier – (Prepared by user)
(Prepared by user)
Manual pulse
7 – Recommended: MR-HDP01 (Manufactured by Mitsubishi Electric
generator
Corporation)
(Prepared by user)
SSCNET
8 (Note-1) – Cables are needed for connecting the Simple Motion module with a servo
cable
amplifier, or between servo amplifiers.
(Prepared by user)
Cables are needed for connecting the Simple Motion module with an external
External input signal
9 (Note-1) – device.
cable
(Prepare them referring to the manuals for the connected devices and
information given in 3.4.2 of this manual.)
(Note-1): The cables for connecting between the Simple Motion module and servo amplifiers. Refer to each servo amplifier instruction
manual for details.
[SSCNET cable]
2-4
Chapter 2 System Configuration
2-5
Chapter 2 System Configuration
2-6
Chapter 2 System Configuration
2-7
Chapter 2 System Configuration
: Applicable, : N/A
(Note-1): Limited within the range of I/O points for the CPU module.
(Note-2): Can be installed to any I/O slot of a base unit.
2-8
Chapter 2 System Configuration
REMARK
The basic model QCPU cannot configure the MELSECNET/H remote I/O network.
REMARK
QD77MS cannot be supported with GX Developer, GX Configurator-QP and
MR Configurator.
Use GX Works2 and MR Configurator2 to use QD77MS.
2-9
Chapter 2 System Configuration
The function version and the SERIAL No. of the Simple Motion module can be
checked in the following methods.
MELSEC-Q
MITSUBISHI
SIMPLE MOTION UNIT PASSED
MODEL QD77MS4
KCC-REI-MEK-
C US LISTED TC510A796G51
DATE:2014-06
80M1 IND. CONT.EQ.
MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN
See QD77MS4 instruction manual.
Vovez QD77MS mode d' emplol
QD77MS4
AX3 AX1
AX4 AX2
131210000000000-B
2 - 10
Chapter 2 System Configuration
There are restrictions in the function that can be used by the SERIAL No. of the Simple
Motion module and the version of GX Works2.
The combination of each version and function are shown below.
QD77MS2/QD77MS4 QD77MS16
First five digits of First five digits of
Function Reference
SERIAL No. GX Works2 SERIAL No. GX Works2
(Note-1) (Note-1)
Inverter FR-A700 series 14062 or later 1.492N or later 14062 or later 1.492N or later Appendix 6.3
Driver communication function Section 14.9
Synchronous encoder via servo
(Note-2)
amplifier
Mark detection function
(Changes latch data range upper 15042 or later 1.492N or later 15042 or later 1.492N or later
Section 14.10
limit value/lower limit value during
mark detection.)
External command signal
Section 5.2.7
compensation valid/invalid setting
Operation cycle setting for Section 5.2.7
15062 or later 1.493P or later — —
QD77MS2/QD77MS4 Section 5.6.1
Servo driver (VCII series)
manufactured by Nikki Denso Co., 16012 or later 1.507D or later 16012 or later 1.507D or later Appendix 6.1
Ltd. (SSCNET /H)
MR-JE-B 16102 or later 1.525X or later 16102 or later 1.525X or later Appendix 6.3
Hot line forced stop function 16102 or later — 16102 or later — Section 14.15
(Note-1): The serial number can be checked on the "Product Information List" screen in GX Works2.
(Note-2): "MELSEC-Q/L QD77MS/QD77GF/LD77MS/LD77MH Simple Motion Module User’s Manual (Synchronous Control)"
2 - 11
Chapter 2 System Configuration
MEMO
2 - 12
Chapter 3 Specifications and Functions
The various specifications of the Simple Motion module are explained in this chapter.
3-1
Chapter 3 Specifications and Functions
Model
QD77MS2 QD77MS4 QD77MS16
Item
Number of control axes 2 axes 4 axes 16 axes
Operation cycle 0.88ms/1.77ms
2-axis linear interpolation, 2-, 3-, or 4-axis linear interpolation,
Interpolation function
2-axis circular interpolation 2-axis circular interpolation
PTP (Point To Point) control, path control (both linear and arc can be set), speed control,
Control system
speed-position switching control, position-speed switching control, speed-torque control
Control unit mm, inch, degree, PLS
600 data/axis
Positioning data
(Can be set with GX Works2 or sequence program.)
Parameters, positioning data, and block start data can be saved on flash ROM.
Execution data backup function
(battery-less backup)
PTP control: Incremental system/absolute system
Speed-position switching control: Incremental system/absolute system
Positioning system
Position-speed switching control: Incremental system
Path control: Incremental system/absolute system
In absolute system
• –214748364.8 to 214748364.7 (µm)
• –21474.83648 to 21474.83647 (inch)
• 0 to 359.99999 (degree)
• –2147483648 to 2147483647 (PLS)
In incremental system
• –214748364.8 to 214748364.7 (µm)
• –21474.83648 to 21474.83647 (inch)
Positioning range • –21474.83648 to 21474.83647 (degree)
• –2147483648 to 2147483647 (PLS)
In speed-position switching control (INC mode) / position-speed switching control
Positioning • 0 to 214748364.7 (µm)
• 0 to 21474.83647 (inch)
• 0 to 21474.83647 (degree)
• 0 to 2147483647 (PLS)
(Note-1)
In speed-position switching control (ABS mode)
• 0 to 359.99999 (degree)
0.01 to 20000000.00 (mm/min)
0.001 to 2000000.000 (inch/min)
Speed command (Note-2)
0.001 to 2000000.000 (degree/min)
1 to 1000000000 (PLS/s)
Acceleration/
Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
deceleration process
Acceleration/ 1 to 8388608 (ms)
deceleration time Four patterns can be set for each of acceleration time and deceleration time
Sudden stop
1 to 8388608 (ms)
deceleration time
3-2
Chapter 3 Specifications and Functions
Model
QD77MS2 QD77MS4 QD77MS16
Item
Starting time (ms) (Note-3)
1-axis linear control
1-axis speed control
2-axis linear interpolation
control (Composite speed) 0.88
2-axis linear interpolation
control (Reference axis speed)
2-axis circular interpolation
control
0.88 1.77
2-axis speed control
3-axis linear interpolation
control (Composite speed)
3-axis linear interpolation
control (Reference axis speed)
–
3-axis speed control
4-axis linear interpolation
control
4-axis speed control
External wiring connection system 40-pin connector
2
Applicable wire size 0.3mm (When A6CON1 and A6CON4 are used), AWG28 to AWG24 (When A6CON2 is used),
AWG28 (twisted) /AWG30 (single wire) (When A6CON3 is used)
External input wiring connector A6CON1, A6CON2, A6CON3, A6CON4 (Sold separately)
• QD77MS MR-J4(W)-B/MR-JE-B/MR-J3(W)-B/
MR-J3BUS_M MR-J4(W)-B/MR-JE-B/MR-J3(W)-B MR-J4(W)-B/MR-JE-B/MR-J3(W)-B
(Note-4)
• Standard cord for inside panel
0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3.28ft.), 3m(9.84ft.)
• QD77MS MR-J4(W)-B/MR-JE-B/MR-J3(W)-B/
SSCNET MR-J3BUS_M-A MR-J4(W)-B/MR-JE-B/MR-J3(W)-B MR-J4(W)-B/MR-JE-B/MR-J3(W)-B
(Note-4)
cable • Standard cable for outside panel
5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.)
• QD77MS MR-J4(W)-B/MR-JE-B/MR-J3(W)-B/
MR-J3BUS_M-B MR-J4(W)-B/MR-JE-B/MR-J3(W)-B MR-J4(W)-B/MR-JE-B/MR-J3(W)-B
(Note-4), (Note-5)
• Long distance cable
30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.)
Internal current consumption
0.6 0.75
(5 V DC) [A]
Flash ROM write count Max. 100000 times
Number of occupied I/O points
32 (I/O assignment: Intelligent function module 32 points)
[points]
External dimensions [mm(inch)] 98.0 (3.86) (H) 27.4 (1.08) (W) 90.0 (3.54) (D)
Mass [kg] 0.15 0.16
(Note-1): The speed-position switching control (ABS mode) can be used only when the control unit is "degree". (For details, refer to Section
9.2.17.)
(Note-2): When "Speed control 10 x multiplier setting for degree axis function" is valid, this will be the setting range 0.01 to 20000000.00
(degree/min). (For details, refer to Section 13.7.10.)
(Note-3): Time from accepting the positioning start signal until BUSY signal turns ON.
(Note-4): _= Cable length
(015: 0.15m (0.49ft.), 03: 0.3m (0.98ft.), 05: 0.5m (1.64ft.), 1: 1m (3.28ft.), 3: 3m (9.84ft.), 5: 5m (16.40ft.), 10: 10m (32.81ft.),
20: 20m (65.62ft.), 30: 30m (98.43ft.), 40: 40m (131.23ft.), 50: 50m (164.04ft.) )
(Note-5): For the cable of less than 30m (98.43ft.), contact your nearest Mitsubishi sales representative.
3-3
Chapter 3 Specifications and Functions
The Simple Motion module has several functions. In this manual, the Simple Motion
module functions are categorized and explained as follows.
Main functions
(1) OPR control
"OPR control" is a function (Fast OPR) that established the start point for
carrying out positioning control (Machine OPR), and carries out positioning
toward that start point. This is used to return a workpiece, located at a position
other than the OP when the power is turned ON or after positioning stop, to
the OP. The "OPR control" is pre-registered in the Simple Motion module as
the "Positioning start data No. 9001 (Machine OPR)", and "Positioning start
data No. 9002 (Fast OPR)". (Refer to Chapter 8 "OPR Control".)
(2) Major positioning control
This control is carried out using the "Positioning data" stored in the Simple
Motion module. Positioning control, such as position control and speed control,
is executed by setting the required items in this "positioning data" and starting
that positioning data. An "operation pattern" can be set in this "positioning
data", and with this whether to carry out control with continuous positioning
data (ex.: positioning data No. 1, No. 2, No. 3, ...) can be set. (Refer to
Chapter 9 "Major Positioning Control".)
(3) High-level positioning control
This control executes the "positioning data" stored in the Simple Motion
module using the "block start data". The following types of applied positioning
control can be carried out.
Random blocks, handling several continuing positioning data items as
"blocks", can be executed in the designated order.
"Condition judgment" can be added to position control and speed control.
The operation of the designated positioning data No. that is set for multiple
axes can be started simultaneously. (Command is output simultaneously to
multiple servo amplifiers.)
The designated positioning data can be executed repeatedly, etc.,
(Refer to Chapter 10 "High-Level Positioning Control".)
(4) Manual control
This control executes the random positioning operation by inputting a signal
into the Simple Motion module from an external device. Use this manual
control to move the workpiece to a random position (JOG operation), and to
finely adjust the positioning (inching operation, manual pulse generator
operation), etc. (Refer to Chapter 11 "Manual Control".)
(5) Expansion control
The following controls other than the positioning control can be executed.
(Refer to Chapter 12 "Expansion Control".)
Speed control and torque control not including the position loop for the
command to servo amplifier (Speed-torque control).
Synchronous control with gear, shaft, change gear and cam not by
mechanical, but by software use "synchronous control parameter", and is
synchronized with input axis (Synchronous control).
3-4
Chapter 3 Specifications and Functions
Sub functions
When executing the main functions, control compensation, limits and functions can
be added. (Refer to Chapter 13 "Control Sub Functions".)
Common functions
Common control using the Simple Motion module for "parameter initialization" or
"backup of execution data" can be carried out. (Refer to Chapter 14 "Common
Functions".)
3-5
Chapter 3 Specifications and Functions
Manual control Control with signals input from external device Continuous operation
interrupt function
Common functions
Parameter initialization function Amplifier-less operation function Module error collection function
Execution data backup function Virtual servo amplifier function Connect/disconnect function of
External signal selection function Driver communication function SSCNET communication
External I/O signal logic switching function Mark detection function QD75MH initial value setting function
History monitor function Optional data monitor function
3-6
Chapter 3 Specifications and Functions
The outline of the main functions for positioning control with the Simple Motion module
is described below. (Refer to "Section 2" for details on each function.)
Reference
Main functions Details
section
Mechanically establishes the positioning start point using
a near-point dog, etc. In the data setting method, no axis
OPR control
3-7
Chapter 3 Specifications and Functions
Reference
Main functions Details
section
With one start, executes the positioning data in a random block with the
Block start (Normal start) 10.3.2
set order.
Carries out condition judgment set in the "condition data" for the
designated positioning data, and then executes the "block start data".
Condition start When the condition is established, the "block start data" is executed. 10.3.3
When not established, that "block start data" is ignored, and the next
point's "block start data" is executed.
High-level positioning control
Carries out condition judgment set in the "condition data" for the
designated positioning data, and then executes the "block start data".
Wait start When the condition is established, the "block start data" is executed. 10.3.4
When not established, stops the control until the condition is
established. (Waits.)
Simultaneously executes the positioning data having the No. for the axis
Simultaneous start designated with the "condition data". (Outputs commands at the same 10.3.5
timing.)
Repeats the program from the block start data set with the "FOR loop" to
Repeated start (FOR loop) 10.3.6
the block start data set in "NEXT" for the designated number of times.
Repeats the program from the block start data set with the "FOR
Repeated start (FOR
condition" to the block start data set in "NEXT" until the conditions set in 10.3.7
condition)
the "condition data" are established.
Starts the operation of multiple axes simultaneously according to the
Multiple axes simultaneous command output level. 10.5
start control
(Positioning start No. 9004, same as the "simultaneous start" above)
JOG operation Outputs a command to servo amplifier while the JOG start signal is ON. 11.2
Manual control
mode.
Carries out the synchronous control that synchronizes with input axis by
Synchronous control setting the system such as gear, shaft, change gear and cam to the 12.2
"synchronous control parameter".
3-8
Chapter 3 Specifications and Functions
The outline of the functions that assist positioning control using the Simple Motion
module is described below. (Refer to "Section 2" for details on each function.)
Reference
Sub function Details
section
This function retries the machine OPR with the upper/lower limit
switches during the machine OPR. This allows machine OPR to
Functions OPR retry function 13.2.1
be carried out even if the axis is not returned to before the near-
characteristic point dog with JOG operation, etc.
to machine
OPR After returning to the machine OP, this function compensates the
OP shift function position by the designated distance from the machine OP 13.2.2
position and sets that position as the OP address.
This function compensates the mechanical backlash amount.
Backlash compensation
Feed commands equivalent to the set backlash amount are 13.3.1
function
output each time the movement direction changes.
By setting the movement amount per pulse, this function can
freely change the machine movement amount per commanded
Functions that
pulse.
compensate Electronic gear function 13.3.2
When the movement amount per pulse is set, a flexible
control
positioning system that matches the machine system can be
structured.
This function suppresses the machine vibration when the
Near pass function 1 positioning data is switched during continuous path control in the 13.3.3
interpolation control.
If the command speed exceeds "[Pr.8] Speed limit value" during
Speed limit function control, this function limits the commanded speed to within the 13.4.1
"[Pr.8] Speed limit value" setting range.
If the torque generated by the servomotor exceeds "[Pr.17]
Torque limit setting value" during control, this function limits the
Torque limit function 13.4.2
generated torque to within the "[Pr.17] Torque limit setting value"
Functions that setting range.
limit control If a command outside of the upper/lower limit stroke limit setting
Software stroke limit
range, set in the parameters, is issued, this function will not 13.4.3
function
execute positioning for that command.
Hardware stroke limit This function carries out deceleration stop with the hardware
13.4.4
function stroke limit switch.
This function stops all axes of the servo amplifier with the forced
Forced stop function stop input signal connected to the external input connection 13.4.5
connector on the Simple Motion module.
This function changes the speed during positioning.
Set the new speed in the speed change buffer memory ([Cd.14]
Speed change function 13.5.1
New speed value), and change the speed with the speed
change request ([Cd.15]).
This function changes the speed within a percentage of 1 to
Functions that Override function 300% during positioning. This is executed using "[Cd.13] 13.5.2
change control Positioning operation speed override".
details This function changes the acceleration/deceleration time during
Acceleration/deceleration
speed change. (Functions added to the speed change function 13.5.3
time change function
and override function)
Torque change function This function changes the "torque limit value" during control. 13.5.4
Target position change This function changes the target position during positioning.
13.5.5
function Position and speed can be changed simultaneously.
3-9
Chapter 3 Specifications and Functions
Reference
Sub function Details
section
This function restores the absolute position of designated axis.
Absolute position system If the OPR is executed at the start of system, after that, it is 13.6
unnecessary to carry out the OPR when the power is turned ON.
This function temporarily stops the operation to confirm the
positioning operation during debugging, etc.
Step function 13.7.1
The operation can be stopped at each "automatic deceleration"
or "positioning data".
This function stops (decelerates to a stop) the positioning being
Skip function executed when the skip signal is input, and carries out the next 13.7.2
positioning.
This function issues a command for a sub work (clamp or drill
M code output function stop, tool change, etc.) corresponding to the M code No. 13.7.3
(0 to 65535) that can be set for each positioning data.
This function stores the address positioned with manual control
Teaching function into the "[Da.6] Positioning address/movement amount" having 13.7.4
the designated positioning data No. ([Cd.39]).
At each automatic deceleration, this function calculates the
remaining distance for the Simple Motion module to reach the
Command in-position positioning stop position. When the value is less than the set
13.7.5
function value, the "command in-position flag" is set to "1".
When using another auxiliary work before ending the control,
use this function as a trigger for the sub work.
Other Acceleration/deceleration
This function adjusts the acceleration/deceleration. 13.7.6
functions processing function
This function interrupts continuous operation. When this request
Continuous operation
is accepted, the operation stops when the execution of the 6.5.4
interrupt function
current positioning data is completed.
Pre-reading start function This function shortens the virtual start time. 13.7.7
Function that turns ON the flag when the constant speed status
Deceleration start flag or acceleration status switches to the deceleration status
13.7.8
function during position control, whose operation pattern is "Positioning
complete", to make the stop timing known.
Stop command processing
Function that selects a deceleration curve when a stop cause
for deceleration stop 13.7.9
occurs during deceleration stop processing to speed 0.
function
This function monitors the motor rotation amount with the servo
Follow up function 13.8.2
turned OFF, and reflects it on the current feed value.
Speed control 10 x This function is executed the positioning control by the 10 x
multiplier setting for degree speed of the command speed and the speed limit value when 13.7.10
axis function the setting unit is "degree".
Operation setting for
This function is provided to select whether positioning control is
incompletion of OPR 13.7.11
operated or not, when OPR request flag is ON.
function
1: The near pass function is featured as standard and is valid only for position control. It cannot be set to be invalid with parameters.
3 - 10
Chapter 3 Specifications and Functions
3 - 11
Chapter 3 Specifications and Functions
Reference
Common functions Details
section
This function is used to store the data selected by user up to 4
Optional data monitor function 14.11
data per axis to buffer memory and monitor them.
This function collects errors occurred in the Simple Motion
module in the PLC CPU.
Module error collection function Holding the error contents in the PLC CPU, this function enables 14.12
to check the error history even after the PLC CPU in powered off
or reset.
Temporarily connect/disconnect of SSCNET communication is
Connect/disconnect function of SSCNET executed during system's power supply ON.
14.13
communication This function is used to exchange the servo amplifiers or
SSCNET cables.
This function is used to set the factory-set initial value of
QD75MH for the setting data set in the QD77MS buffer
QD75MH initial value setting function 14.14
memory/internal memory and flash ROM/internal memory
(nonvolatile).
This function is used to execute deceleration stop safety for
Hot line forced stop function other axes when the servo alarm occurs in the servo amplifier 14.15
MR-JE-B.
3 - 12
Chapter 3 Specifications and Functions
MEMO
3 - 13
Chapter 3 Specifications and Functions
With positioning control using the Simple Motion module, the main functions and sub
functions can be combined and used as necessary. A list of the main function and sub
function combinations is given below.
Functions
characteristic Functions that
Sub functions to machine compensate control
OPR
OP shift function
Main functions
3 - 14
Speed limit function
5
3
Override function
5
3
Acceleration/ deceleration time change
5
3
function
4
Functions that change control details
: Always combine,
Step function
3 - 15
Skip function
: Combination possible,
Teaching function
Acceleration/deceleration processing
12
function
Other functions
: Combination limited,
Deceleration start flag function
7
6
6
9
for degree axis function
10 Operation setting for incompletion of
OPR function
The Simple Motion module uses 32 input points and 32 output points for exchanging
data with the PLC CPU.
The input/output signals when the head I/O number of Simple Motion module is set to
"0H" are shown below.
If it is set to other than "0H", change the I/O number according to setting of head I/O
number.
Device X refers to the signals input from the Simple Motion module to the PLC CPU,
and device Y refers to the signals output from the PLC CPU to the Simple Motion
module.
(1) QD77MS2
Signal direction: QD77MS2 PLC CPU Signal direction: PLC CPU QD77MS2
Device No. Signal name Device No. Signal name
X0 READY Y0 PLC READY
X1 Synchronization flag Y1 All axis servo ON
X2 Y2
Use prohibited Use prohibited
X3 Y3
X4 Axis 1 Y4 Axis 1
M code ON Axis stop
X5 Axis 2 Y5 Axis 2
X6 Y6
Use prohibited Use prohibited
X7 Y7
X8 Axis 1 Y8 Forward run JOG start
Error detection Axis 1
X9 Axis 2 Y9 Reverse run JOG start
XA YA Forward run JOG start
Use prohibited Axis 2
XB YB Reverse run JOG start
XC Axis 1 YC
BUSY
XD Axis 2 YD
Use prohibited
XE YE
Use prohibited
XF YF
X10 Axis 1 Y10 Axis 1
Start complete Positioning start
X11 Axis 2 Y11 Axis 2
X12 Y12
Use prohibited Use prohibited
X13 Y13
X14 Axis 1 Y14 Axis 1
Positioning complete Execution prohibition flag
X15 Axis 2 Y15 Axis 2
X16 Y16
X17 Y17
X18 Y18
X19 Y19
X1A Y1A
Use prohibited Use prohibited
X1B Y1B
X1C Y1C
X1D Y1D
X1E Y1E
X1F Y1F
Important
[Y2, Y3], [Y6, Y7], [YC to YF], [Y12, Y13], [Y18 to Y1F], [X2, X3], [X6, X7], [XA, XB], [XE,
YF], [X12, X13], and [X16 to X1F] are used by the system, and cannot be used by the user.
If these devices are used, the operation of the QD77MS2 will not be guaranteed.
3 - 16
Chapter 3 Specifications and Functions
(2) QD77MS4
Signal direction: QD77MS4 PLC CPU Signal direction: PLC CPU QD77MS4
Device No. Signal name Device No. Signal name
X0 READY Y0 PLC READY
X1 Synchronization flag Y1 All axis servo ON
X2 Y2
Use prohibited Use prohibited
X3 Y3
X4 Axis 1 Y4 Axis 1
X5 Axis 2 Y5 Axis 2
M code ON Axis stop
X6 Axis 3 Y6 Axis 3
X7 Axis 4 Y7 Axis 4
X8 Axis 1 Y8 Forward run JOG start
Axis 1
X9 Axis 2 Y9 Reverse run JOG start
Error detection
XA Axis 3 YA Forward run JOG start
Axis 2
XB Axis 4 YB Reverse run JOG start
XC Axis 1 YC Forward run JOG start
Axis 3
XD Axis 2 YD Reverse run JOG start
BUSY
XE Axis 3 YE Forward run JOG start
Axis 4
XF Axis 4 YF Reverse run JOG start
X10 Axis 1 Y10 Axis 1
X11 Axis 2 Y11 Axis 2
Start complete Positioning start
X12 Axis 3 Y12 Axis 3
X13 Axis 4 Y13 Axis 4
X14 Axis 1 Y14 Axis 1
X15 Axis 2 Y15 Axis 2
Positioning complete Execution prohibition flag
X16 Axis 3 Y16 Axis 3
X17 Axis 4 Y17 Axis 4
X18 Y18
X19 Y19
X1A Y1A
X1B Y1B
Use prohibited Use prohibited
X1C Y1C
X1D Y1D
X1E Y1E
X1F Y1F
Important
[Y2, Y3], [Y18 to Y1F], [X2, X3], and [X18 to X1F] are used by the system, and cannot be
used by the user.
If these devices are used, the operation of the QD77MS4 will not be guaranteed.
3 - 17
Chapter 3 Specifications and Functions
(3) QD77MS16
Signal direction: QD77MS16 PLC CPU Signal direction: PLC CPU QD77MS16
Device No. Signal name Device No. Signal name
X0 READY Y0 PLC READY
X1 Synchronization flag Y1 All axis servo ON
X2 Y2
X3 Y3
X4 Y4
X5 Y5
X6 Y6
X7 Y7
X8 Y8
Use prohibited Use prohibited
X9 Y9
XA YA
XB YB
XC YC
XD YD
XE YE
XF YF
X10 Axis 1 Y10 Axis 1
X11 Axis 2 Y11 Axis 2
X12 Axis 3 Y12 Axis 3
X13 Axis 4 Y13 Axis 4
X14 Axis 5 Y14 Axis 5
X15 Axis 6 Y15 Axis 6
X16 Axis 7 Y16 Axis 7
X17 Axis 8 Y17 Axis 8
BUSY Positioning start
X18 Axis 9 Y18 Axis 9
X19 Axis 10 Y19 Axis 10
X1A Axis 11 Y1A Axis 11
X1B Axis 12 Y1B Axis 12
X1C Axis 13 Y1C Axis 13
X1D Axis 14 Y1D Axis 14
X1E Axis 15 Y1E Axis 15
X1F Axis 16 Y1F Axis 16
POINT
(1) For QD77MS16, M code ON signal, error detection signal, start complete signal and
positioning complete signal are assigned to the bit of "[Md.31] Status".
(2) For QD77MS16, axis stop signal, forward run JOG start signal, reverse run JOG start
signal, execution prohibition flag are assigned to the buffer memory [Cd.180] to [Cd.183].
Important
[Y2 to YF] and [X2 to XF] are used by the system, and cannot be used by the user.
If these devices are used, the operation of the QD77MS16 will not be guaranteed.
3 - 18
Chapter 3 Specifications and Functions
The ON/OFF timing and conditions of the input signals are shown below.
(1) QD77MS2/QD77MS4
Device
Signal name Details
No.
X0 READY ON: READY • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting range
OFF: Not READY/ is checked. If no error is found, this signal turns ON.
Watch dog • When the PLC READY signal [Y0] turns OFF, this signal turns OFF.
timer error • When watch dog timer error occurs, this signal turns OFF.
• This signal is used for interlock in a sequence program, etc.
ON
PLC READY signal [Y0] OFF
ON
READY signal [X0] OFF
ON
Start complete signal [X10] OFF
X14 Axis 1 Positioning OFF: Positioning • This signal turns ON for the time set in "[Pr.40] Positioning complete signal output
X15 Axis 2 complete incomplete time" from the instant when the positioning control for each positioning data No. is
(Note-2) completed.
X16 Axis 3 ON: Positioning
X17 Axis 4 complete For the interpolation control, the positioning completed signal of interpolation axis
turns ON during the time set to the reference axis.
(It does not turn ON when "[Pr.40] Positioning complete signal output time" is "0".)
• If positioning (including OPR), JOG/Inching operation, or manual pulse generator
operation is started while this signal is ON, the signal will turn OFF.
• This signal will not turn ON when speed control or positioning is canceled midway.
3 - 19
Chapter 3 Specifications and Functions
Important
(Note-1): The BUSY signal turns ON even when position control of movement amount 0 is
executed. However, since the ON time is short, the ON status may not to be detected
in the sequence program.
(Note-2): "Positioning complete" of the QD77MS2/QD77MS4 refers to the point when the pulse
output from QD77MS2/QD77MS4 is completed.
Thus, even if the QD77MS2/QD77MS4's positioning complete signal turns ON, the
system may continue operation.
(2) QD77MS16
Device
Signal name Details
No.
X0 READY ON: READY • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting range
OFF: Not READY/ is checked. If no error is found, this signal turns ON.
Watch dog • When the PLC READY signal [Y0] turns OFF, this signal turns OFF.
timer error • When watch dog timer error occurs, this signal turns OFF.
• This signal is used for interlock in a sequence program, etc.
ON
PLC READY signal [Y0] OFF
ON
READY signal [X0] OFF
X1 Synchronization flag OFF: Module
• After the PLC is turned ON or the CPU module is reset, this signal turns ON if the
access
access from the CPU module to the Simple Motion module is possible.
disabled
• When "Asynchronous" is selected in the module synchronization setting of the CPU
ON: Module
module, this signal can be used as interlock for the access from a sequence program
access
to the Simple Motion module.
enabled
X10 Axis 1 BUSY OFF: Not BUSY
X11 Axis 2 (Note-1) ON: BUSY
X12 Axis 3
X13 Axis 4
X14 Axis 5 • This signal turns ON at the start of positioning, OPR or JOG operation. It turns OFF
X15 Axis 6 when the "[Da.9] Dwell time/JUMP destination positioning data No." has passed after
X16 Axis 7 positioning stops. (This signal remains ON during positioning.)
X17 Axis 8
• This signal turns OFF when the positioning is stopped with step operation.
X18 Axis 9
X19 Axis 10 • During manual pulse generator operation, this signal turns ON while the "[Cd.21]
X1A Axis 11 Manual pulse generator enable flag" is ON.
X1B Axis 12 • This signal turns OFF at error completion or positioning stop.
X1C Axis 13
X1D Axis 14
X1E Axis 15
X1F Axis 16
Important
(Note-1): The BUSY signal turns ON even when position control of movement amount 0 is
executed. However, since the ON time is short, the ON status may not to be detected
in the sequence program.
3 - 20
Chapter 3 Specifications and Functions
The ON/OFF timing and conditions of the output signals are shown below.
(1) QD77MS2/QD77MS4
Device No. Signal name Details
Y0 PLC READY OFF: (a) This signal notifies the Simple Motion module that the PLC CPU
PLC READY OFF
is normal.
ON:
PLC READY ON • It is turned ON/OFF with the sequence program.
• The PLC READY signal is turned ON during positioning control,
OPR control, JOG operation, inching operation, manual pulse
generator operation and speed-torque control ,etc. unless the
system is in the GX Works2 test function.
(b) When the data (parameter etc.) are changed, this signal is turned
OFF depending on the parameter (Refer to Chapter 7.).
(c) The following processes are carried out when this signal turns
from OFF to ON.
• The parameter setting range is checked.
• The READY signal [X0] turns ON.
(d) The following processes are carried out when this signal turns
from ON to OFF.
In these cases, the OFF time should be set to 100ms or more.
• The READY signal [X0] turns OFF.
• The operating axis stops.
• The M code ON signal [X4 to X7] for each axis turns OFF, and
"0" is stored in "[Md.25] Valid M code".
(e) When parameters or positioning data (No. 1 to 600) are written
from the GX Works2 or PLC CPU to the flash ROM, this signal
will turn OFF.
Y1 All axis servo ON OFF: • The servo for all the servo amplifiers connected to the Simple
Servo OFF Motion module is turned ON or OFF.
ON:
Servo ON
Y4 Axis 1 Axis stop OFF: • When the axis stop signal turns ON, the OPR control, positioning
Y5 Axis 2 Axis stop not control, JOG operation, inching operation, manual pulse generator
Y6 Axis 3 requested operation and speed-torque control etc. will stop.
Y7 Axis 4 ON: • By turning the axis stop signal ON during positioning operation, the
Axis stop requested positioning operation will be "stopped".
• Whether to decelerate stop or suddenly stop can be selected with
"[Pr.39] Stop group 3 sudden stop selection".
• During interpolation control of the positioning operation, if the axis
stop signal of any axis turns ON, all axes in the interpolation control
will decelerate and stop.
Y8 Axis 1 Forward run JOG start OFF: • When the JOG start signal is ON, JOG operation will be carried out
Y9 Axis 1 Reverse run JOG start JOG not started at the "[Cd.17] JOG speed". When the JOG start signal turns OFF,
YA Axis 2 Forward run JOG start ON: the operation will decelerate and stop.
YB Axis 2 Reverse run JOG start JOG started • When inching movement amount is set, the designated movement
YC Axis 3 Forward run JOG start amount is output for one operation cycle and then the operation
YD Axis 3 Reverse run JOG start stops.
YE Axis 4 Forward run JOG start
YF Axis 4 Reverse run JOG start
Y10 Axis 1 Positioning start OFF: • OPR operation or positioning operation is started.
Y11 Axis 2 Positioning start not • The positioning start signal is valid at the rising edge, and the
Y12 Axis 3 requested operation is started.
Y13 Axis 4 ON: • When this signal turns ON during BUSY, the warning "Start during
Positioning start operation" (warning code: 100) will occur.
requested
Y14 Axis 1 Execution prohibition OFF: • If the execution prohibition flag is ON when the positioning start
Y15 Axis 2 flag Not during execution signal turns ON, positioning control does not start until the
Y16 Axis 3 prohibition execution prohibition flag turns OFF.
Y17 Axis 4 ON: Used with the "Pre-reading start function". (Refer to Section
During execution 13.7.7.)
prohibition
3 - 21
Chapter 3 Specifications and Functions
(2) QD77MS16
Device No. Signal name Details
Y0 PLC READY OFF: (a) This signal notifies the Simple Motion module that the PLC CPU
PLC READY OFF is normal.
ON: • It is turned ON/OFF with the sequence program.
PLC READY ON • This signal is turned ON during positioning control, OPR
control, JOG operation, inching operation, manual pulse
generator operation and speed-torque control ,etc. unless the
system is in the GX Works2 test function.
(b) When the data (parameter etc.) are changed, the PLC READY
signal is turned OFF depending on the parameter (Refer to
Chapter 7.).
(c) The following processes are carried out when this signal turns
from OFF to ON.
• The parameter setting range is checked.
• The READY signal [X0] turns ON.
(d) The following processes are carried out when this signal turns
from ON to OFF.
In these cases, the OFF time should be set to 100ms or more.
• The READY signal [X0] turns OFF.
• The operating axis stops.
• The M code ON signal ([Md.31] Status: b12) for each axis turns
OFF, and "0" is stored in "[Md.25] Valid M code".
(e) When parameters or positioning data (No. 1 to 600) are written
from the GX Works2 or PLC CPU to the flash ROM, this signal
will turn OFF.
Y1 All axis servo ON OFF: • The servo for all the servo amplifiers connected to the Simple
Servo OFF Motion module is turned ON or OFF.
ON:
Servo ON
Y10 Axis 1 Positioning start OFF: • OPR operation or positioning operation is started.
Y11 Axis 2 Positioning start not • The positioning start signal is valid at the rising edge, and the
Y12 Axis 3 requested operation is started.
Y13 Axis 4 ON: • When this signal turns ON during BUSY, the warning "Start during
Y14 Axis 5 Positioning start operation" (warning code: 100) will occur.
Y15 Axis 6 requested
Y16 Axis 7
Y17 Axis 8
Y18 Axis 9
Y19 Axis 10
Y1A Axis 11
Y1B Axis 12
Y1C Axis 13
Y1D Axis 14
Y1E Axis 15
Y1F Axis 16
3 - 22
Chapter 3 Specifications and Functions
3 - 23
Chapter 3 Specifications and Functions
Phase A
0.25 s or more
Example of waveform
Phase B
0.25 s 0.25 s
or more or more
(Note): Duty ratio 50%
Phase A
1.2 s or more
Example of waveform
Phase B
1.2 s 1.2 s
or more or more
(Note): Duty ratio 50%
(Note-1): Set the signal input form in "[Pr.24] Manual pulse generator/Incremental synchronous encoder input selection".
Phase A/Phase B
PLS/SIGN
HIGH LOW LOW HIGH
(Note-2): Maximum input pulse frequency is magnified by 4, when "A-phase/B-phase Magnification by 4" is set in "[Pr.24]
Manual pulse generator/Incremental synchronous encoder input selection".
3 - 24
Chapter 3 Specifications and Functions
The specifications of the connector section, which is the input/output interface for the
Simple Motion module and external device, are shown below.
QD77MS4 QD77MS16
AX1 AX3 AX1 AX3 AX1
AX2 AX4 AX2 AX4 AX2
QD77MS2
3 - 25
Chapter 3 Specifications and Functions
The signal layout for the external input connection connector of Simple Motion module
is shown.
AX4 AX3 AX2 AX1
Axis 4 Axis 3 Axis 2 Axis 1
Pin layout
(External input signal 4) (External input signal 3) (External input signal 2) (External input signal 1)
Pin No. Signal name Pin No. Signal name Pin No. Signal name Pin No. Signal name
(Note-3),
HB (Note-9)
2B20 2A20 1B20 (Note-4), (Note-5) 1A20 5V
(Note-3),
HA (Note-9)
2B19 2A19 1B19 (Note-4), (Note-5) 1A19 5V
(Note-3), (Note-3),
HBL HBH
2B18 2A18 1B18 (Note-4), (Note-6) 1A18 (Note-4), (Note-6)
(Note-3), (Note-3),
B20 A20 HAL HAH
B19 A19 2B17 2A17 1B17 (Note-4), (Note-6) 1A17 (Note-4), (Note-6)
B18 A18
B17 A17
(Note-7) (Note-7) (Note-7) (Note-7)
B16 A16 2B16 No connect 2A16 No connect 1B16 No connect 1A16 No connect
B15 A15
(Note-10) (Note-10)
B14
B13
A14
A13
2B15 2A15 1B15 5V 1A15 5V
B12 A12 (Note-10) (Note-10)
B11 A11
2B14 2A14 1B14 SG 1A14 SG
B10 A10
B9 A9
2B13 2A13 1B13 1A13
B8 A8
B7 A7
2B12 2A12 1B12 1A12
B6 A6 (Note-7) (Note-7)
B5 A5
2B11 2A11 1B11 No connect 1A11 No connect
B4 A4
B3 A3
2B10 2A10 1B10 1A10
B2 A2
B1 A1
2B9 2A9 1B9 1A9
2B8 1B8 EMI. COM 1A8 EMI
Front view of 2B7 COM 2A7 COM 1B7 COM 1A7 COM
the module
2B6 COM 2A6 COM 1B6 COM 1A6 COM
(Note-8) (Note-8) (Note-8) (Note-8)
2B5 DI4 2A5 DI3 1B5 DI2 1A5 DI1
(Note-8) (Note-8) (Note-8) (Note-8)
2B4 STOP 2A4 STOP 1B4 STOP 1A4 STOP
(Note-8) (Note-8) (Note-8) (Note-8)
2B3 DOG 2A3 DOG 1B3 DOG 1A3 DOG
(Note-8) (Note-8) (Note-8) (Note-8)
2B2 RLS 2A2 RLS 1B2 RLS 1A2 RLS
(Note-8) (Note-8) (Note-8) (Note-8)
2B1 FLS 2A1 FLS 1B1 FLS 1A1 FLS
(Note-1) : Pin No. "1_ _ _" indicates the pin No. for the right connector. Pin No. "2_ _ _" indicates the pin No. for the left connector.
(Note-2) : For QD77MS2 does not have AX3 and AX4 connector of the left side.
(Note-3) : Input type from manual pulse generator/incremental synchronous encoder is switched in "[Pr.89] Manual pulse
generator/Incremental synchronous encoder input type selection". (Only the value specified against the axis 1 is valid.)
• 0: Differential-output type
• 1: Voltage-output/open-collector type (Default value)
(Note-4) : Set the signal input form in "[Pr.24] Manual pulse generator/Incremental synchronous encoder input selection".
(Note-5) : Voltage-output/open-collector type
Connect the A-phase/PLS signal to HA, and the B-phase/SIGN signal to HB.
(Note-6) : Differential-output type
Connect the A-phase/PLS signal to HAH, and the A-phase/PLS inverse signal to HAL.
Connect the B-phase/SIGN signal to HBH, and the B-phase/SIGN inverse signal to HBL.
(Note-7) : Do not connect to any of the terminal explained as "No connect".
(Note-8) : Set the external command signal [DI, FLS, RLS, DOG, STOP] in "[Pr.80] External input signal selection" and "[Pr.95] External
command signal selection" at QD77MS16 use.
(Note-9) : Do not connect wires other than the signal wires of the manual pulse generator to 1A20 and 1A19.
(Note-10): Do not use 1A(B)15 and 1A(B)14 for other than the power supply of manual pulse generator.
3 - 26
Chapter 3 Specifications and Functions
The details of each external input connection connector of Simple Motion module are
shown below.
Signal name Pin No. Signal details
HAH
1A17
(A+)
Positioning Positioning
+1 +1+1+1+1+1+1 +1 -1 -1 -1 -1 -1 -1 -1 -1
address address
HBH
1A18 (b) Magnification by 2
(B+)
[When increased] [When decreased]
(c) Magnification by 1
HBL
1B18 1) Positive logic
(B-)
[When increased] [When decreased]
A phase A phase
B phase B phase
Positioning Positioning
+1 +1 +1 +1 -1 -1 -1 -1
address address
Manual pulse 2) Negative logic
generator/Incremental HA [When increased] [When decreased]
1B19
synchronous encoder (A)
A phase/PLS A phase A phase
Voltage-output
B phase B phase
type/
Positioning Positioning
open-collector +1 +1 +1 +1 -1 -1 -1 -1
address address
type
Manual pulse
generator/Incremental HB
1B20
synchronous encoder (B)
B phase/SIGN
3 - 27
Chapter 3 Specifications and Functions
HAH
1A17
Manual pulse (A+) (2) PLS/SIGN
generator/Incremental Input the pulse signal for counting the increased/decreased pulse in the
synchronous encoder pulse input (PLS). Input the signal for controlling forward run and reverse
A phase/PLS HAL run in the direction sign (SIGN).
1B17
(A-) 1) "[Pr.22] Input signal logic selection" is positive logic
Differential- • The motor will forward run when the direction sign is HIGH.
output type • The motor will reverse run when the direction sign is LOW.
HBH 2) "[Pr.22] Input signal logic selection" is negative logic
1A18
Manual pulse (B+) • The motor will forward run when the direction sign is LOW.
generator/Incremental • The motor will reverse run when the direction sign is HIGH.
synchronous encoder [When increased] [When decreased]
B phase/SIGN HBL
1B18 PLS PLS
(B-) Positive Positive
logic logic LOW
SIGN HIGH SIGN
Manual pulse
generator/Incremental HA PLS PLS
1B19 Negative Negative
Voltage-output synchronous encoder (A) logic LOW logic
SIGN SIGN HIGH
type/ A phase/PLS
open-collector Manual pulse Positioning +1 +1+1 +1+1 +1 Positioning -1 -1 -1 -1 -1 -1
address address
type generator/Incremental HB
1B20
synchronous encoder (B)
B phase/SIGN
3 - 28
Chapter 3 Specifications and Functions
3 - 29
Chapter 3 Specifications and Functions
The outline diagrams of the internal circuits for the external device connection interface
(for the Simple Motion module, axis 1) are shown below.
Without using
Lower-limit switch
Lower-limit signal _ _2
(Note-1)
RLS
(Note-2)
Near-point dog _ _3
DOG
signal (Note-1) (Note-2)
Upper-limit signal,
Lower-limit signal,
_ _4 Near-point dog signal,
Input Stop signal STOP (Note-2) Stop signal,
External command signal,
Switching signal,
Forced stop input signal
External command/ _ _5
DI (Note-2)
Switching
_ _6
(Note-2)
Common COM
(Note-3)
_ _7 24VDC
(Note-2)
EMI 1A8
Forced stop input
signal
EMI.COM 1B8
(Note-1): When using external input signal of servo amplifier, set "1" with " Pr.80 External signal selection". In addition,
refer to Section 13.4.4 for wiring of upper/lower limit signal and Section 8.1.1 for wiring of near-point dog signal.
(Note-2): "_ _" indicates "1A (AX1)", "1B (AX2)", 2A (AX3)", or "2B (AX4)".
(Note-3): As for the 24VDC sign, both "+" and "-" are possible.
3 - 30
Chapter 3 Specifications and Functions
(Note-1): Set "0: Differential-output type" in " Pr.89 Manual pulse generator/Incremental synchronous encoder input type
selection" if the manual pulse generator/Incremental synchronous encoder of differential-output type is used.
The default value is "1: Voltage-output/open-collector type".
(Note-2): Set the signal input form in " Pr.24 Manual pulse generator/Incremental synchronous encoder input selection".
(Note-3): The 5VDC power supply from the Simple Motion module must not be used if a separate power supply is applied
to the manual pulse generator/incremental synchronous encoder.
If a separate power supply is used, use a stabilized power supply of voltage 5VDC.
Anything else may cause a failure.
Manual
A
pulse
HA
generator, 1B19
(A)
phase A/
PLS Manual pulse
generator/
Input Incremental
(Note-1), Manual synchronous
(Note-2) encoder
pulse B
HB
generator, 1B20
(B)
phase B/
SIGN
Power
supply SG
1A14
SG
1B14
(Note-1): Set "1: Voltage-output/open-collector type" in " Pr.89 Manual pulse generator/Incremental synchronous
encoder input type selection" if the manual pulse generator/Incremental synchronous encoder of voltage-
output/open-collector type is used.
The default value is "1: Voltage-output/open-collector type".
(Note-2): Set the signal input form in " Pr.24 Manual pulse generator/Incremental synchronous encoder input selection".
(Note-3): The 5VDC power supply from the Simple Motion module must not be used if a separate power supply is applied
to the manual pulse generator/Incremental synchronous encoder.
If a separate power supply is used, use a stabilized power supply of voltage 5VDC.
Anything else may cause a failure.
3 - 31
Chapter 3 Specifications and Functions
3 - 32
Chapter 3 Specifications and Functions
SG 0V SG 0V
Shield Shield
External 5 V
power supply
Twisted pair
FG FG FG FG
3 - 33
Chapter 3 Specifications and Functions
Configure up the power supply circuit and main circuit which turn off the power supply
after detection alarm occurrence and servo forced stop. When designing the main
circuit of the power supply, make sure to use a circuit breaker (MCCB).
The outline diagrams for the external device connection interface are shown below.
3-phase
200 to 230VAC
EMI
12/24VDC
FG
LG
COM
SSCNET (/H)
CP2
24VDC +24V
Power
supply 8 24G
CP3
24VDC +24V
Power
supply 8 24G
Emergency Stop
EMG
EMG
MC1 to 3 MC1 SK 7
MC2 SK 7
MC3 SK 7
Surge suppressor
3 - 34
Chapter 3 Specifications and Functions
POINT
(1) 1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on
the PLC CPU.
(2) 2: It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake.
(3) 3: It is also possible to perform the forced stop using forced stop terminal of the servo amplifier.
(4) 4: Set the axis selection rotary switch of servo amplifier as follows to set the axis No. of servo amplifier.
• Axis 1: 0 • Axis 5: 4 • Axis 9: 8 • Axis 13: C
• Axis 2: 1 • Axis 6: 5 • Axis 10: 9 • Axis 14: D
• Axis 3: 2 • Axis 7: 6 • Axis 11: A • Axis 15: E
• Axis 4: 3 • Axis 8: 7 • Axis 12: B • Axis 16: F
(5) 5: The status of forced stop input signal can be confirmed with "[Md.50] Forced stop input". Be sure that the forced stop 24 V DC
power supply is not used with the electromagnetic brake of the motor or the electromagnetic valve power supply.
(6) 6: Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor.
(7) 7: The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor (MC) near the servo amplifier.
Refer to the servo amplifier instruction manual for selection of the surge suppressor.
(8) 8: Wire the electromagnetic brake power supply and the control power supply using a separate power supply.
MCCB2 MC1
6 U
L1 MR-J4-B U
V
L2 V M
W
L3 A W RA2
Electro-
L11 4 Ground magnetic
brake B U
L21 0
DICOM 2
SSCNET (/H) CN1A ALM RA2
CN1B EM2/1
DOCOM
3 24VDC
MCCB3 MC2
6 U
L1 MR-J4-B U
V
L2 V M
W
L3 B W RA3
Electro-
L11 4 Ground magnetic
brake B U
L21 1
DICOM 2
CN1A ALM RA3
CN1B EM2/1
DOCOM
3 24VDC
MCCB4 MC3
6 U
L1 MR-J4-B U
V
L2 V M
W
L3 C W RA4
Electro-
L11 4 Ground magnetic
brake B U
L21
2
DICOM 2
CN1A ALM RA4
CN1B EM2/1
DOCOM
3 24VDC
3 - 35
Chapter 3 Specifications and Functions
(Note-1): When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.
Example) When the control power supply L11/L21 of the servo amplifier B in the figure is shut off, it is also not possible to
communicate with the servo amplifier C .
If only a specific servo amplifier main circuit power supply is shut off, be sure to shut off the main circuit power supply
L1/L2/L3, and do not shut off the control power supply L11/L21.
(Note-2): Be sure to shut off the both of main circuit power supply L1/L2/L3 and control power supply L11/L21 after disconnection of
SSCNET communication by the connect/disconnect function of SSCNET communication at the time of exchange of servo
amplifier. At this time, it is not possible to communicate between the servo amplifier and Simple Motion module. Therefore, be
sure to exchange the servo amplifier after stopping the operating of machine beforehand.
(Note-3): If the emergency stop signal of Simple Motion module turns OFF when setting of "[Pr.82] Forced stop valid/invalid selection" to "0:
Valid", servomotor is stopped with dynamic brake. (The LED display of servo amplifier indicates "E7.1" (Controller forced stop
input warning).)
3 - 36
Chapter 3 Specifications and Functions
MEMO
3 - 37
Chapter 3 Specifications and Functions
3-phase
200 to 230VAC
EMI
12/24VDC
FG
LG
COM
SSCNET (/H)
CP2
24VDC +24V
Power
supply 8 24G
CP3
24VDC +24V
Power
supply 8 24G
Emergency Stop
EMG
EMG
MC1 to 3 MC1 SK 7
MC2 SK 7
MC3 SK 7
Surge suppressor
3 - 38
Chapter 3 Specifications and Functions
POINT
(1) 1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on
the PLC CPU.
(2) 2: It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake.
(3) 3: It is also possible to perform the forced stop using forced stop terminal of the servo amplifier.
(4) 4: Set the axis selection rotary switch of servo amplifier as follows to set the axis No. of servo amplifier.
• Axis 1: 0 • Axis 5: 4 • Axis 9: 8 • Axis 13: C
• Axis 2: 1 • Axis 6: 5 • Axis 10: 9 • Axis 14: D
• Axis 3: 2 • Axis 7: 6 • Axis 11: A • Axis 15: E
• Axis 4: 3 • Axis 8: 7 • Axis 12: B • Axis 16: F
(5) 5: The status of forced stop input signal can be confirmed with "[Md.50] Forced stop input". Be sure that the forced stop 24 V DC
power supply is not used with the electromagnetic brake of the motor or the electromagnetic valve power supply.
(6) 6: Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor.
(7) 7: The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor (MC) near the servo amplifier.
Refer to the servo amplifier instruction manual for selection of the surge suppressor.
(8) 8: Wire the electromagnetic brake power supply and the control power supply using a separate power supply.
MCCB2 MC1
6 U
L1 MR-JE-B U
V
L2 V M
W
L3 A W RA2
Electro-
4 Ground magnetic
brake B U
0
DICOM 2
SSCNET (/H) CN1A MBR RA2
CN1B EM2/1
DOCOM
3 24VDC
MCCB3 MC2
6 U
L1 MR-JE-B U
V
L2 V M
W
L3 B W RA3
Electro-
4 Ground magnetic
brake B U
1
DICOM 2
CN1A MBR RA3
CN1B EM2/1
DOCOM
3 24VDC
MCCB4 MC3
6 U
L1 MR-JE-B U
V
L2 V M
W
L3 C W RA4
Electro-
4 Ground magnetic
brake B U
2
DICOM 2
CN1A MBR RA4
CN1B EM2/1
DOCOM
3 24VDC
3 - 39
Chapter 3 Specifications and Functions
(Note-1): When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.
Example) When the control power supply L11/L21 of the servo amplifier B in the figure is shut off, it is also not possible to
communicate with the servo amplifier C .
If only a specific servo amplifier main circuit power supply is shut off, be sure to shut off the main circuit power supply
L1/L2/L3, and do not shut off the control power supply L11/L21.
(Note-2): Be sure to shut off the both of main circuit power supply L1/L2/L3 and control power supply L11/L21 after disconnection of
SSCNET communication by the connect/disconnect function of SSCNET communication at the time of exchange of servo
amplifier. At this time, it is not possible to communicate between the servo amplifier and Simple Motion module. Therefore, be
sure to exchange the servo amplifier after stopping the operating of machine beforehand.
(Note-3): If the emergency stop signal of Simple Motion module turns OFF when setting of "[Pr.82] Forced stop valid/invalid selection" to "0:
Valid", servomotor is stopped with dynamic brake. (The LED display of servo amplifier indicates "E7.1" (Controller forced stop
input warning).)
3 - 40
Chapter 3 Specifications and Functions
MEMO
3 - 41
Chapter 3 Specifications and Functions
(3) Example when using the forced stop of the QD77MS and
MR-J4-B
3-phase
200 to 230VAC
EMI
12/24VDC
FG
LG
COM
SSCNET (/H)
CP2
24VDC +24V
Power
supply 7 24G
RA2
CP3
24VDC +24V
Power
supply 7 24G
Emergency Stop
EMG
EMG
MC1 to 3 MC1 SK MC2 SK MC3 SK
6 6 6
Surge suppressor
3 - 42
Chapter 3 Specifications and Functions
POINT
(1) 1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on
the PLC CPU.
(2) 2: It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake.
(3) 3: Set the axis selection rotary switch of servo amplifier as follows to set the axis No. of servo amplifier.
• Axis 1: 0 • Axis 5: 4 • Axis 9: 8 • Axis 13: C
• Axis 2: 1 • Axis 6: 5 • Axis 10: 9 • Axis 14: D
• Axis 3: 2 • Axis 7: 6 • Axis 11: A • Axis 15: E
• Axis 4: 3 • Axis 8: 7 • Axis 12: B • Axis 16: F
(4) 4: Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor.
(5) 5: The status of forced stop input signal can be confirmed with "[Md.50] Forced stop input". Be sure that the forced stop 24 V DC
power supply is not used with the electromagnetic brake of the motor or the electromagnetic valve power supply.
(6) 6: The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor (MC) near the servo amplifier.
Refer to the servo amplifier instruction manual for selection of the surge suppressor.
(7) 7: Wire the electromagnetic brake power supply and the control power supply using a separate power supply.
MCCB2 MC1
4 U
L1 MR-J4-B U
V
L2 V M
W
L3 A W RA3
Electro-
L11 3 Ground magnetic
brake B U
L21 0
DICOM 2
SSCNET (/H) CN1A ALM RA3
RA2
CN1B EM2/1
DOCOM
24VDC
MCCB3 MC2
4 U
L1 MR-J4-B U
V
L2 V M
W
L3 B W RA4
Electro-
L11 3 Ground magnetic
brake B U
L21 1
DICOM 2
CN1A ALM RA4
RA2
CN1B EM2/1
DOCOM
24VDC
MCCB4 MC3
4 U
L1 MR-J4-B U
V
L2 V M
W RA5
L3 C W
Electro-
L11 3 Ground magnetic
brake B U
L21
2
DICOM 2
CN1A ALM RA5
RA2
CN1B EM2/1
DOCOM
24VDC
3 - 43
Chapter 3 Specifications and Functions
(Note-1): When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.
Example) When the control power supply L11/L21 of the servo amplifier B in the figure is shut off, it is also not possible to
communicate with the servo amplifier C .
If only a specific servo amplifier main circuit power supply is shut off, be sure to shut off the main circuit power supply
L1/L2/L3, and do not shut off the control power supply L11/L21.
(Note-2): Be sure to shut off the both of main circuit power supply L1/L2/L3 and control power supply L11/L21 after disconnection of
SSCNET communication by the connect/disconnect function of SSCNET communication at the time of exchange of servo
amplifier. At this time, it is not possible to communicate between the servo amplifier and Simple Motion module. Therefore, be
sure to exchange the servo amplifier after stopping the operating of machine beforehand.
(Note-3): The dynamic brake is operated, and servomotor occurs to the free run when EM1 (forced stop) of servo amplifier turn OFF. At the
time, the display shows the servo forced stop warning (E6.1).
During ordinary operation, do not used forced stop signal to alternate stop and run.
The service life of the servo amplifier may be shortened.
3 - 44
Chapter 3 Specifications and Functions
MEMO
3 - 45
Chapter 3 Specifications and Functions
(4) Example when using the forced stop of the QD77MS and
MR-JE-B
Important
The hot line forced stop function is enabled at the MR-JE-B factory-set. (Only MR-JE-B)
This function is used to execute deceleration stop for all axes by outputting the hot line forced
stop signal to all axes and generating "E7.1" (Controller forced stop input warning) at the
alarm occurrence.
This function can be disabled by the servo parameter (PA27).
For using the MR-JE-B, configure up the power supply circuit which switches off the all axes
electromagnetic contactor (MC) from the CPU module after detecting the alarm occurrence
on the CPU module.
3-phase
200 to 230VAC
EMI
12/24VDC
FG
LG
COM
SSCNET (/H)
CP2
24VDC +24V
Power
supply 7 24G
RA2
CP3
24VDC +24V
Power
supply 7 24G
Emergency Stop
EMG
EMG
MC1 to 3 MC1 SK MC2 SK MC3 SK
6 6 6
Surge suppressor
3 - 46
Chapter 3 Specifications and Functions
POINT
(1) 1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on
the PLC CPU.
(2) 2: It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake.
(3) 3: Set the axis selection rotary switch of servo amplifier as follows to set the axis No. of servo amplifier.
• Axis 1: 0 • Axis 5: 4 • Axis 9: 8 • Axis 13: C
• Axis 2: 1 • Axis 6: 5 • Axis 10: 9 • Axis 14: D
• Axis 3: 2 • Axis 7: 6 • Axis 11: A • Axis 15: E
• Axis 4: 3 • Axis 8: 7 • Axis 12: B • Axis 16: F
(4) 4: Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor.
(5) 5: The status of forced stop input signal can be confirmed with "[Md.50] Forced stop input". Be sure that the forced stop 24 V DC
power supply is not used with the electromagnetic brake of the motor or the electromagnetic valve power supply.
(6) 6: The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor (MC) near the servo amplifier.
Refer to the servo amplifier instruction manual for selection of the surge suppressor.
(7) 7: Wire the electromagnetic brake power supply and the control power supply using a separate power supply.
MCCB2 MC1
4 U
L1 MR-JE-B U
V
L2 V M
W
L3 A W RA3
Electro-
3 Ground magnetic
brake B U
0
DICOM 2
SSCNET (/H) CN1A MBR RA3
RA2
CN1B EM2/1
DOCOM
24VDC
MCCB3 MC2
4 U
L1 MR-JE-B U
V
L2 V M
W
L3 B W RA4
Electro-
3 Ground magnetic
brake B U
1
DICOM 2
CN1A MBR RA4
RA2
CN1B EM2/1
DOCOM
24VDC
MCCB4 MC3
4 U
L1 MR-JE-B U
V
L2 V M
W RA5
L3 C W
Electro-
3 Ground magnetic
brake B U
2
DICOM 2
CN1A MBR RA5
RA2
CN1B EM2/1
DOCOM
24VDC
3 - 47
Chapter 3 Specifications and Functions
(Note-1): When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.
Example) When the control power supply L11/L21 of the servo amplifier B in the figure is shut off, it is also not possible to
communicate with the servo amplifier C .
If only a specific servo amplifier main circuit power supply is shut off, be sure to shut off the main circuit power supply
L1/L2/L3, and do not shut off the control power supply L11/L21.
(Note-2): Be sure to shut off the both of main circuit power supply L1/L2/L3 and control power supply L11/L21 after disconnection of
SSCNET communication by the connect/disconnect function of SSCNET communication at the time of exchange of servo
amplifier. At this time, it is not possible to communicate between the servo amplifier and Simple Motion module. Therefore, be
sure to exchange the servo amplifier after stopping the operating of machine beforehand.
(Note-3): The dynamic brake is operated, and servomotor occurs to the free run when EM1 (forced stop) of servo amplifier turn OFF. At the
time, the display shows the servo forced stop warning (E6.1).
During ordinary operation, do not used forced stop signal to alternate stop and run.
The service life of the servo amplifier may be shortened.
3 - 48
Chapter 4 Installation, Wiring and Maintenance of the Product
The installation, wiring and maintenance of the Simple Motion module are explained
in this chapter.
4-1
Chapter 4 Installation, Wiring and Maintenance of the Product
The outline and procedures for Simple Motion module installation, wiring and
maintenance are shown below.
Start
Module mounting
Refer to Section 4.2 "Installation".
Mount the QD77MS to the base unit.
Wiring
Refer to Section 4.3 "Wiring".
Connect external devices to the QD77MS.
Checking wiring
Check wiring with GX Works2. Refer to Section 4.4 "Confirming the installation and wiring".
Perform parameter
NO
and data setting with
GX Works2?
YES
Parameter setting and auto refresh setting Refer to the "Simple Motion Module Setting Tool Help" of
Perform each setting with GX Works2. GX Works2.
Start operation
End
4-2
Chapter 4 Installation, Wiring and Maintenance of the Product
(1) The part names of the Simple Motion module are shown below.
QD77MS4 QD77MS16
AX1 AX3 AX1 AX3 AX1
AX2 AX4 AX2 AX4 AX2
5) 5) 5)
6) 6) 6)
QD77MS2
7) 7) 7)
4-3
Chapter 4 Installation, Wiring and Maintenance of the Product
(2) The LED display indicates the following operation statuses of the Simple Motion
module and axes.
QD77MS2 QD77MS4 QD77MS16
LED Display
Description
QD77MS2 QD77MS4 QD77MS16
RUN AX1 RUN AX1 RUN AX
AX2 AX2 Hardware failure,
RUN LED is OFF. AX3 watch dog timer error
ERR. ERR. AX4 ERR.
RUN AX1 RUN AX1 RUN AX
RUN LED is ON. AX2 AX2 The module operates
ERR. LED is OFF. AX3 normally.
ERR. ERR. AX4 ERR.
RUN AX1 RUN AX1 RUN AX
AX2 AX2
ERR. LED is ON. AX3 System error
ERR. ERR. AX4 ERR.
AX LED is OFF. RUN AX1 RUN AX1 RUN AX
(In the QD77MS2/QD77MS4, AX2 AX2
AX3
AX LED of the stopping axis, ERR. ERR. AX4 ERR. During axis stop,
standby axis is OFF. In the
during axis standby.
QD77MS16, AX LED is OFF
when all axes are stopping or
standby.)
AX LED is ON. RUN AX1 RUN AX1 RUN AX
(In the QD77MS2/QD77MS4, AX2 AX2
AX3
AX LED of the operating axis ERR. ERR. AX4 ERR. During axis operation.
is steady. In the QD77MS16,
AX LED is steady when any
of the axes is operating.)
ERR. LED is flashing. RUN AX1 RUN AX1 RUN AX
AX is flashing. AX2 AX2
(In the QD77MS2/QD77MS4, ERR. AX3
ERR. AX4 ERR.
AX LED of the axis in which
Axis error
an error occurred is flashing.
In the QD77MS16, AX LED is
flashing when an error occurs
in any of the axes.)
RUN AX1 RUN AX1 RUN AX
AX2 AX2
All LED are ON. AX3 Hardware failure
ERR. ERR. AX4 ERR.
The symbols in the Display column indicate the following LED statuses:
: OFF, : ON, : Flashing
4-4
Chapter 4 Installation, Wiring and Maintenance of the Product
Handle the Simple Motion module and cable while observing the following precautions.
CAUTION
Use the programmable controller in an environment that meets the general specifications in the
manual "Safety Guidelines", the manual supplied with the main base unit.
Using the programmable controller in an environment outside the range could result in electric
shock, fire, operation failure, and damage to or deterioration of the product.
Do not directly touch the module's conductive parts and electronic components. Doing so may
could cause an operation failure or give damage to the module.
Be sure there are no foreign matters such as sawdust or wiring debris inside the module. Such
debris could cause fire, damage, or operation failure.
Never try to disassemble or modify the modules. It may cause product failure, operation failure,
injury or fire.
Completely turn off the externally supplied power used in the system before installation or
removing the module. Not doing so could result in damage to the module.
Because the connector has its orientation, check it before attaching or detaching the connector
straight from the front.
Unless it is properly installed, a poor contact may occur, resulting in erroneous input and output.
4-5
Chapter 4 Installation, Wiring and Maintenance of the Product
(2) Cable
Do not press on the cable with a sharp object.
Do not twist the cable with force.
Do not forcibly pull on the cable.
Do not step on the cable.
Do not place objects on the cable.
Do not damage the cable sheath.
4-6
Chapter 4 Installation, Wiring and Maintenance of the Product
4.2 Installation
The precautions for installing the Simple Motion module are given below. Refer to this
section as well as Section 4.1.3 "Handling precautions" when carrying out the work.
DANGER
Completely turn off the externally supplied power used in the system before installing or
removing the module.
Not doing so could result in electric shocks, an operation failure or damage to the module.
CAUTION
Never try to disassemble or modify the modules. It may cause product failure, operation failure,
injury or fire.
Completely turn off the externally supplied power used in the system before installation or
removing the module.
Not doing so could result in an operation failure or damage to the module.
After the first use of the module, the number of connections/disconnections is limited to 50 times (in
accordance with IEC 61131-2). Exceeding the limit may cause malfunction.
Use the programmable controller in an environment that meets the general specifications in the
manual "Safety Guidelines", the manual supplied with the main base unit.
Using the programmable controller in an environment outside the range could result in electric
shock, fire, operation failure, and damage to or deterioration of the product.
Do not directly touch the module's conductive parts and electronic components. Doing so may could
cause an operation failure or give damage to the module.
While pressing the installation lever located at the bottom of module, insert the module fixing
tab into the fixing hole in the base unit until it stops. Then, securely mount the module with the
fixing hole as a supporting point.
Incorrect loading of the module can cause a malfunction, failure or drop.
When using the module in the environment of much vibration, tighten the module with a screw.
Tighten the screw within the range of the specified tightening torque.
Insufficient tightening may lead to dropping, short-circuit, or malfunctioning.
Excessive tightening may damage the screw or module, leading to dropping, short-circuit, or
malfunctioning.
Lock the control panel and prevent access to those who are not certified to handle or install
electric equipment.
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Chapter 4 Installation, Wiring and Maintenance of the Product
4.3 Wiring
The precautions for wiring the Simple Motion module are given below. Refer to this
section as well as Section 4.1.3 "Handling precautions" when carrying out the work.
DANGER
Completely turn off the externally supplied power used in the system before installation or
wiring. Not doing so could result in electric shock or damage to the product.
CAUTION
Check the layout of the terminals and then properly route the wires to the module.
The external input wiring connector must be crimped or pressured with the tool specified by the
manufacturer, or must be correctly soldered. Insufficient connections may cause short circuit,
fire, or malfunction.
Be careful not to let foreign matter such as sawdust or wire chips get inside the module. These
may cause fires, failure or malfunction.
The top surface of the module is covered with protective films to prevent foreign objects such as
cable off cuts from entering the module when wiring. Do not remove this film until the wiring is
complete. Before operating the system, be sure to remove the film to provide adequate
ventilation.
Securely connect the connector for SSCNET cable to the bottom connector on the module.
When removing the cable from the module, do not pull the cable. Hold the connector that is
connected to the module. Pulling the cable that is still connected to the module may cause
malfunction or damage to the module or cable.
The external input/output signal cable and the communication cable should not be routed near
or bundled with the main circuit cable, power cable and/or other such load - carrying cables
other than those for the PLC. These cables should be separated by at least 100mm (3.94inch)
or more. They can cause electrical interference, surges and inductance that can lead to mis-
operation.
The shielded cable for connecting Simple Motion module can be secured in place. If the
shielded cable is not secured, unevenness or movement of the shielded cable or careless
pulling on it could result in damage to the Simple Motion module, servo amplifier or shielded
cable or defective cable connections could cause mis-operation of the unit.
If the cable connected to the Simple Motion module and the power line must be adjacently laid
(less than 100mm (3.94inch)), use a shielded cable. Ground the shield of the cable securely to
the control panel on the Simple Motion module side. (A wiring example is given on this section
"[1] Precautions for wiring").
4-8
Chapter 4 Installation, Wiring and Maintenance of the Product
CAUTION
Forcibly removal the SSCNET cable from the Simple Motion module will damage the Simple
Motion module and SSCNET cables.
After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector.
Otherwise, adhesion of dirt deteriorates in characteristic and it may cause malfunctions.
Do not remove the SSCNET cable while turning on the power supply of Simple Motion
module and servo amplifier. Do not see directly the light generated from SSCNET connector
and the end of SSCNET cable. When the light gets into eye, may feel something is wrong for
eye. (The light source of SSCNET cable complies with class1 defined in JISC6802 or
IEC60825-1.)
If the SSCNET cable is added a power such as a major shock, lateral pressure, haul, sudden
bending or twist, its inside distorts or breaks, and optical transmission will not be available.
Be sure to take care enough so that the short SSCNET cable is added a twist easily.
Be sure to use the SSCNET cable within the range of operating temperature described in this
manual. Especially, as optical fiber for MR-J3BUS_M and MR-J3BUS_M-A are made of
synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not
make it touched the part which becomes high temperature, such as radiator or regenerative
option of servo amplifier, or servomotor.
When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more.
(Refer to this Section [2] Precautions for SSCNET cable wiring.)
Put the SSCNET cable in the duct or fix the cable at the closest part to the Simple Motion
module with bundle material in order to prevent SSCNET cable from putting its own weight
on SSCNET connector. When laying cable, the optical cord should be given loose slack to
avoid from becoming smaller than the minimum bend radius, and it should not be twisted.
Also, fix and hold it in position with using cushioning such as sponge or rubber which does not
contain plasticizing material.
Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS_M, and MR-J3BUS_M-A
cables away from vinyl tape because the optical characteristic may be affected.
Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-
migrating plasticizer and they do not affect the optical characteristic of SSCNET cable.
However, some wire sheaths and cable ties, which contain migrating plasticizer (phthalate
ester), may affect MR-J3BUS_M and MR-J3BUS_M-A cables (made of plastic).
In addition, MR-J3BUS_M-B cable (made of quartz glass) is not affected by plasticizer.
4-9
Chapter 4 Installation, Wiring and Maintenance of the Product
CAUTION
If the adhesion of solvent and oil to the cord part of SSCNET cable may lower the optical
characteristic and machine characteristic. If it is used such an environment, be sure to do the
protection measures to the cord part.
When keeping the Simple Motion module or servo amplifier, be sure to put on a cap to
connector part so that a dirt should not adhere to the end of SSCNET connector.
SSCNET connector to connect the SSCNET cable is put a cap to protect light device
inside connector from dust. For this reason, do not remove a cap until just before connecting
SSCNET cable. Then, when removing SSCNET cable, make sure to put a cap.
Keep the cap and the tube for protecting light cord end of SSCNET cable in a plastic bag
with a zipper of SSCNET cable to prevent them from becoming dirty.
When exchanging the Simple Motion module or servo amplifier, make sure to put cap on
SSCNET connector. When asking repair of Simple Motion module or servo amplifier for
some troubles, make also sure to put a cap on SSCNET connector. When the connector is
not put a cap, the light device may be damaged at the transit. In this case, exchange and repair
of light device is required.
4 - 10
Chapter 4 Installation, Wiring and Maintenance of the Product
(2) The cable for connecting the Simple Motion module can be placed in the
duct or secured in place by clamps. If the cable is not placed in the duct or
secured by clamps, unevenness or movement of the cable or careless
pulling on it could result in damage to the unit or cable or defective cable
connections could cause mis-operation of the unit.
(3) If a duct is being used, separate the cables to connect the Simple Motion
module from the power line duct, or use metal piping.
Ground the pipes securely after metal piping.
2
(4) Use the twisted pair shielded cable (wire size 0.3 mm or more). The
shielded must be grounded on the Simple Motion module side.
(5) Use separate shielded cables of the forced stop input signal (EMI,
EMI.COM), limit signal (FLS, RLS, DOG, STOP), external command
signal/switching signal (DI, COM), and manual pulse generator/incremental
synchronous encoder input signal (HAH, HAL, HBH, HBL, HA, HB, 5V, SG)
for connecting to the Simple Motion module. They can cause electrical
interference, surges and inductance that can lead to mis-operation.
The following shows a wiring example for noise reduction in the case when the
connector (A6CON1) is used.
Connector
For forced stop Shielded
(A6CON1)
input signal cable
For limit signal,
etc.
4 - 11
Chapter 4 Installation, Wiring and Maintenance of the Product
Grounding of FG wire
Base unit
Panel
4 - 12
Chapter 4 Installation, Wiring and Maintenance of the Product
4 - 13
Chapter 4 Installation, Wiring and Maintenance of the Product
(6) To make this product conform to the EMC directive instruction and Low
Voltage Directives, be sure to use an AD75CK type cable clamp
(manufactured by Mitsubishi Electric) for grounding connected to the control
box and the shielded cable.
Within 30cm
(11.82inch)
AD75CK
Shielded cable
Shield
Ground terminal
Using the AD75CK, you can tie four cables of about 7mm (0.28inch) outside diameter
together for grounding.
(Refer to the "AD75CK-type Cable Clamping Instruction Manual" (IB-68682).)
CAUTION
Do not ground the cable clamp to the top of control panel. Doing so may lead to damage by
damage of screws, etc. during installation or removing the cable clamp.
4 - 14
Chapter 4 Installation, Wiring and Maintenance of the Product
(2) Tension
If tension is added on the SSCNET cable, the increase of transmission
loss occurs because of external force which concentrates on the fixing part
of SSCNET cable or the connecting part of SSCNET connector. At
worst, the breakage of SSCNET cable or damage of SSCNET
connector may occur. For cable laying, handle without putting forced
tension. (Refer to Section Appendix 2.1 "SSCNET cables" for the tension
strength of SSCNET cable.)
4 - 15
Chapter 4 Installation, Wiring and Maintenance of the Product
(4) Twisting
If the SSCNET cable is twisted, it will become the same stress added
condition as when local lateral pressure or bend is added. Consequently,
transmission loss increases, and the breakage of SSCNET cable may
occur at worst.
(5) Disposal
When incinerating optical cable (cord) used for SSCNET cable,
hydrogen fluoride gas or hydrogen chloride gas which is corrosive and
harmful may be generated. For disposal of SSCNET cable, request for
specialized industrial waste disposal services that have incineration facility
for disposing hydrogen fluoride gas or hydrogen chloride gas.
30mm
QD77MS 80mm
(1.18inch)
(3.15inch)
or more(Note-1)
or more
Door
Panel
70mm 98mm
(2.76inch) (3.86inch)
or more
(Note-1): For wiring duct with 50mm (1.97inch) or less height. For other cases, 40mm (1.58inch) or more.
(Note-2): 20mm (0.79inch) or more when the adjacent module is not removed and the extension cable is connected.
4 - 16
Chapter 4 Installation, Wiring and Maintenance of the Product
• Bundle fixing
Optical cord should be given loose slack to avoid from becoming smaller than
the minimum bend radius, and it should not be twisted. When laying cable, fix
and hold it in position with using cushioning such as sponge or rubber which
does not contain plasticizing material.
Panel
Optical cord
Loose slack
Bundle material
Recommended product Cable
NK clamp SP type (NIX, INC.)
4 - 17
Chapter 4 Installation, Wiring and Maintenance of the Product
[3] Example of measure against noise for compliance with the EMC
directive.
PLC CPU Control panel: EC-SCF25-78
Power (Nitto Kogyo Corporation) Power supply wiring
supply QD77MS
Q62P POWER
INPUT
100-240VAC
50/60Hz 105VA
5) 1) 3)
OUTPUT 5VDC 3A/24VDC 0.6A
ERR.
+24V
L
+ -
SSCNET cable 24G
24VDC
0.5A
(FG)
(LG)
N
INPUT
100-240VAC
4) L
2)
AC power
NF 24VDC
supply
2) power supply
5)
5)
(1) Refer to this chapter or "EMC and Low Voltage Directives" of "QCPU User's
Manual (Hardware Design, Maintenance and Inspection)" for basic wire. We
examined QD77MS by the above example.
(2) In wiring inside the panel, the power line connected to the power or servo
amplifier and the communication cable such as an expansion cable or a network
cable must not be mixed. In the duct, leave 10cm (3.94inch) or more between the
power line and the communication cable, and separate using a separator (made
of metal), etc. It is required in the same control panel as well.
Mixing the power line and communication cable may cause increase of noise or
malfunction due to noise influence.
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Chapter 4 Installation, Wiring and Maintenance of the Product
Check the following points when completed with the installation of Simple Motion
module and wiring.
Is the module correctly wired?
The following four points are confirmed using the positioning test function of
GX Works2.
With this function, "whether the direction that the Simple Motion module recognizes as
forward run matches the address increment direction in the actual positioning work",
and "whether the Simple Motion module recognizes the external input signals such as
the manual pulse generator and forced stop", etc., can be checked.
Are the Simple Motion module and servo amplifier correctly connected?
Are the servo amplifier and servomotor correctly connected?
Are the Simple Motion module and external devices (input signals) correctly
connected?
Are the servo amplifier and external wiring (FLS, RLS, and DOG) correctly
connected?
Refer to the "Simple Motion Module Setting Tool Help" of GX Works2 for details of
"Positioning test function".
Note that the monitor data of the "[Md.30] External input signal" in the GX Works2 may
also be used to "confirm the connection between the Simple Motion module and
external devices (input signals)".
Important
If the Simple Motion module is faulty, or when the required signals such as the near-point dog signal
and forced stop signal are not recognized, unexpected accidents such as "not decelerating at the near-
point dog during machine OPR and colliding with the stopper", or "not being able to stop with the forced
stop signal" may occur. Execute a checking wiring of external input signal. The connection confirmation
by positioning test function must be carried out not only when structuring the positioning system, but
also when the system has been changed with module replacement or rewiring, etc.
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Chapter 4 Installation, Wiring and Maintenance of the Product
4.5 Maintenance
The precautions for servicing the Simple Motion module are given below. Refer to this
section as well as Section 4.1.3 "Handling precautions" when carrying out the work.
DANGER
Completely turn off the externally supplied power used in the system before clearing or
tightening the connector screws.
Not doing so could result in electric shocks.
CAUTION
Never try to disassemble or modify the modules.
It may cause product failure, operation failure, injury or fires.
Completely turn off the externally supplied power used in the system before installation or
removing the module.
Not doing so could result in electric shock, damage to the module or operation failure.
When you discard a Simple Motion module, a servo amplifier, a battery (primary
battery) and other option articles, please follow the law of each country (area).
CAUTION
This product is not designed or manufactured to be used in equipment or systems in situations
that can affect or endanger human life.
When considering this product for operation in special applications such as machinery or
systems used in passenger transportation, medical, aerospace, atomic power, electric power,
or submarine repeating applications, please contact your nearest Mitsubishi sales
representative.
Although this product was manufactured under conditions of strict quality control, you are
strongly advised to install safety devices to forestall serious accidents when it is used in facilities
where a breakdown in the product is likely to cause a serious accident.
4 - 20
Chapter 5 Data Used for Positioning Control
The parameters and data used to carry out positioning control with the Simple Motion 5
module are explained in this chapter.
With the positioning system using the Simple Motion module, the various parameters and
data explained in this chapter are used for control. The parameters and data include
parameters set according to the device configuration, such as the system configuration,
and parameters and data set according to each control. Read this section thoroughly and
make settings according to each control or application.
: Refer to "Section 2" for details on each control.
5-1
Chapter 5 Data Used for Positioning Control
The parameters and data required to carry out control with the Simple Motion module
include the "setting data", "monitor data" and "control data" shown below.
Setting data
(Data set beforehand according to the machine and application, and stored in the flash ROM or internal memory (nonvolatile).)
Positioning
Parameters Basic parameters 1
parameters Set according to the machine and applicable
motor when the system is started up.
Basic parameters 2
Note)
If the setting of the basic parameters 1 is incorrect, the rotation direction
may be reversed, or no operation may take place.
Detailed parameters 1
Set according to the system configuration when
the system is started up.
Detailed parameters 2
Note)
Detailed parameters 2 are data items for using the functions of Simple
Motion module to the fullest. Set as required.
OPR
OPR basic parameters
parameters Set the values required for
carrying out OPR control.
OPR detailed parameters
Expansion
Set according to the system configuration when the system is started up.
parameters
Servo
Servo series Set the data that is determined
parameters
by the specification of the servo
Servo amplifier parameters being used when the system
(PA, PB, PC, PD, PE, PS, PF, Po, PL) is started up.
Positioning data Positioning data Set the data for "major positioning control".
Block start data Block start data Set the block start data for "high-level positioning control".
Condition data Set the condition data for "high-level positioning control".
5-2
Chapter 5 Data Used for Positioning Control
5-3
Chapter 5 Data Used for Positioning Control
Monitor data (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.)
System monitor data Monitors the specifications and the operation history of Simple Motion module.
Monitors the data related to the operating axis, such as the current position
Axis monitor data
and speed.
Makes settings related to the operation, and controls the speed change
Axis control data
during operation, and stops/restarts the operation for each axis.
Output signals (axis stop signal, JOG start signal and execution
Expansion axis control data
prohibition flag) from PLC CPU to Simple Motion module.
Control using the control data is carried out with the sequence program.
"[Cd.41] Deceleration start flag valid" is valid for only the value at the time when the
PLC READY signal [Y0] turns from OFF to ON.
POINT
(1) The "setting data" is created for each axis.
(2) The "setting data" parameters have determined default values, and are set to
the default values before shipment from the factory. (Parameters related to
axes that are not used are left at the default value.)
(3) The "setting data" can be initialized with GX Works2 or the sequence program.
(4) It is recommended to set the "setting data" with GX Works2. The sequence
program for data setting is complicated and many devices must be used. This
will increase the scan time.
5-4
Chapter 5 Data Used for Positioning Control
The table below lists items set to the positioning parameters. The "positioning
parameters" are set for each axis for all controls achieved by the Simple Motion
module.
For details of controls, refer to "Section 2". For details of setting items, refer to Section
5.2 "List of parameters".
Control Expansion
Major positioning control Manual control
control
Position control Other control
Speed-torque control
Inching operation
LOOP to LEND
JOG operation
OPR control
Positioning parameter
: Always set
: Set as required ("–" when not required)
: Setting not possible
: Setting restricted
– : Setting not required (The setting value is invalid. When the value is the default value or within the setting range, there is no problem.)
5-5
Chapter 5 Data Used for Positioning Control
Control Expansion
Major positioning control Manual control
control
Position control Other control
Speed-torque control
Inching operation
LOOP to LEND
JOG operation
OPR control
Positioning parameter
[Pr.25] Acceleration time 1 – – – – –
[Pr.26] Acceleration time 2 – – – – –
[Pr.27] Acceleration time 3 – – – – –
13.7.6
[Pr.28] Deceleration time 1 – – – – –
[Pr.29] Deceleration time 2 – – – – –
[Pr.30] Deceleration time 3 – – – – –
[Pr.31] JOG speed limit value – – – – – – – – – – 13.4.1
[Pr.32] JOG operation acceleration time selection – – – – – – – – – – – –
[Pr.33] JOG operation deceleration time selection – – – – – – – – – – – –
[Pr.34] Acceleration/deceleration process selection – – – – –
[Pr.35] S-curve ratio – – – – – 13.7. 6
Detailed parameters 2
: Always set
: Set as required ("–" when not required)
– : Setting not required (The setting value is invalid. When the value is the default value or within the setting range, there is no problem.)
REMARK
"High-level positioning control" is carried out in combination with the "major
positioning control".
Refer to the "major positioning control" parameter settings for details on the
parameters required for "high-level positioning control".
5-6
Chapter 5 Data Used for Positioning Control
When carrying out "OPR control", the "OPR parameters" must be set. The setting
items for the "OPR parameters" are shown below.
The "OPR parameters" are set for each axis.
Refer to Chapter 8 "OPR control" for details on the "OPR control", and refer to Section
5.2 "List of parameters" for details on each setting item.
OPR control Fast
Machine OPR control
OPR parameters OPR control
detection method
Count method 2)
[Pr.45] OP address
Preset parameters
[Pr.56] Speed designation during OP shift S S S – S
are used for
machine OPR
[Pr.57] Dwell time during OPR retry R R R – –
control.
: Always set
: Set as required
– : Setting not required (The setting value is invalid. When the value is the default value or within the setting range,
there is no problem.)
R : Set when using the "13.2.1 OPR retry function" ("–" when not set)
S : Set when using the "13.2.2 OP shift function" ("–" when not set)
5-7
Chapter 5 Data Used for Positioning Control
The setting items for the "expansion parameters" are shown below. The "expansion
parameters" are set for each axis.
Refer to "Section 2" for details on the each control, and refer to Section 5.2 "List of
parameters" for details on each setting item.
The servo parameters are used to control the servo motor and the data that is
determined by the specification of the servo amplifier being used.
The setting item is different depending on the servo amplifier being used.
Refer to Section 5.2.8 "Servo parameters" for details.
5-8
Chapter 5 Data Used for Positioning Control
Positioning data must be set for carrying out any "major positioning control". The table
below lists the items to be set for producing the positioning data.
One to 600 positioning data items can be set for each axis.
For details of the major positioning controls, refer to Chapter 9 "Major Positioning
Control". For details of the individual setting items, refer to Section 5.3 "List of
positioning data".
Major positioning control Position control Other control
Speed-position switching
Position-speed switching
1 to 4 axis speed control
1-axis fixed-feed control
interpolation control
1-axis linear control
JUMP instruction
2/3/4-axis linear
NOP instruction
2-axis circular
control
control
control
LOOP
LEND
Positioning data
Independent
positioning
control – – – –
(Positioning
Operation complete)
[Da.1]
pattern Continuous
positioning – – – –
control
Continuous path
– – – –
control
Forward
run speed 1
Reverse run
speed 1
Fixed- Forward Forward Forward
Circular
feed 1 run speed 2 run run
Linear 1 sub
Fixed- Reverse run speed/ position/
Linear 2 Circular Current
feed 2 speed 2 position speed JUMP
[Da.2] Control system Linear 3 right NOP value LOOP LEND
Fixed- Forward Reverse Reverse instruction
Linear 4 Circular changing
feed 3 run speed 3 run run
left Reverse run
Fixed- speed/ position/
feed 4 speed 3 position speed
Forward
run speed 4
Reverse run
speed 4
[Da.3] Acceleration time No. – – – – –
[Da.4] Deceleration time No. – – – – –
Axis to be interpolated
[Da.5] QD77MS2 QD77MS4
: 2 axes –: 1 axis, 3 axes, 4 axes – – – – – – –
Positioning address/ New
[Da.6] – – – – –
movement amount address
[Da.7] Arc address – – – – – – – – – –
[Da.8] Command speed – – – – –
JUMP
Dwell time/JUMP destination destination
[Da.9] – – – – –
positioning data No. positioning
data No.
Number of
M code/Condition data JUMP
LOOP to
[Da.10] No./Number of LOOP to – condition
LEND
–
LEND repetitions data No. repetitions
: Always set
: Set as required ("–" when not required)
: Setting not possible (If set, the error "Continuous path control not possible" (error code: 516) will occur at start.)
– : Setting not required
(The setting value is invalid. When the value is the default value or within the setting range, there is no problem.)
: Two control systems are available: the absolute (ABS) system and incremental (INC) system.
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Chapter 5 Data Used for Positioning Control
Speed-position switching
Position-speed switching
1 to 4 axis speed control
1-axis fixed-feed control
interpolation control
1-axis linear control
JUMP instruction
2/3/4-axis linear
NOP instruction
2-axis circular
control
control
control
LOOP
LEND
Positioning data
Axis to be interpolated 1
[Da.20] QD77MS16
: 2 axes, 3 axes, 4 axes –: 1 axis – – – – – – –
Axis to be interpolated 2
[Da.21] QD77MS16
: 3 axes, 4 axes –: 1 axis, 2 axes – – – – – – –
Axis to be interpolated 3
[Da.22] QD77MS16
: 4 axes –: 1 axis, 2 axes, 3 axes – – – – – – –
: Always set
: Set as required ("–" when not required)
: Setting not possible (If set, the error "Continuous path control not possible" (error code: 516) will occur at start.)
– : Setting not required
(The setting value is invalid. When the value is the default value or within the setting range, there is no problem.)
: Two control systems are available: the absolute (ABS) system and incremental (INC) system.
5 - 10
Chapter 5 Data Used for Positioning Control
The "block start data" must be set when carrying out "high-level positioning control".
The setting items for the "block start data" are shown below.
Up to 50 points of "block start data" can be set for each axis.
Refer to Chapter 10 "High-Level Positioning Control" for details on the "high-level
positioning control", and to Section 5.4 "List of block start data" for details on each
setting item.
[Da.14] Parameter –
5 - 11
Chapter 5 Data Used for Positioning Control
When carrying out "high-level positioning control" or using the JUMP instruction in the
"major positioning control", the "condition data" must be set as required. The setting
items for the "condition data" are shown below.
Up to 10 "condition data" items can be set for each axis.
Refer to Chapter 10 "High-Level Positioning Control" for details on the "high-level
positioning control", and to Section 5.5 "List of condition data" for details on each
setting item.
[Da.17] Address – – – –
[Da.18] Parameter 1 – – –
[Da.19] Parameter 2 – – –
Number of
simultaneously
[Da.23] starting axes – – – – – – –
QD77MS16
Simultaneously
[Da.24] starting axis No.1 – – – – – – –
QD77MS16
Simultaneously
[Da.25] starting axis No.2 – – – – – – –
QD77MS16
Simultaneously
[Da.26] starting axis No.3 – – – – – – –
QD77MS16
5 - 12
Chapter 5 Data Used for Positioning Control
The monitor data area in the buffer memory stores data relating to the operating state
of the positioning system, which are monitored as required while the positioning
system is operating.
The following data are available for monitoring.
System monitoring:
Monitoring of the specification and operation history of Simple Motion module
(system monitor data [Md.1] to [Md.19], [Md.50] to [Md.59], [Md.61], [Md.130] to
[Md.135])
5 - 13
Chapter 5 Data Used for Positioning Control
5 - 14
Chapter 5 Data Used for Positioning Control
5 - 15
Chapter 5 Data Used for Positioning Control
5 - 16
Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
Set start point No. for executing block start. [Cd.4] Positioning starting point No.
Interrupt request during continuous
Stop continuous control. [Cd.18]
operation
Set number of simultaneous starting axes and target axis. [Cd.43] Simultaneous starting axis QD77MS16
Specify write destination for teaching results. [Cd.38] Teaching data selection
Specify data to be taught. [Cd.39] Teaching positioning data No.
Set the status of the external input signal (upper/lower limit switch
[Cd.44] External input signal operation device
signal, near-point dog signal, stop signal).
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
The setting items of the positioning parameter, OPR parameter or servo parameter are
explained in this section.
• Guide to buffer memory address
In the buffer memory address, "n" in "1+150n", etc. indicates a value corresponding
to axis No. such as the following table.
Axis No. n Axis No. n Axis No. n Axis No. n
1 0 5 4 9 8 13 12
2 1 6 5 10 9 14 13
3 2 7 6 11 10 15 14
4 3 8 7 12 11 16 15
(Note-1): Calculate as follows for the buffer memory address corresponding to each axis.
(Example) For axis No. 16
1+150n ([Pr.4] Unit magnification (AM))=1+150 15=2251
(Note-2): The range from axis No.1 to 2 (n=0 to 1) is valid in the QD77MS2.
(Note-3): The range from axis No.1 to 4 (n=0 to 3) is valid in the QD77MS4.
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
: When positioning has been performed, an error (mechanical system error) may
be produced between the specified movement amount and the actual
movement amount. (Refer to Section 13.3.2 "Electronic gear function".)
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Chapter 5 Data Used for Positioning Control
POINT
(1) Set the electronic gear within the following range.
If the value outside the setting range is set, the error "Outside electronic gear
setting range" (error code: 907) will occur.
(2) The result of below calculation (round up after decimal point) is a minimum
pulse when the current feed value is updated at follow-up processing. (The
movement amount for droop pulse is reflected as the current feed value when
the droop pulse becomes more than above calculated value in pulse unit of
motor end.)
Number of pulses per rotation (AP) (Movement amount per rotation (AL) Unit
magnification (AM) 3375)[PLS]
Refer to Section 13.8.2 for the follow-up processing.
(Example)
• When an error does not occur
In the case of AP = 4194304 [PLS], AL = 2000000 [ 10-5 degree], and AM = 1,
the value is within the range as follows.
AP 4194304
Electronic gear =
AL AM = 2000000 1 = 2.097152
• When an error occurs
In the case of AP = 4194304 [PLS], AL = 10 [ 10-1 μm], and AM = 1, the value is
out of the range as follows.
AP 4194304
Electronic gear =
AL AM = 10 1 = 419430.4
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Chapter 5 Data Used for Positioning Control
[Pr.3] Movement amount per rotation (AL), [Pr.4] Unit magnification (AM)
The amount how the workpiece moves with one motor rotation is determined by
the mechanical structure.
If the worm gear lead ( m/rev) is PB and the deceleration rate is 1/n, then
Movement amount per rotation (AL) = PB 1/n
However, the maximum value that can be set for this "movement amount per
rotation (AL)" parameter is 20000000.0 m (20m). Set the "movement amount per
rotation (AL)" as shown below so that the "movement amount per rotation (AL)"
does not exceed this maximum value.
Movement amount per rotation (AL)
= PB 1/n
= Movement amount per rotation (AL) Unit magnification (AM)
Note) The unit magnification (AM) is a value of 1, 10, 100 or 1000. If the "PB
1/n" value exceeds 20000000.0 m (20m), adjust with the unit magnification
so that the "movement amount per rotation (AL)" does not exceed
20000000.0 m (20m).
1: Refer to Section 13.3.2 "Electronic gear function" information about electric
gear.
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Chapter 5 Data Used for Positioning Control
Set the value that the bias speed should not exceed "[Pr.8] Speed limit value".
[Pr.1] setting value Value set with GX Works2 (unit) Value set with sequence program (unit)
0 : mm 0.00 to 20000000.00 (mm/min) 0 to 2000000000 ( 10-2mm/min)
1 : inch 0.000 to 2000000.000 (inch/min) 0 to 2000000000 ( 10-3inch/min)
2 : degree 0.000 to 2000000.000 (degree/min) 1 0 to 2000000000 ( 10-3degree/min) 2
3 : PLS 0 to 1000000000 (PLS/s) 0 to 1000000000 (PLS/s)
1: Range of speed limit value when "[Pr.83] Speed control 10 x multiplier setting for degree axis"
is set to valid: 0.00 to 20000000.00 (degree/min)
2: Range of speed limit value when "[Pr.83] Speed control 10 x multiplier setting for degree axis"
is set to valid: 0 to 2000000000 ( 10-2degree/min)
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Chapter 5 Data Used for Positioning Control
POINT
For the 2-axis or more interpolation control, the bias speed at start is applied by the
setting of "[Pr.20] Interpolation speed designation method".
"0: Composite speed" : Bias speed at start set to the reference axis is applied
to the composite command speed.
"1: Reference axis speed": Bias speed at start is applied to the reference axis.
(c) In synchronous control, when "[Pr.7] Bias speed at start" is set to the
servo input axis, the bias speed at start is applied to the servo input axis.
Note that the unexpected operation might be generated to the output axis.
(d) Set "[Pr.7] Bias speed at start" within the following range.
"[Pr.8] Speed limit value" >= "[Pr.46] OPR speed" >= "[Pr.47] Creep speed" >= "[Pr.7] Bias speed at start"
(e) If following data are less than "[Pr.7] Bias speed at start", the warning
"Below bias speed" (warning code: 114) will occur, and it will operate at
"[Pr.7] Bias speed at start".
"[Da.8] Command speed" of positioning data
"[Da.8] Command speed" of next point for continuous path control
"[Cd.14] New speed value" for speed change function
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Chapter 5 Data Used for Positioning Control
[Pr.1] setting value Value set with GX Works2 (unit) Value set with sequence program (unit)
0 : mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 (×10-2mm/min)
1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 (×10-3inch/min)
2 : degree 0.001 to 2000000.000 (degree/min) 1 1 to 2000000000 (×10-3degree/min) 2
3 : PLS 1 to 1000000000 (PLS/s) 1 to 1000000000 (PLS/s)
1: Range of speed limit value when "[Pr.83] Speed control 10 x multiplier setting for degree axis" is
set to valid: 0.01 to 20000000.00 (degree/min).
2: Range of speed limit value when "[Pr.83] Speed control 10 x multiplier setting for degree axis" is
-2
set to valid: 1 to 2000000000 ( 10 degree/min)
Time
Actual
acceleration Actual deceleration time
Pr.9 time Pr.10 Deceleration time 0
Acceleration time 0
1) If the positioning speed is set lower than the parameter-defined speed limit
value, the actual acceleration/deceleration time will be relatively short. Thus, set
the maximum positioning speed equal to or only a little lower than the
parameter-defined speed limit value.
2) These settings are valid for OPR, positioning and JOG operations.
3) When the positioning involves interpolation, the acceleration/deceleration time
defined for the reference axis is valid.
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
Workpiece
(moving body)
Worm gear
Backlash
(compensation amount)
1) The backlash compensation is valid after machine OPR. Thus, if the backlash
compensation amount is set or changed, always carry out machine OPR once.
2) "[Pr.2] Number of pulses per rotation", "[Pr.3] Movement amount per rotation",
"[Pr.4] Unit magnification" and "[Pr.11] Backlash compensation amount" which
satisfies the following (1) can be set up.
• Product information is before 141220000000000.
([Pr.11] Backlash compensation amount) ([Pr.2] Number of pulses per rotation)
0 ( = A) 65535 (PLS) ….(1)
([Pr.3] Movement amount per rotation) ([Pr.4] Unit magnification)
(round down after decimal point)
• Product information is 141220000000000 or later.
([Pr.11] Backlash compensation amount) ([Pr.2] Number of pulses per rotation)
0 ( = A) 4194303 (PLS) ….(1)
([Pr.3] Movement amount per rotation) ([Pr.4] Unit magnification)
(round down after decimal point)
The error "Backlash compensation amount error" (error code: 920) occurs
when the setting is outside the range of the calculation result of (1).
A servo alarm (error code: 2031, 2035, etc.) may occur by kinds of servo
amplifier (servomotor), load inertia moment and the amount of command of a
cycle time (Simple Motion module) even if the setting is within the calculation
result of (1).
(Maximum motor speed (r/min) ) 1.2 (Encoder resolution (PLS/r) ) (Operation cycle (ms))
A (PLS) ....(2)
60(s) 1000 (ms)
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Chapter 5 Data Used for Positioning Control
[Pr.1] Value set with GX Works2 Value set with sequence program
setting value (unit) (unit)
0 : mm 0 to 6553.5 (m) 0 to 65535 ( 10-1m)
1 : inch 0 to 0.65535 (inch) 0 to 65535 ( 10-5inch)
2 : degree 0 to 0.65535 (degree) 0 to 65535 ( 10-5degree)
3 : PLS 0 to 65535 (PLS) 0 to 65535 (PLS)
1) Generally, the OP is set at the lower limit or upper limit of the stroke limit.
2) By setting the upper limit value or lower limit value of the software stroke limit,
overrun can be prevented in the software. However, an emergency stop limit
switch must be installed nearby outside the range.
To invalidate the software stroke limit, set the setting value to "upper limit
value = lower limit value". (If it is within the setting range, the setting value can
be anything.)
When the unit is "degree", the software stroke limit check is invalid during
speed control (including the speed control in speed-position and position-
speed switching control) or during manual control.
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Chapter 5 Data Used for Positioning Control
Velocity
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Chapter 5 Data Used for Positioning Control
Positioning
Positioning
(Note): Refer to Section 3.3 for input/output signal of QD77MS16 and Chapter 5 for buffer memory address.
Note: If AFTER mode is used with speed control, an M code will not be output and the M code ON signal will not be turned
ON.
An M code is a number between 0 and 65535 that can be assigned to each positioning
data ([Da.10]).
The sequence program can be coded to read an M code from the buffer memory
address specified by "[Md.25] Valid M code" whenever the M code ON signal turns ON
so that a command for the sub work (e.g. clamping, drilling, or tool change) associated
with the M code can be issued.
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Chapter 5 Data Used for Positioning Control
t t
n: Positioning
data No. n n+1 n n+1
Y axis Y axis
Note: Always specify the reference axis speed if the 4-axis linear interpolation or 2 to 4 axis
speed control has to be performed.
If you specify the composite speed for a positioning operation that involves the 4-axis
linear interpolation or 2 to 4 axis speed control, the error "Interpolation mode error"
(error code: 523) will occur when the positioning operation is attempted.
For a positioning operation that involves the circular interpolation, specify the composite
speed always.
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Chapter 5 Data Used for Positioning Control
POINT
(1) When "2: Buffer memory of QD77MS" is set, operation is affected by the PLC
scan time.
(2) When "3" to "6" is set in the QD77MS2/QD77MS4, the error "External signal
selection error" (error code: 936) occurs at turning the PLC READY signal [Y0]
ON, and the READY signal [X0] is not turned ON. Set "0" to use the external
input signal of QD77MS2/QD77MS4.
(3) When "0" is set in the QD77MS16, the error "External signal selection error"
(error code: 936) occurs at turning the PLC READY signal [Y0] ON, and the
READY signal [X0] is not turned ON. Set "3" to "6" to use the external input
signal of QD77MS16.
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Chapter 5 Data Used for Positioning Control
Positioning Positioning
+1 +1+1+1+1+1+1+1 -1 -1 -1 -1 -1 -1 -1 -1 +1 +1+1+1+1+1+1+1 -1 -1 -1 -1 -1 -1 -1 -1
address address
Positioning Positioning
+1 +1 +1 +1 -1 -1 -1 -1 +1 +1 +1 +1 -1 -1 -1 -1
address address
Positioning Positioning
+1 +1 -1 -1 +1 +1 -1 -1
address address
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Chapter 5 Data Used for Positioning Control
(2) PLS/SIGN
[Pr.22] Input signal logic selection
Positive logic Negative logic
Forward run and reverse run are controlled with the ON/OFF Forward run and reverse run are controlled with the ON/OFF
of the direction sign (SIGN). of the direction sign (SIGN).
• The motor will forward run when the direction sign is HIGH. • The motor will forward run when the direction sign is LOW.
• The motor will reverse run when the direction sign is LOW. • The motor will reverse run when the direction sign is HIGH.
PLS PLS
SIGN SIGN
Forward Reverse Forward Reverse
run run run run
Move in + Move in - Move in + Move in -
direction direction direction direction
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Chapter 5 Data Used for Positioning Control
0: Switching
conditions valid (for
b12 to switching control
b15 mode)
1: Zero speed ON
condition invalid
(for switching
control mode)
0: Not used 0
[Pr.95] 1: DI1 1
External command signal
2: DI2 2 0 69+150n
selection
QD77MS16
3: DI3 3
4: DI4 4
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
Velocity Velocity
The acceleration and deceleration The acceleration and deceleration
are linear. follow a Sin curve.
Time Time
(Example)
V
A
Positioning
B speed
B/2 B/2
t
When S-curve ratio is 100%
V
Positioning
speed
b b/a = 0.7
Sin curve
a
t
S-curve ratio = B/A 100%
When S-curve ratio is 70%
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Chapter 5 Data Used for Positioning Control
Da.8
Command
speed
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Chapter 5 Data Used for Positioning Control
Positioning
Positioning
complete signal
[X14, X15, X16, X17]
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Chapter 5 Data Used for Positioning Control
1: With circular interpolation control using the center point designation, the arc
path calculated with the start point address and center point address and the
end point address may deviate.
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Chapter 5 Data Used for Positioning Control
POINT
To enable the external command signal, set the "[Cd.8] External command valid" to
"1".
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Chapter 5 Data Used for Positioning Control
Axis operation
Operation Servo OFF Stop/Wait
status
Restart invalid
Last command position Servo ON Restart valid
Restart invalid
Stop command Servo ON Restart valid
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Chapter 5 Data Used for Positioning Control
[Setting example]
A program to set the restart allowable range for axis 1 to 10000 PLS is
shown below.
Restart allowable range (10000 PLS)
DMOVP K10000 D0
is stored in D0, D1.
(b) The restart at switching servo OFF to ON is valid only at switching servo
OFF to ON at the first time. At the second time or later, the setting for
restart allowable range when switching servo OFF to ON is disregarded.
(c) Execute servo OFF when the mechanical system is in complete stop
state. The restart at switching servo OFF to ON cannot be applied to a
system in which the mechanical system is operated by external pressure
or other force during servo OFF.
(d) Restart can be executed only while the axis operation status is "stop".
Restart cannot be executed when the axis operation status is other than
"stop".
(e) When the PLC READY signal is switched from OFF to ON during servo
OFF, restart cannot be executed.
If restart is requested, the warning "Restart not possible" (warning code:
104) occurs.
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Chapter 5 Data Used for Positioning Control
(g) Restart can also be executed while the positioning start signal is ON.
However, do not set the positioning start signal from OFF to ON during a
stop.
If the positioning start signal is switched from OFF to ON, positioning is
performed from the positioning data number set in "[Cd.3] Positioning
start No." or from the positioning data number of the specified point.
Restart operation
Stop position at
servo OFF Last command (Present value at servo ON)
Emergency stop input
position Stop position at servo OFF
(Last command position)
Movement during
Output at once
servo OFF
at restart
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Chapter 5 Data Used for Positioning Control
Note) The "Operation setting for speed-torque control mode" is included in detailed
parameters 2, but it will be valid at the rising edge (OFF to ON) of the PLC
READY signal [Y0].
POINT
Set normally "0". Set "1" to shift to torque control without waiting for stop of servo
motor immediately after positioning completion.
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Chapter 5 Data Used for Positioning Control
POINT
Same external command signal can be used in the multiple axes.
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Chapter 5 Data Used for Positioning Control
Note) Refer to Section 8.2 "Machine OPR" for details on the OPR methods.
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Chapter 5 Data Used for Positioning Control
4 : Count method 1)
(4) After the near-point dog turns ON and the movement (3) (4)
the zero point of the encoder must be passed at least First zero signal after moving the
once before point A is reached. Zero signal
movement amount after near-
point dog ON
However, if selecting "1: Not need to pass servo motor Z-
phase after power on" with "Function selection C-4
(PC17)", it is possible to carry out the home position
return (OPR) without passing the zero point.
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Chapter 5 Data Used for Positioning Control
5 : Count method 2)
The position where the machine OPR has been made will be the OP.
(Perform after the servo amplifier has been turned ON and the servomotor has been rotated at least once using the
JOG or similar operation. However, if selecting "1: Not need to pass servo motor Z-phase after power on" with
"Function selection C-4 (PC17)", it is possible to carry out the home position return (OPR) without passing the zero
point.)
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Chapter 5 Data Used for Positioning Control
[Pr.45] OP address
Set the address used as the reference point for positioning control (ABS system).
(When the machine OPR is completed, the stop position address is changed to the
address set in "[Pr.45] OP address". At the same time, the "[Pr.45] OP address" is
stored in "[Md.20] Current feed value" and "[Md.21] Machine feed value".)
Value set with GX Works2 Value set with sequence program
[Pr.1] setting value
(unit) (unit)
0 : mm -214748364.8 to 214748364.7 (m) -2147483648 to 2147483647 ( 10-1m)
1 : inch -21474.83648 to 21474.83647 (inch) -2147483648 to 2147483647 ( 10-5inch)
2 : degree 0 to 359.99999 (degree) 0 to 35999999 ( 10-5degree)
3 : PLS -2147483648 to 2147483647 (PLS) -2147483648 to 2147483647 (PLS)
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Chapter 5 Data Used for Positioning Control
Machine OPR
start Pr.47 Creep speed
ON
Near-point
dog signal OFF
Zero signal
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Chapter 5 Data Used for Positioning Control
1) 2)
5)
6)
Start position
4)
3)
Zero signal
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Chapter 5 Data Used for Positioning Control
Example of setting for " Pr. 50 Setting for the movement amount after near-point dog ON"
Assuming that the " Pr. 8 Speed limit value" is set to 200 kPLS/s, " Pr. 46 OPR speed" to 10 kPLS/s,
" Pr. 47 Creep speed" to 1 kPLS/s, and deceleration time to 300 ms, the minimum value of " Pr. 50 Setting for the movement
amount after near-point dog ON" is calculated as follows:
1 Vz
[OPR operation] [Deceleration distance] = 2 t + 0.01 Vz
1000
Movement amount for
Pr.8 Speed limit value: Vp=200 kPLS/s
10ms at OPR speed.
Vz Tb Vz
= + 0.01 Vz
2000 Vp
3 3
Pr.46 OPR speed: 10 10 300 10 10 3
= + 0.01 10 10
Vz=10 kPLS/s 2000 200 10 3
= 75 + 100
= 175
Vz t
Actual deceleration time: t = Tb
Vp
Deceleration time: Tb=300 ms
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Chapter 5 Data Used for Positioning Control
Shift point
Start point Shift point
Zero signal
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Chapter 5 Data Used for Positioning Control
(1) When OPR request flag is ON, selecting "0: Positioning control is not
executed" will result in the error "Start at OPR incomplete" (error code: 547),
and positioning control will not be performed. At this time, operation with the
manual control (JOG operation, inching operation, manual pulse generator
operation) is available.
The positioning control can be executed even if the OPR request flag is ON
when selecting "1: Positioning control is executed".
(2) The following shows whether the positioning control is possible to start/restart
or not when selecting "0: Positioning control is not executed".
(a) Start possible
Machine OPR, JOG operation, inching operation, manual pulse
generator operation, and current value changing using current value
changing start No. (9003)
(3) When OPR request flag is ON, starting Fast OPR will result in the error "OPR
request ON" (error code: 207) despite the setting value of "Operation setting
for incompletion of OPR", and Fast OPR will not be executed.
CAUTION
Do not execute the positioning control in home position return request signal ON for the axis
which uses in the positioning control.
Failure to observe this could lead to an accident such as a collision.
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Chapter 5 Data Used for Positioning Control
6)
Start position
4)
3)
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
[Pr.91] Optional data monitor: Data type setting 1 to [Pr.94] Optional data
monitor: Data type setting 4
Set the data type monitored in optional data monitor function.
Setting value Data type Used point
(Note-1)
0 No setting
1 Effective load ratio
2 Regenerative load factor
3 Peak load ratio
4 Load inertia moment ratio
Model loop gain
5 (Note-2)
Position loop gain
6 Bus voltage
7 Servo motor rotation speed
1 word
8 Encoder multiple revolution counter
9 Module power consumption
10 Instantaneous torque
12 Servomotor thermistor temperature
13 Equivalent disturbance torque
14 Overload alarm margin
15 Error excessive alarm margin
16 Settling time
17 Overshoot amount
20 Position feedback
21 Encoder single revolution position
22 Selection droop pulse
23 Module integral power consumption
24 Load side encoder information 1 2 words
25 Load side encoder information 2
26 Z-phase counter
27 Servomotor-side/load-side position deviation
28 Servomotor-side/load-side speed deviation
29 Encoder counter
(Note-1): The stored value of "[Md.109] Regenerative load ratio/Optional data monitor
output 1" to "[Md.112] Optional data monitor output 4" is different every data
type setting 1 to 4. (Refer to Section 5.6.2)
(Note-2): The name differs by MR-J4(W)-B/MR-JE-B/MR-J3(W)-B or VCII series/
FR-A700 series.
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Chapter 5 Data Used for Positioning Control
POINT
(1) The monitor address of optional data monitor is registered to servo amplifier with
initialized communication after power supply ON or PLC CPU reset.
(2) Set the data type of "used point: 2 words" in "[Pr.91] Optional data monitor: Data
type setting 1" or "[Pr.93] Optional data monitor: Data type setting 3". If it is set
in "[Pr.92] Optional data monitor: Data type setting 2" or "[Pr.94] Optional data
monitor: Data type setting 4", the warning "Optional data monitor data type
setting error" (warning code: 116) will occur with initialized communication to
servo amplifier and "0" will be stored in [Md.109] to [Md.112].
(3) Set "0" in "[Pr.92] Optional data monitor: Data type setting 2" when the data type
of "used point: 2 words" is set in "[Pr.91] Optional data monitor: Data type
setting 1", and set "0" in "[Pr.94] Optional data monitor: Data type setting 4"
when the data type of "used point: 2 words" is set in "[Pr.93] Optional data
monitor: Data type setting 3". When setting other than "0", the warning "Optional
data monitor data type setting error" (warning code: 116) will occur with
initialized communication to servo amplifier and "0" will be stored in [Md.109] to
[Md.112].
(4) When the data type of "used point: 2 words" is set, the monitor data of low-order
is "[Md.109] Regenerative load ratio/Optional data monitor output 1" or
"[Md.111] Peak torque ratio/Optional data monitor output 3".
(5) Refer to Section 14.11 for the data type that can be monitored on each servo
amplifier. When the data type that cannot be monitored is set, "0" is stored to
the monitor output.
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Chapter 5 Data Used for Positioning Control
POINT
(1) In this parameter, the value set in flash ROM of Simple Motion module is valid at
power supply ON or PLC CPU reset. Fetch by PLC READY signal OFF to ON is
not executed. Execute flash ROM writing to change after setting a value to
buffer memory. Confirm the current operation cycle in "[Md.132] Operation cycle
setting".
(2) When "0: 0.88ms" is set, confirm that "[Md.133] Operation cycle over flag" does
not turn ON. If the flag is ON, the operation cycle over has been generated.
Correct the positioning content or set "1: 1.77ms".
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Chapter 5 Data Used for Positioning Control
POINT
In this parameter, the value set in flash ROM of Simple Motion module is valid at
power supply ON or PLC CPU reset. Fetch by PLC READY signal OFF to ON is
not executed. Execute flash ROM writing to change after setting a value to buffer
memory.
POINT
In this parameter, the value set in flash ROM of Simple Motion module is valid at
power supply ON or PLC CPU reset. Fetch by PLC READY signal OFF to ON is
not executed. Execute flash ROM writing to change the value after setting a value
to buffer memory.
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Chapter 5 Data Used for Positioning Control
POINT
Set the parameter value and switch power off once (The parameter is transferred to
servo amplifier from Simple Motion module), and then switch it on again to make
that parameter setting valid.
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
POINT
Set the parameter value and switch power off once (The parameter is transferred to
servo amplifier from Simple Motion module), and then switch it on again to make
that parameter setting valid.
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
Before explaining the positioning data setting items [Da.1] to [Da.10], [Da.20] to [Da.22]
the configuration of the positioning data will be shown below.
The positioning data stored in the buffer memory of Simple Motion module has the
following type of configuration.
• QD77MS2/QD77MS4
Positioning Up to 600 positioning data items can be set (stored) for each
Positioning data No. 599data No. 600 axis in the buffer memory address shown on the left.
Data is controlled as positioning data No. 1 to 600 for each axis.
Positioning
No. 1 data No. 2
Positioning data 7980+6000n 7990+6000n One positioning data item is configured of the items shown in
the bold box.
Positioning identifier
2000+6000n 2010+6000n
Da.1 to Da.5
7981+6000n 7991+6000n Configuration of positioning identifier
Da.10 M code/Condition
data No./Number of LOOP 2001+6000n 2011+6000n b15 b12 b8 b4 b0
to LEND repetitions 7982+6000n 7992+6000n Buffer memory
Da.9
2012+6000n
Dwell time/JUMP destination 2002+6000n
positioning data No.
7984+6000n 7994+6000n
7985+6000n 7995+6000n Da.2 Control system Da.1 Operation pattern
Da.8 2004+6000n 2014+6000n
Da.5 Axis to be interpolated
Command speed 2005+6000n 2015+6000n 7986+6000n 7996+6000n
7987+6000n 7997+6000n Da.3 Acceleration time No.
Da.6
2006+6000n 2016+6000n
Positioning address/ Da.4 Deceleration time No.
2007+6000n 2017+6000n 7988+6000n 7998+6000n
movement amount 7989+6000n 7999+6000n
Da.7 2008+6000n 2018+6000n
Arc address 2009+6000n 2019+6000n
• QD77MS16
Positioning Up to 100 positioning data items can be set (stored) for each
Positioning data No. 99 data No. 100 axis in the buffer memory address shown on the left.
No.101 to No.600 are not allocated to buffer memory.
Positioning
No. 1 data No. 2 Set with GX Works2.
Positioning data 6980+1000n 6990+1000n
Data is controlled as positioning data No. 1 to 600 for each axis.
Positioning identifier One positioning data item is configured of the items shown in
6000+1000n 6010+1000n the bold box.
Da.1 to Da.4
6981+1000n 6991+1000n
Da.10 M code/Condition
data No./Number of LOOP 6001+1000n 6011+1000n Configuration of positioning identifier
to LEND repetitions 6982+1000n 6992+1000n
b15 b12 b8 b4 b0
Da.9
Dwell time/JUMP destination 6002+1000n 6012+1000n Buffer memory
positioning data No. 6983+1000n 6993+1000n
Axis to be interpolated
No. 6003+1000n 6013+1000n
6984+1000n 6994+1000n Da.2 Control system Da.1 Operation pattern
Da.20 to Da.22
6985+1000n 6995+1000n
Da.3 Acceleration time No.
Da.8 6004+1000n 6014+1000n
Command speed 6005+1000n 6015+1000n 6986+1000n 6996+1000n Da.4 Deceleration time No.
6987+1000n 6997+1000n
Da.6
6006+1000n 6016+1000n
Positioning address/ Configuration of axis to be interpolated No.
6007+1000n 6017+1000n 6988+1000n 6998+1000n
movement amount 6989+1000n 6999+1000n
b15 b12 b8 b4 b0
Da.7 6008+1000n 6018+1000n Buffer memory
Arc address 6009+1000n 6019+1000n
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Chapter 5 Data Used for Positioning Control
The descriptions that follow relate to the positioning data set items [Da.1] to [Da.10],
[Da.20] to [Da.22].
(The buffer memory addresses shown are those of the "positioning data No. 1".)
(Note-1): Calculate as follows for the buffer memory address corresponding to each axis.
(Example) For axis No. 16
6001+1000n ([Da.10] M code/Condition data No./Number of LOOP to LEND
repetitions)=6001+1000 15=21001
(Note-2): The range from axis No.1 to 2 (n=0 to 1) is valid in the QD77MS2.
(Note-3): The range from axis No.1 to 4 (n=0 to 3) is valid in the QD77MS4
5 - 84
Chapter 5 Data Used for Positioning Control
n: Axis No.-1
5 - 85
Chapter 5 Data Used for Positioning Control
b15 b12 b8 b4 b0
5: Axis 6 selected 5H
6: Axis 7 selected 6H
[Da.21]
7: Axis 8 selected 7H
Axis to be interpolated Not used Da.22 Da.21 Da.20 0000H 6003+1000n
8: Axis 9 selected 8H
No.2 QD77MS16 (Note)
9: Axis 10 selected 9H
(Note): Always "0" is set to the part
A: Axis 11 selected AH not used.
B: Axis 12 selected BH
[Da.22] C: Axis 13 selected CH
Axis to be interpolated D: Axis 14 selected DH
No.3 QD77MS16 E: Axis 15 selected EH
F: Axis 16 selected FH
n: Axis No.-1
5 - 86
Chapter 5 Data Used for Positioning Control
Continuous positioning with one start signal .......... Continuous positioning control
Positioning
continued
Continuous path positioning with speed change ..... Continuous path control
5 - 87
Chapter 5 Data Used for Positioning Control
Movement Movement
amount : 2000 amount : 2000
5 - 88
Chapter 5 Data Used for Positioning Control
Stop position
(positioning start position)
Moves in Moves in
negative direction positive direction
Speed
Speed Position
control control
Target address setting (ABS mode)
Time
Speed-position switching
5 - 89
Chapter 5 Data Used for Positioning Control
5 - 90
Chapter 5 Data Used for Positioning Control
5 - 91
Chapter 5 Data Used for Positioning Control
[Da.2] setting value Value set with GX Works2 Value set with sequence program 1
(PLS) (PLS)
ABS Linear 1 : 01H
ABS Linear 2 : 0AH
Set the address Set the address
ABS Linear 3 : 15H
ABS Linear 4 : 1AH -2147483648 to 2147483647 -2147483648 to 2147483647
Current value changing : 81H
INC Linear 1 : 02H
INC Linear 2 : 0BH
INC Linear 3 : 16H
INC Linear 4 : 1BH Set the movement amount Set the movement amount
Fixed-feed 1 : 03H -2147483648 to 2147483647 -2147483648 to 2147483647
Fixed-feed 2 : 0CH
Fixed-feed 3 : 17H
Fixed-feed 4 : 1CH
Forward run speed/position : 06H
Reverse run speed/position : 07H Set the movement amount Set the movement amount
Forward run position/speed : 08H 0 to 2147483647 0 to 2147483647
Reverse run position/speed : 09H
ABS circular sub : 0DH
Set the address Set the address
ABS circular right : 0FH
ABS circular left : 10H -2147483648 to 2147483647 -2147483648 to 2147483647
INC circular sub : 0EH
Set the movement amount Set the movement amount
INC circular right : 11H
INC circular left : 12H -2147483648 to 2147483647 -2147483648 to 2147483647
5 - 92
Chapter 5 Data Used for Positioning Control
Start point address (Address before starting positioning) Start point address (Address before starting positioning)
<(1) Circular interpolation with sub <(2) Circular interpolation with center
point designation> point designation>
When not carrying out circular interpolation control, the value set in "[Da.7] Arc
address" will be invalid.
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Chapter 5 Data Used for Positioning Control
1: Note that the maximum radius that circular interpolation control is possible is 536870912 (PLS), although the setting
value can be input within the range shown in the above table, as an arc address.
5 - 94
Chapter 5 Data Used for Positioning Control
5 - 95
Chapter 5 Data Used for Positioning Control
V
1) When " Da.1 Operation pattern " in "00: Positioning complete" Positioning control
Set the time from when the positioning ends to when the
"positioning complete signal" turns ON as the "dwell time".
t
ON
Positioning complete signal OFF
Da.9
Dwell time/JUMP
destination positioning
V data No.
2) When " Da.1 Operation pattern " is "01: Continuous positioning control" Positioning control
Next positioning
Set the time from when positioning control ends to when control
the next positioning control starts as the "dwell time".
t
Da.9
Dwell time/JUMP
destination positioning
V data No.
3) When " Da.1 Operation pattern " is "11: Continuous path control" Positioning control
t
No dwell time (0ms)
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Chapter 5 Data Used for Positioning Control
5 - 97
Chapter 5 Data Used for Positioning Control
Note) • Do not specify the own axis number. (If you do, the error "Illegal
interpolation description command" (error code: 521) will occur during
the program execution.)
• When the same axis number or axis number of own axis is set to
multiple axis to be interpolated number, the error "Illegal interpolation
description command" (error code: 521) will occur during the program
execution.
• Do not specify the axis to be interpolated No.2 and axis to be
interpolated No.3 for 2-axis interpolation, and do not specify the axis to
be interpolated No.3 for 3-axis interpolation.
The setting value is ignored.
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Chapter 5 Data Used for Positioning Control
The illustrations below show the organization of the block start data stored in the buffer
memory of Simple Motion module. The block start data setting items [Da.11] to [Da.14]
are explained in the pages that follow.
• QD77MS2/QD77MS4
50th point
Buffer memory
Setting item
address
2nd point Up to 50 block start data points can be set
(stored) for each axis in the buffer memory
1st point Buffer memory addresses shown on the left.
Setting item
Buffer memory address 26049+1000n Items in a single unit of block start data are
Setting item
address shown included in a bold frame.
Each axis has five start blocks (block Nos.
0 to 4).
b15 b8b7 b0
26001+1000n
26000+1000n (Note): For information on the organization
Start block 0
n: Axis No.-1
• QD77MS16
50th point
Buffer memory
Setting item
address
2nd point Up to 50 block start data points can be set
(stored) for each axis in the buffer memory
1st point Buffer memory addresses shown on the left.
Setting item
Buffer memory address 22049+400n Items in a single unit of block start data are
Setting item
address shown included in a bold frame.
Each axis has five start blocks (block Nos.
0 to 4).
b15 b8b7 b0
22001+400n Start block 2 to 4 are not allocated to buffer
memory.
22000+400n Set with GX Works2.
Start block 0
n: Axis No.-1
5 - 99
Chapter 5 Data Used for Positioning Control
The following pages explain the block start data setting items [Da.11] to [Da.14].
(The buffer memory addresses shown are those of the "1st point block start data (block
No. 7000)".)
(Note-1): Calculate as follows for the buffer memory address corresponding to each axis.
(Example) For axis No. 16
22000+400n ([Da.11] Shape)=22000+400 15=28000
(Note-2): The range from axis No.1 to 2 (n=0 to 1) is valid in the QD77MS2.
(Note-3): The range from axis No.1 to 4 (n=0 to 3) is valid in the QD77MS4.
5 - 100
Chapter 5 Data Used for Positioning Control
REMARK
To perform a high-level positioning control using block start data, set a number
between 7000 and 7004 to the "[Cd.3] Positioning start No." and use the "[Cd.4]
Positioning starting point No." to specify a point number between 1 and 50, a
position counted from the beginning of the block.
The number between 7000 and 7004 specified here is called the "block No.".
With the Simple Motion module, up to 50 "block start data" points and up to 10
"condition data" items can be assigned to each "block No.".
• QD77MS2
Block
Axis Block start data Condition Buffer memory GX Works2
No. 1
Axis 1 Condition data (1 to 10)
7000 Start block 0
Axis 2 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
7001 Start block 1
Axis 2 Condition data (1 to 10)
Axis 1 Condition data (1 to 10) Supports the Supports the
7002 Start block 2
Axis 2 Condition data (1 to 10) settings settings
Axis 1 Condition data (1 to 10)
7003 Start block 3
Axis 2 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
7004 Start block 4
Axis 2 Condition data (1 to 10)
1: Setting cannot be made when the "Pre-reading start function" is used. If you set any of Nos.
7000 to 7004 and perform the Pre-reading start function, the error "Outside start No. range"
(error code: 543) will occur.
(For details, refer to Section 13.7.7 "Pre-reading start function".)
5 - 101
Chapter 5 Data Used for Positioning Control
• QD77MS4
Block
Axis Block start data Condition Buffer memory GX Works2
No. 1
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7000 Start block 0
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7001 Start block 1
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10) Supports the Supports the
7002 Start block 2
Axis 3 Condition data (1 to 10) settings settings
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7003 Start block 3
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7004 Start block 4
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
• QD77MS16
Block
Axis Block start data Condition Buffer memory GX Works2
No. 1
Axis 1 Condition data (1 to 10)
7000 to Start block 0 to
Axis 16 Condition data (1 to 10) Supports the
Axis 1 Condition data (1 to 10) settings
7001 to Start block 1 to
Axis 16 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
7002 to Start block 2 to Supports the
settings
Axis 16 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
7003 to Start block 3 to
Axis 16 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
7004 to Start block 4 to
Axis 16 Condition data (1 to 10)
1: Setting cannot be made when the "Pre-reading start function" is used. If you set any of Nos.
7000 to 7004 and perform the Pre-reading start function, the error "Outside start No. range"
(error code: 543) will occur.
(For details, refer to Section 13.7.7 "Pre-reading start function".)
5 - 102
Chapter 5 Data Used for Positioning Control
0 : End 0
[Da.11]
Shape
b15 b11 b7 b3 b0
0 0 0
1 : Continue 1 0000H 26000+1000n 22000+400n
Shape
b15 b11 b7 b3 b0
2 : Wait start 02H
[Da.13]
Special start 3 : Simultaneous start 03H
instruction
n: Axis No.-1
5 - 103
Chapter 5 Data Used for Positioning Control
[Da.11] Shape
Set whether to carry out only the local "block start data" and then end control, or to
execute the "block start data" set in the next point.
Setting value Setting details
0 : End Execute the designated point's "block start data", and then complete the control.
Execute the designated point's "block start data", and after completing control, execute the next
1 : Continue
point's "block start data".
[Da.14] Parameter
Set the value as required for "[Da.13] Special start instruction".
[Da.13] Special start instruction Setting value Setting details
Block start (Normal start) – Not used. (There is no need to set.)
Condition start Set the condition data No. (Data No. of
Wait start 1 to 10 "condition data" is set up for the
Simultaneous start condition judgment.)
Repeated start (FOR loop) 0 to 255 Set the number of repetitions.
Set the condition data No. (Data No. of
Repeated start (FOR condition) 1 to 10 "condition data" is set up for the
condition judgment.)
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Chapter 5 Data Used for Positioning Control
The illustrations below show the organization of the condition data stored in the buffer
memory of Simple Motion module. The condition data setting items [Da.15] to [Da.19]
and [Da.23] to [Da.26] are explained in the pages that
follow.
• QD77MS2/QD77MS4
No.10
No.
ata Buffer memory
itio nd Setting item
d
Con address
No.2 Up to 10 condition data points can be set
(stored) for each block No. in the buffer
No.1 Buffer memory memory addresses shown on the left.
Setting item 26190+1000n
Buffer memory address
Start block 0
26193+1000n
26100+1000n
Start block 0
26194+1000n
Da.16 Condition Da.15 Condition 26195+1000n (Note): For information on the organization
operator target 26112+1000n 26196+1000n of the buffer memory addresses
26102+1000n 26113+1000n 26197+1000n assigned to the start blocks 1 to 4,
Da.17 Address 26114+1000n refer to Appendix 1 "List of buffer
26103+1000n
26104+1000n 26115+1000n memory addresses".
Da.18 Parameter 1 26116+1000n
26105+1000n
26106+1000n 26117+1000n
Da.19 Parameter 2
26107+1000n
n: Axis No.-1
• QD77MS16
No.10
N o.
ata Buffer memory
nd
nditio Setting item
C o address
No.2 Up to 10 condition data points can be set
(stored) for each block No. in the buffer
No.1 Buffer memory memory addresses shown on the left.
Setting item 22190+400n
Buffer memory address Items in a single unit of condition data are
Setting item
address shown included in a bold frame.
b15 b8b7 b0 Each axis has five start blocks (block Nos.
22110+400n 0 to 4).
22100+400n Start block 2 to 4 are not allocated to buffer
memory.
Da.16 Condition Da.15 Condition Set with GX Works2.
operator target
b15 b8b7 b0 (Note): For information on the organization
22191+400n of the buffer memory addresses
assigned to the start block 1, refer
to Appendix 1 "List of buffer
Start block 0
n: Axis No.-1
5 - 105
Chapter 5 Data Used for Positioning Control
The following pages explain the condition data setting items [Da.15] to [Da.19] and
[Da.23] to [Da.26].
(The buffer memory addresses shown are those of the "condition data No. 1 (block No.
7000)".)
(Note-1): Calculate as follows for the buffer memory address corresponding to each axis.
(Example) For axis No. 16
22100+400n ([Da.16] Condition operator)=22100+400 15=28100
(Note-2): The range from axis No.1 to 2 (n=0 to 1) is valid in the QD77MS2.
(Note-3): The range from axis No.1 to 4 (n=0 to 3) is valid in the QD77MS4.
5 - 106
Chapter 5 Data Used for Positioning Control
REMARK
To perform a high-level positioning control using block start data, set a number
between 7000 and 7004 to the "[Cd.3] Positioning start No." and use the "[Cd.4]
Positioning starting point No." to specify a point number between 1 and 50, a
position counted from the beginning of the block.
The number between 7000 and 7004 specified here is called the "block No.".
With the Simple Motion module, up to 50 "block start data" points and up to 10
"condition data" items can be assigned to each "block No.".
• QD77MS2
Block
Axis Block start data Condition Buffer memory GX Works2
No. 1
Axis 1 Condition data (1 to 10)
7000 Start block 0
Axis 2 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
7001 Start block 1
Axis 2 Condition data (1 to 10)
Axis 1 Condition data (1 to 10) Supports the Supports the
7002 Start block 2
Axis 2 Condition data (1 to 10) settings settings
Axis 1 Condition data (1 to 10)
7003 Start block 3
Axis 2 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
7004 Start block 4
Axis 2 Condition data (1 to 10)
1: Setting cannot be made when the "Pre-reading start function" is used. If you set any of Nos.
7000 to 7004 and perform the Pre-reading start function, the error "Outside start No. range"
(error code: 543) will occur.
(For details, refer to Section 13.7.7 "Pre-reading start function".)
5 - 107
Chapter 5 Data Used for Positioning Control
• QD77MS4
Block
Axis Block start data Condition Buffer memory GX Works2
No. 1
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7000 Start block 0
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7001 Start block 1
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10) Supports the Supports the
7002 Start block 2
Axis 3 Condition data (1 to 10) settings settings
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7003 Start block 3
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7004 Start block 4
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
• QD77MS16
Block
Axis Block start data Condition Buffer memory GX Works2
No. 1
Axis 1 Condition data (1 to 10)
7000 to Start block 0 to
Axis 16 Condition data (1 to 10) Supports the
Axis 1 Condition data (1 to 10) settings
7001 to Start block 1 to
Axis 16 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
7002 to Start block 2 to Supports the
settings
Axis 16 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
7003 to Start block 3 to
Axis 16 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
7004 to Start block 4 to
Axis 16 Condition data (1 to 10)
1: Setting cannot be made when the "Pre-reading start function" is used. If you set any of Nos.
7000 to 7004 and perform the Pre-reading start function, the error "Outside start No. range"
(error code: 543) will occur.
(For details, refer to Section 13.7.7 "Pre-reading start function".)
5 - 108
Chapter 5 Data Used for Positioning Control
30 : Axis 1 and 2
30H
selected
40 : Axis 3 selected 40H 0000H 26100+1000n 22100+400n
50 : Axis 1 and 3
[Da.16] 50H
selected
Condition 60 : Axis 2 and 3
operator 60H
selected
70 : Axis 1, 2, and
70H
3 selected
QD77MS2
80 : Axis 4 selected 80H
QD77MS4
90 : Axis 1 and 4
90H
selected
A0 : Axis 2 and 4
A0H
selected
B0 : Axis 1, 2, and
B0H
4 selected
C0 : Axis 3 and 4
C0H
selected
D0 : Axis 1, 3, and
D0H
4 selected
E0 : Axis 2, 3, and
E0H
4 selected
Example)
26103 26102
[Da.17] b31 (High-order) b16 b15 (Low-order) b0 26102+1000n 22102+400n
Buffer memory address 0000H
Address 26103+1000n 22103+400n
Value
Example)
26107 26106
[Da.19] b31 (High-order) b16 b15 (Low-order) b0 26106+1000n 22106+400n
Value 0000H
Parameter 2 26107+1000n 22107+400n
Value
n: Axis No.-1
5 - 109
Chapter 5 Data Used for Positioning Control
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Chapter 5 Data Used for Positioning Control
[Da.17] Address
Set the address as required for the "[Da.15] Condition target".
[Da.15] Condition target Setting value Setting details
01H : Device X
– Not used. (There is no need to set.)
02H : Device Y
03H : Buffer memory (1-word) Set the target "buffer memory address".
Value
(For 2 words, set the low-order buffer memory
04H : Buffer memory (2-word) (Buffer memory address)
address.)
05H : Positioning data No. – Not used. (There is no need to set.)
5 - 111
Chapter 5 Data Used for Positioning Control
[Da.18] Parameter 1
• QD77MS2/QD77MS4
Set the parameters as required for the "[Da.16] Condition operator".
[Da.16] Condition operator Setting value Setting details
01H : =P1
02H : P1 The value of P1 should be equal to or smaller than the value of
03H : P1 P2. (P1 P2)
Value
04H : P1 If P1 is greater than P2 (P1>P2), the error "Condition data error"
(error code: 533) will occur.
05H : P1 P2
06H : P1, P2
07H : DEV=ON Value Set the device bit No.
08H : DEV=OFF (bit No.) X: 0H, 1H, 4H to 17H Y: 0H, 1H, 4H to 17H
10H : Axis 1 selected Set the positioning data No. for starting axis 1 and/or axis 2.
Low-order 16-bit : Axis 1 positioning data No. 1 to 600 (01H
Value
to 258H)
(positioning data No.)
High-order 16-bit : Axis 2 positioning data No. 1 to 600 (01H
E0H : Axis 2, 3, and 4 selected to 258H)
• QD77MS16
Set the parameters as required for the "[Da.16] Condition operator" and "[Da.23]
Number of simultaneously starting axes".
[Da.23] Number of
[Da.16] Condition operator simultaneously Setting value Setting details
starting axes
01H : =P1
02H : P1 The value of P1 should be equal to or smaller than the
03H : P1 value of P2. (P1 P2)
Value
04H : P1 If P1 is greater than P2 (P1>P2), the error "Condition
data error" (error code: 533) will occur.
05H : P1 P2
06H : P1, P2
07H : DEV=ON Value Set the device bit No.
08H : DEV=OFF (bit No.) X: 0H to 1H, 10H to 1FH Y: 0H, 1H, 10H to 1FH
Set the positioning data No. for starting axis set in
"[Da.24] Simultaneously starting axis No.1" and/or
"[Da.25] Simultaneously starting axis No.2".
Value Low-order 16-bit : Simultaneously starting axis
2 to 4 (positioning data No.1 positioning data No.1 to
No.) 600 (01H to 258H)
High-order 16-bit : Simultaneously starting axis
No.2 positioning data No.1 to
600 (01H to 258H)
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Chapter 5 Data Used for Positioning Control
[Da.19] Parameter 2
• QD77MS2/QD77MS4
Set the parameters as required for the "[Da.16] Condition operator".
[Da.16] Condition operator Setting value Setting details
01H : =P1
02H : P1
— Not used. (No need to be set.)
03H : P1
04H : P1
05H : P1 P2 The value of P2 should be equal to or greater than the value of
P1. (P1 P2)
Value
06H : P1, P2 If P1 is greater than P2 (P1>P2), the error "Condition data error"
(error code: 533) will occur.
07H : DEV=ON
08H : DEV=OFF
10H : Axis 1 selected — Not used. (No need to be set.)
20H : Axis 2 selected
30H : Axis 1 and 2 selected
40H : Axis 3 selected
50H : Axis 1 and 3 selected
60H : Axis 2 and 3 selected
70H : Axis 1, 2, and 3 selected Set the positioning data No. for starting axis 3 and/or axis 4.
80H : Axis 4 selected Low-order 16-bit : Axis 3 positioning data No. 1 to 600 (01H
Value
90H : Axis 1 and 4 selected to 258H)
(positioning data No.)
A0H : Axis 2 and 4 selected High-order 16-bit : Axis 4 positioning data No. 1 to 600 (01H
B0H : Axis 1, 2, and 4 selected to 258H)
C0H : Axis 3 and 4 selected
D0H : Axis 1, 3, and 4 selected
E0H : Axis 2, 3, and 4 selected
• QD77MS16
Set the parameters as required for the "[Da.16] Condition operator" and "[Da.23]
Number of simultaneously starting axes".
[Da.23] Number of
[Da.16] Condition operator simultaneously Setting value Setting details
starting axes
01H : =P1
02H : P1
— Not used. (No need to be set.)
03H : P1
04H : P1
05H : P1 P2 The value of P2 should be equal to or greater than the
value of P1. (P1P2)
Value
06H : P1, P2 If P1 is greater than P2 (P1>P2), the error "Condition
data error" (error code: 533) will occur.
07H : DEV=ON
08H : DEV=OFF — Not used. (No need to be set.)
2 to 3
Set the positioning data No. for starting axis set in
"[Da.26] Simultaneously starting axis No.3"
Value
4 (positioning data Low-order 16-bit : Simultaneously starting axis
No.) No.3 positioning data No. 1 to
600 (01H to 258H)
High-order 16-bit : Not used (Set "0")
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Chapter 5 Data Used for Positioning Control
Note) • Do not specify the own axis number. (If you do, the error "Condition data
error" (error code: 533) will occur during the program execution.)
• When the same axis number or axis number of own axis is set to
multiple simultaneously starting axis number, the error "Condition data
error" (error code: 533) will occur during the program execution.
• Do not specify the simultaneously starting axis No.2 and simultaneously
starting axis No.3 for 2-axis simultaneously start, and not specify the
simultaneously starting axis No.3 for 3-axis simultaneously start.
The setting value is ignored.
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Chapter 5 Data Used for Positioning Control
MEMO
5 - 115
Chapter 5 Data Used for Positioning Control
The setting items of the monitor data are explained in this section.
• Guide to buffer memory address
In the buffer memory address, "n" in "2406+100n", etc. indicates a value
corresponding to axis No. such as the following table.
Axis No. n Axis No. n Axis No. n Axis No. n
1 0 5 4 9 8 13 12
2 1 6 5 10 9 14 13
3 2 7 6 11 10 15 14
4 3 8 7 12 11 16 15
(Note-1): Calculate as follows for the buffer memory address corresponding to each axis.
(Example) For axis No. 16
2406+100n ([Md.23] Axis error No.)=2406+100 15=3906
(Note-2): The range from axis No.1 to 2 (n=0 to 1) is valid in the QD77MS2.
(Note-3): The range from axis No.1 to 4 (n=0 to 3) is valid in the QD77MS4.
Whether the mode is the test mode from the GX Works2 or not is stored.
When not in test mode : OFF
[Md.1] In test mode flag When in test mode : ON
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Chapter 5 Data Used for Positioning Control
5 - 117
Chapter 5 Data Used for Positioning Control
[Storage details] This area stores the start information (restart flag, start origin, and start
axis):
Restart flag: Indicates whether the operation has or has not been
halted and restarted.
Start origin : Indicates the source of the start signal.
Start axis : Indicates the started axis.
Refresh cycle: At start
[Reading the monitor value] Monitoring is carried out with a hexadecimal display.
b15 b12 b8 b4 b0
[Md.3] Buffer
0 0 0 0 0 Monitor
memory value
Start
information Not used
Start axis
Start origin Stored contents Storage value
Stored contents Storage value Axis 1 1
PLC CPU 00 Axis 2 2
External signal 01 Axis 3 3
GX Works2 10 Axis 4 4
Restart flag
Starting history (Up to 16 records can be stored)
Axis 5 5
Stored contents Storage value
Restart flag OFF 0
Axis 16 10
Restart flag ON 1
: Valid for the range from axis 1 to axis 2
in the QD77MS2, from axis 1 to axis 4
in the QD77MS4.
Note: If a start signal is issued against an operating axis, a record relating to this event may be output before a record
relating to an earlier start signal is output.
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Chapter 5 Data Used for Positioning Control
QD77MS2/QD77MS4
Md.8
1292
Start history pointer
Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing starting history records.
Pointer No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Md.3
1212 1217 1222 1227 1232 1237 1242 1247 1252 1257 1262 1267 1272 1277 1282 1287
Start information
Md.4
1213 1218 1223 1228 1233 1238 1243 1248 1253 1258 1263 1268 1273 1278 1283 1288
Start No.
0000H Md.54
1440 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455
Start Year: month
Item
Md.5
1214 1219 1224 1229 1234 1239 1244 1249 1254 1259 1264 1269 1274 1279 1284 1289
Start Day: hour
Md.6
1215 1220 1225 1230 1235 1240 1245 1250 1255 1260 1265 1270 1275 1280 1285 1290
Start Minute: second
Md.7
1216 1221 1226 1231 1236 1241 1246 1251 1256 1261 1266 1271 1276 1281 1286 1291
Error judgment
Each group of buffer memory addresses storing a complete starting history record is assigned a pointer No.
Example: Pointer No. 0 = Buffer memory addresses 1212 to 1216, 1440
Pointer No. 1 = Buffer memory addresses 1217 to 1221, 1441
Pointer No. 2 = Buffer memory addresses 1222 to 1226, 1442
QD77MS16
Md.8
4092
Start history pointer
Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing starting history records.
Pointer No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Md.3
4012 4017 4022 4027 4032 4037 4042 4047 4052 4057 4062 4067 4072 4077 4082 4087
Start information
Md.4
4013 4018 4023 4028 4033 4038 4043 4048 4053 4058 4063 4068 4073 4078 4083 4088
Start No.
Md.54
Start Year: month 4240 4241 4242 4243 4244 4245 4246 4247 4248 4249 4250 4251 4252 4253 4254 4255
Item
Md.5
4014 4019 4024 4029 4034 4039 4044 4049 4054 4059 4064 4069 4074 4079 4084 4089
Start Day: hour
0000H
Md.6
Start Minute: second 4015 4020 4025 4030 4035 4040 4045 4050 4055 4060 4065 4070 4075 4080 4085 4090
Md.7
4016 4021 4026 4031 4036 4041 4046 4051 4056 4061 4066 4071 4076 4081 4086 4091
Error judgment
Each group of buffer memory addresses storing a complete starting history record is assigned a pointer No.
Example: Pointer No. 0 = Buffer memory addresses 4012 to 4016, 4240
Pointer No. 1 = Buffer memory addresses 4017 to 4021, 4241
Pointer No. 2 = Buffer memory addresses 4022 to 4026, 4242
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Chapter 5 Data Used for Positioning Control
0 to 5 0 to 9 0 to 5 0 to 9
00 to 59 (minute) 00 to 59 (second)
[Storage details] This area stores the following results of the error judgment performed
upon starting:
Warning flag
BUSY start
Control mode switching during BUSY
Control mode switching during zero speed OFF
Outside control mode range
Control mode switching
Error flag
Error code
Warning flag
Stored contents Storage value
Warning OFF 0
Warning ON 1
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Chapter 5 Data Used for Positioning Control
0000H QD77MS2/QD77MS4
Md.8
1292
Start history pointer
Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing starting history records.
Pointer No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Md.3
1212 1217 1222 1227 1232 1237 1242 1247 1252 1257 1262 1267 1272 1277 1282 1287
0000H Start information
Md.4
1213 1218 1223 1228 1233 1238 1243 1248 1253 1258 1263 1268 1273 1278 1283 1288
Start No.
Md.54
1440 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455
Start Year: month
Item
Md.5
1214 1219 1224 1229 1234 1239 1244 1249 1254 1259 1264 1269 1274 1279 1284 1289
Start Day: hour
Md.6
1215 1220 1225 1230 1235 1240 1245 1250 1255 1260 1265 1270 1275 1280 1285 1290
Start Minute: second
0000H
Md.7
1216 1221 1226 1231 1236 1241 1246 1251 1256 1261 1266 1271 1276 1281 1286 1291
Error judgment
Each group of buffer memory addresses storing a complete starting history record is assigned a pointer No.
Example: Pointer No. 0 = Buffer memory addresses 1212 to 1216, 1440
Pointer No. 1 = Buffer memory addresses 1217 to 1221, 1441
Pointer No. 2 = Buffer memory addresses 1222 to 1226, 1442
Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing starting history records.
Pointer No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Md.3
4012 4017 4022 4027 4032 4037 4042 4047 4052 4057 4062 4067 4072 4077 4082 4087
Start information
0000H
Md.4
4013 4018 4023 4028 4033 4038 4043 4048 4053 4058 4063 4068 4073 4078 4083 4088
Start No.
Md.54
Start Year: month 4240 4241 4242 4243 4244 4245 4246 4247 4248 4249 4250 4251 4252 4253 4254 4255
Item
Md.5
4014 4019 4024 4029 4034 4039 4044 4049 4054 4059 4064 4069 4074 4079 4084 4089
Start Day: hour
Md.6
Start Minute: second 4015 4020 4025 4030 4035 4040 4045 4050 4055 4060 4065 4070 4075 4080 4085 4090
Md.7
4016 4021 4026 4031 4036 4041 4046 4051 4056 4061 4066 4071 4076 4081 4086 4091
Error judgment
Each group of buffer memory addresses storing a complete starting history record is assigned a pointer No.
Example: Pointer No. 0 = Buffer memory addresses 4012 to 4016, 4240
Pointer No. 1 = Buffer memory addresses 4017 to 4021, 4241
Pointer No. 2 = Buffer memory addresses 4022 to 4026, 4242
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Chapter 5 Data Used for Positioning Control
Monitor
value
0 0
[Md.12] Stores the time (Minute: second) Monitoring is carried out with a hexadecimal display.
at which an axis error was Buffer memory (stored with BCD code)
Axis error Monitor value
occurrence detected. 4 9 0 7
b15 b12 b8 b4 b0
(Minute: 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 4 9 0 7
second) Refresh cycle: Immediate 0 to 5 0 to 9 0 to 5 0 to 9
00 to 59 (minute) 00 to 59 (second)
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Chapter 5 Data Used for Positioning Control
Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing error history records.
Pointer No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Md.9
Axis in which the 1293 1297 1301 1305 1309 1313 1317 1321 1325 1329 1333 1337 1341 1345 1349 1353
0 error occurred
Md.10
1294 1298 1302 1306 1310 1314 1318 1322 1326 1330 1334 1338 1342 1346 1350 1354
Axis error No.
Md.57
31300 31301 31302 31303 31304 31305 31306 31307 31308 31309 31310 31311 31312 31313 31314 31315
Servo alarm
Md.61
Item
Driver operation 31333 31334 31335 31336 31337 31338 31339 31340 31341 31342 31343 31344 31345 31346 31347 31348
alarm number
Md.55
Axis error occurrence 1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469 1470 1471
0000H (Year: month) 31333
Md.11
Axis error occurrence 1295 1299 1303 1307 1311 1315 1319 1323 1327 1331 1335 1339 1343 1347 1351 1355
(Day: hour)
Md.12
Axis error occurrence 1296 1300 1304 1308 1312 1316 1320 1324 1328 1332 1336 1340 1344 1348 1352 1356
(Minute: second)
Each group of buffer memory addresses storing a complete error history record is assigned a pointer No.
Example: Pointer No. 0 = Buffer memory addresses 1293 to 1296, 1456, 31300
Pointer No. 1 = Buffer memory addresses 1297 to 1300, 1457, 31301
0000H
Pointer No. 15 = Buffer memory addresses 1353 to 1356, 1471, 31315
QD77MS16
Md.13
4157
Error history pointer
Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing error history records.
Pointer No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
0000H Md.9
Axis in which the 4093 4097 4101 4105 4109 4113 4117 4121 4125 4129 4133 4137 4141 4145 4149 4153
error occurred
Md.10
4094 4098 4102 4106 4110 4114 4118 4122 4126 4130 4134 4138 4142 4146 4150 4154
Axis error No.
Md.57
31300 31301 31302 31303 31304 31305 31306 31307 31308 31309 31310 31311 31312 31313 31314 31315
Servo alarm
Item
0000H Md.61
Driver operation 31333 31334 31335 31336 31337 31338 31339 31340 31341 31342 31343 31344 31345 31346 31347 31348
alarm number
Md.55
Axis error occurrence 4256 4257 4258 4259 4260 4261 4262 4263 4264 4265 4266 4267 4268 4269 4270 4271
(Year: month)
Md.11
Axis error occurrence 4095 4099 4103 4107 4111 4115 4119 4123 4127 4131 4135 4139 4143 4147 4151 4155
0000H (Day: hour)
Md.12
Axis error occurrence 4096 4100 4104 4108 4112 4116 4120 4124 4128 4132 4136 4140 4144 4148 4152 4156
(Minute: second)
Each group of buffer memory addresses storing a complete error history record is assigned a pointer No.
Example: Pointer No. 0 = Buffer memory addresses 4093 to 4096, 4256, 31300
0 Pointer No. 1 = Buffer memory addresses 4097 to 4100, 4257, 31301
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Chapter 5 Data Used for Positioning Control
Stores the time (Year: month) at Monitoring is carried out with a hexadecimal display.
[Md.56] which an axis warning was Buffer memory (stored with BCD code)
Axis warning detected. 0 8 0 6
Monitor value
occurrence b15 b12 b8 b4 b0
0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 8 0 6
(Year: month) Refresh cycle: Immediate 0 to 9 0 to 9 0 to 1 0 to 9
00 to 99 (year) 01 to 12 (month)
Stores the time (Day: hour) at Monitoring is carried out with a hexadecimal display.
[Md.16] Buffer memory (stored with BCD code)
which an axis warning was
Axis warning detected. 2 8 1 5 Monitor value
occurrence b15 b12 b8 b4 b0
(Day: hour)
0 0 1 0 1 0 0 0 0 0 0 1 0 1 0 1 2 8 1 5
Refresh cycle: Immediate 0 to 3 0 to 9 0 to 2 0 to 9
01 to 31 (day) 00 to 23 (hour)
[Md.17] Stores the time (Minute: second) Monitoring is carried out with a hexadecimal display.
at which an axis warning was Buffer memory (stored with BCD code)
Axis warning Monitor value
detected. 4 9 0 7
occurrence b15 b12 b8 b4 b0
(Minute: 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 4 9 0 7
second) Refresh cycle: Immediate 0 to 5 0 to 9 0 to 5 0 to 9
00 to 59 (minute) 00 to 59 (second)
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Chapter 5 Data Used for Positioning Control
QD77MS2/QD77MS4
Md.18
0 1422
Warning history pointer
Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing warning history records.
Pointer No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Md.14
Axis in which the 1358 1362 1366 1370 1374 1378 1382 1386 1390 1394 1398 1402 1406 1410 1414 1418
warning occurred
Md.15
1359 1363 1367 1371 1375 1379 1383 1387 1391 1395 1399 1403 1407 1411 1415 1419
Axis warning No.
0 Md.58
31316 31317 31318 31319 31320 31321 31322 31323 31324 31325 31326 31327 31328 31329 31330 31331
Servo warning
Item
Md.56
Axis warning occurrence 1472 1473 1474 1475 1476 1477 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487
(Year: month)
Md.16
Axis warning occurrence 1360 1364 1368 1372 1376 1380 1384 1388 1392 1396 1400 1404 1408 1412 1416 1420
(Day: hour)
Md.17
Axis warning occurrence 1361 1365 1369 1373 1377 1381 1385 1389 1393 1397 1401 1405 1409 1413 1417 1421
(Minute: second)
0000H Each group of buffer memory addresses storing a complete warning history record is assigned a pointer No.
Example: Pointer No. 0 = Buffer memory addresses 1358 to 1361, 1472, 31316
Pointer No. 1 = Buffer memory addresses 1362 to 1365, 1473, 31317
Pointer No. 2 = Buffer memory addresses 1366 to 1369, 1474, 31318
Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing warning history records.
Pointer No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Md.14
Axis in which the 4158 4162 4166 4170 4174 4178 4182 4186 4190 4194 4198 4202 4206 4210 4214 4218
warning occurred
Md.15
4159 4163 4167 4171 4175 4179 4183 4187 4191 4195 4199 4203 4207 4211 4215 4219
Axis warning No.
Md.58
0000H 31316 31317 31318 31319 31320 31321 31322 31323 31324 31325 31326 31327 31328 31329 31330 31331
Servo warning
Item
Md.56
Axis warning occurrence 4272 4273 4274 4275 4276 4277 4278 4279 4280 4281 4282 4283 4284 4285 4286 4287
(Year: month)
Md.16
Axis warning occurrence 4160 4164 4168 4172 4176 4180 4184 4188 4192 4196 4200 4204 4208 4212 4216 4220
(Day: hour)
Md.17
Axis warning occurrence 4161 4165 4169 4173 4177 4181 4185 4189 4193 4197 4201 4205 4209 4213 4217 4221
0000H (Minute: second)
Each group of buffer memory addresses storing a complete warning history record is assigned a pointer No.
Example: Pointer No. 0 = Buffer memory addresses 4158 to 4161, 4272, 31316
Pointer No. 1 = Buffer memory addresses 4162 to 4165, 4273, 31317
Pointer No. 2 = Buffer memory addresses 4166 to 4169, 4274, 31318
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Chapter 5 Data Used for Positioning Control
This area stores the states Monitoring is carried out with a decimal display.
[Md.50] (ON/OFF) of forced stop input.
Monitor Storage value
Forced stop input value 0: Forced stop input ON (Forced stop)
Refresh cycle: Operation cycle 1: Forced stop input OFF (Forced stop release)
[Md.51] Indicates a current operation Monitoring is carried out with a decimal display.
Amplifier-less mode.
Monitor Storage value
operation mode value 0: Normal operation mode
status Refresh cycle: Immediate 1: Amplifier-less operation mode
[Md.131] Stores the RUN status of digital Monitoring is carried out with a decimal display.
Digital oscilloscope. Monitor Storage value
oscilloscope value 0: Stop
1: Run
executing Refresh cycle: Main cycle -1: Stop by error
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Chapter 5 Data Used for Positioning Control
1424 4224
0
1425 4225
0 1431 4231
0 1432 4232
0 1434 4234
0 1433 4233
QD77MS2:
1000H
QD77MS4: 31332
1001H (Monitors this buffer memory address too. QD77MS2/QD77MS4: 1435, QD77MS16: 4235)
QD77MS16:
1002H
0 1211 4011
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Chapter 5 Data Used for Positioning Control
5 - 128
Chapter 5 Data Used for Positioning Control
0 1438 4238
0 1439 4239
0 1208 4008
0 1209 4009
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Chapter 5 Data Used for Positioning Control
The address of the current position according to the machine coordinates will be
stored. (Different from the actual motor position during operation)
Note that the current value changing function will not change the machine feed
value.
Under the speed control mode, the machine feed value is constantly updated
always, irrespective of the parameter setting.
The value will not be cleared to "0" at the beginning of fixed-feed control.
[Md.21] Machine feed value Even if "degree" is selected as the unit, the addresses will become a cumulative
value. (They will not have a ring structure for values between 0 and 359.99999
degrees).
However, the machine feed value is restored within the range of 0 to 359.99999
degrees at the communication start with servo amplifier after the power supply ON
or PLC CPU reset.
Machine coordinates: Characteristic coordinates determined with machine
The speed of the operating workpiece is stored. (May be different from the actual
motor speed during operation)
During interpolation operation, the speed is stored in the following manner.
Reference axis : Composite speed or reference axis speed (Set with [Pr.20])
Interpolation axis : 0
When an axis error is detected, the error code corresponding to the error details is
stored.
The latest error code is always stored.
(When a new axis error occurs, the error code is overwritten.)
[Md.23] Axis error No.
When "[Cd.5] Axis error reset" (axis control data) turns ON, the axis error No. is
cleared (set to 0).
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Chapter 5 Data Used for Positioning Control
Sorting
m Unit
Actual value -2 mm/min
Md.20 Current feed value
-3 inch/min
Md.21 Machine feed value
-3 degree/min
Md.22 Feedrate 0 PLS/s
804+100n 2404+100n
: When " Pr.83 Speed 0000H
805+100n 2405+100n
control 10 x multiplier
setting for degree axis"
is valid: "-2"
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
This area stores an M code that is currently active (i.e. set to the positioning data
relating to the current operation).
[Md.25] Valid M code
When the PLC READY signal [Y0] goes OFF, the value is set to "0".
The "[Da.8] Command speed" used by the positioning data currently being
executed is stored.
If "[Da.8] Command speed" is set to "-1", this area stores the command speed
set by the positioning data used one step earlier.
If "[Da.8] Command speed" is set to a value other than "-1", this area stores the
[Md.27] Current speed
command speed set by the current positioning data.
When speed change function is executed, this area stores "[Cd.14] New speed
value". (For details of change speed function, refer to Section 13.5.1.)
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Chapter 5 Data Used for Positioning Control
n: Axis No.-1
5 - 133
Chapter 5 Data Used for Positioning Control
The speed which is actually output as a command at that time in each axis is
stored. (May be different from the actual motor speed)
"0" is stored when the axis is at a stop.
[Md.28] Axis feedrate
Refresh cycle: Operation cycle
[POINT]
Refer to "[Md.22] Feedrate"
The movement amount for the position control to end after changing to position
control with the speed-position switching control is stored.
[Md.29] Speed-position switching When the control method is "Reverse run: position/speed", the negative value is
control positioning amount stored.
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Chapter 5 Data Used for Positioning Control
Sorting
A B C D E F G H
Unit conversion table
Converted from Md.28 )
)
hexadecimal to decimal
m Unit
Decimal integer -2 mm/min
value R -3 inch/min
-3 degree/min
0 PLS/s
Unit conversion : When " Pr.83 Speed
R 10m control 10 x multiplier
setting for degree axis"
is valid: "-2" 814+100n 2414+100n
0000H
Unit conversion table 815+100n 2415+100n
Actual value
Md.28 Axis feedrate Md.29 )
)
Monitor
0 0 value
Not used
Stored items D e fau lt Meaning
0000H 816+100n 2416+100n
va lu e
b0 Lower limit signal 0
b1 Upper limit signal 0
b2 Not used 0
b3 Stop signal 0 0: OFF
External command signal/
b4 switching signal 0 1: ON
b5 Not used 0
b6 Near-point dog signal 0
b7 Not used 0
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
5 - 136
Chapter 5 Data Used for Positioning Control
Monitor
0 0 0 8 value
n: Axis No.-1
5 - 137
Chapter 5 Data Used for Positioning Control
This area stores the target value ([Da.6] Positioning address/movement amount)
for a positioning operation.
At the beginning of positioning control and current value changing:
Stores the value of "[Da.6] Positioning address/movement amount".
[Md.32] Target value
At the OP shift operation of OPR control : Stores the value of OP shift amount.
At other times : Stores "0".
During operation with positioning data : The actual target speed, considering
the override and speed limit value,
etc., is stored. "0" is stored when
positioning is completed.
During interpolation of position control : The composite speed or reference
axis speed is stored in the reference
axis address, and "0" is stored in the
interpolation axis address.
During interpolation of speed control : The target speeds of each axis are
stored in the monitor of the reference
axis and interpolation axis.
During JOG operation : The actual target speed, considering
[Md.33] Target speed
the JOG speed limit value for the
JOG speed, is stored.
During manual pulse generator operation : "0" is stored.
[POINT]
The target speed is when an override is made to the command speed.
When the speed limit value is overridden, the target speed is restricted to the
speed limit value. The target speed changes every time data is switched, but
does not change in an acceleration/deceleration state inside each piece of data
(changes with the speed change because the target speed changes.)
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Chapter 5 Data Used for Positioning Control
Sorting
820+100n 2420+100n
0000H
(High-order buffer memory) (Low-order buffer memory) 821+100n 2421+100n
A B C D E F G H
Unit conversion table
Converted from Md.33 )
)
hexadecimal to decimal
m Unit
Decimal integer -2 mm/min
value R -3 inch/min
-3 degree/min
0 PLS/s
Unit conversion
: When " Pr.83 Speed
R 10 m control 10 x multiplier
setting for degree axis"
is valid: "-2"
Unit conversion table
Actual value
Md.33 Target speed )
Md.34 )
Md.34 Movement amount after m
near-point dog ON
Unit 824+100n 2424+100n
-1 m
0000H
825+100n 2425+100n
-5 inch
-5 degree
0 PLS
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
"[Pr.17] Torque limit setting value", "[Cd.101] Torque output setting value", "[Cd.22]
New torque value/forward new torque value" or "[Pr.54] OPR torque limit value" is
stored.
During positioning start, JOG operation start, manual pulse generator operation
: "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value" is
stored.
When a value is set in "[Cd.22] New torque value/forward new torque value"
[Md.35] Torque limit stored value/
forward torque limit stored during operation
value : "[Cd.22] New torque value/forward new torque value" is stored.
When OPR
: "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value" is
stored. However, "[Pr.54] OPR torque limit value" is stored after the speed
reaches "[Pr.47] Creep speed".
The "instruction code" used with special start and indicated by the start data
[Md.36] Special start data instruction pointer currently being executed is stored.
code setting value
Refresh cycle: Immediate
The "instruction parameter" used with special start and indicated by the start data
pointer currently being executed is stored.
[Md.37] Special start data instruction The stored value differs according to the value set for [Md.36].
parameter setting value
Refresh cycle: Immediate
The "positioning data No." indicated by the start data pointer currently being
[Md.38] Start positioning data No. executed is stored.
setting value
Refresh cycle: Immediate
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Chapter 5 Data Used for Positioning Control
00
None None
06 0 828+100n 2428+100n
01
02 Condition data
1 to 10
03 No.
05
Number of
04 0 to 255
repetitions
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
If the speed exceeds the "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit
value" at JOG operation control) due to a speed change or override, the speed
limit functions, and the in speed limit flag turns ON.
When the speed drops to less than "[Pr.8] Speed limit value" ("[Pr.31] JOG speed
[Md.39] In speed limit flag
limit value" at JOG operation control), or when the axis stops, the in speed limit
flag turns OFF.
The speed change process flag turns ON when the speed is changed during
positioning control.
After the speed change process is completed or when deceleration starts with the
[Md.40] In speed change processing
flag stop signal during the speed change process, the in speed change process flag
turns OFF.
This area stores the remaining number of repetitions during "repetitions" specific
to special starting.
The count is decremented by one (-1) at the loop end.
[Md.41] Special start repetition counter The control comes out of the loop when the count reaches "0".
This area stores "0" within an infinite loop.
This area stores the remaining number of repetitions during "repetitions" specific
to control system.
The count is decremented by one (-1) at the loop start.
[Md.42] Control system repetition
The loop is terminated with the positioning data of the control method "LEND",
counter
after the counter becomes "0".
This area stores a point No. (1 to 50) attached to the start data currently being
executed.
[Md.43] Start data pointer being This area stores "0" after completion of a positioning operation.
executed
This area stores a positioning data No. attached to the positioning data currently
being executed.
[Md.44] Positioning data No. being
This area stores "0" when the JOG/inching operation is executed.
executed
When the operation is controlled by "block start data", this area stores a block
number (7000 to 7004) attached to the block currently being executed.
[Md.45] Block No. being executed At other times, this area stores "0".
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Chapter 5 Data Used for Positioning Control
n: Axis No.-1
5 - 143
Chapter 5 Data Used for Positioning Control
This area stores the positioning data No. attached to the positioning data that was
executed last time.
[Md.46] Last executed positioning The value is retained until a new positioning operation is executed.
data No. This area stores "0" when the JOG/inching operation is executed.
The addresses shown to the right store details of the positioning data currently
being executed (positioning data No. given by [Md.44]).
[Md.47] Positioning data being
executed
Refresh cycle: Immediate
"1" is stored when the constant speed status or acceleration status switches to
the deceleration status during position control whose operation pattern is
"Positioning complete".
"0" is stored at the next operation start or manual pulse generator operation
enable.
[Md.48] Deceleration start flag
Refresh cycle: Immediate
[POINT]
This parameter is possible to monitor when "[Cd.41] Deceleration start flag valid"
is valid.
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Chapter 5 Data Used for Positioning Control
Stored address
Reference
(Monitor value)
Stored item
QD77MS2 QD77MS2
QD77MS16 QD77MS16
QD77MS4 QD77MS4
Positioning
838+100n 2438+100n [Da.1] to [Da.5] [Da.1] to [Da.4]
identifier
M code
/Condition
data
839+100n 2439+100n No./Number [Da.10] [Da.10]
of LOOP to
LEND
repetitions 838+100n 2438+100n
Dwell time 0 to to
/JUMP 847+100n 2447+100n
840+100n 2440+100n destination [Da.9] [Da.9]
positioning
data No.
Axis to be
— 2441+100n — [Da.20] to [Da.22]
interpolated
842+100n 2442+100n Command
[Da.8] [Da.8]
843+100n 2443+100n speed
844+100n 2444+100n Positioning
[Da.6] [Da.6]
845+100n 2445+100n address
846+100n 2446+100n
Arc address [Da.7] [Da.7]
847+100n 2447+100n
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
This area stores the travel distance during the OPR travel to the zero point that
was executed last time. "0" is stored at machine OPR start.
For setting units
[Md.100] OPR re-travel value Example) mm
(Buffer memory 0.1) µm
This area stores the current value (feed current value – deviation counter droop
pulses).
This area stores the difference between the feed current and the real current
value.
[Md.102] Deviation counter value (Buffer memory details) PLS
This area stores the present motor current value of the motor.
(Buffer memory 0.1) %
[Md.104] Motor current value
Refresh cycle: Operation cycle
This area stores the software No. of the servo amplifier used.
This area is update when the control power of the servo amplifier is turned ON.
[Md.106] Servo amplifier software No.
Refresh cycle: Servo amplifier's power supply ON
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Chapter 5 Data Used for Positioning Control
Sorting
850+100n 2450+100n
(High-order buffer memory) (Low-order buffer memory) 0000H
851+100n 2451+100n
A B C D E F G H
Unit conversion table
Md.100 Md.101 )
)
Converted from
hexadecimal to decimal
m Unit
Decimal integer -1 m
value R 852+100n 2452+100n
-5 inch 0000H
degree
853+100n 2453+100n
-5
0 PLS
Unit conversion
R 10m Unit conversion table
Md.102 )
)
m Unit
Actual value Md.100 OPR re-travel value 0 PLS
Md.101 Real current value
854+100n 2454+100n
Unit conversion table 0000H
Md.103 )
) 855+100n 2455+100n
Md.102 Deviation counter value
Md.103 Motor rotation speed m Unit
-1 r/min 1
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
When a servo parameter error occurs, the area that corresponds to the parameter
number affected by the error comes ON.
When the "[Cd.5] Axis error reset" (axis control data) is set to ON after remove the
[Md.107] Parameter error No.
error factor of servo amplifier side, the servo alarm is cleared (set to 0).
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Chapter 5 Data Used for Positioning Control
Monitor value
Storage value
When SSCNET setting is SSCNET /H When SSCNET setting is SSCNET
Storage value Parameter No. Storage value Parameter No.
1 to 64 PA01 to PA64 1 to 18 PA01 to PA18
0 870+100n 2470+100n
64 to 128 PB01 to PB64 19 to 63 PB01 to PB45
129 to 192 PC01 to PC64 64 to 95 PC01 to PC32
193 to 256 PD01 to PD64 96 to 127 PD01 to PD32
257 to 320 PE01 to PE64 128 to 167 PE01 to PE40
321 to 384 PF01 to PF64 168 to 183 PF01 to PF16
385 to 448 Po01 to Po64 184 to 199 Po01 to Po16
449 to 512 PS01 to PS64 200 to 231 PS01 to PS32
513 to 576 PL01 to PL64 232 PA19
[POINT]
(1) When the forced stop of controller and servo amplifier occurs, the servo
warning is turned ON. When the forced stop is reset, the servo warning is
turned OFF.
(2) Confirm the status during continuous operation to torque control mode with
"[Md.125] Servo status3".
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
This area stores the content set in "[Pr.94] Optional data monitor: Data type
setting 4" at optional data monitor data type setting. ("0" is stored when the
[Md.112] Optional data monitor output optional data monitor data type is not set.)
4
Refresh cycle: Operation cycle
The switching status of semi closed loop control/fully closed loop control is
[Md.113] Semi/Fully closed loop indicated.
status
Refresh cycle: Operation cycle
This area stores the servo alarm code and servo warning code displayed in LED
of servo amplifier.
When the "[Cd.5] Axis error reset" (axis control data) is set to ON after remove the
[Md.114] Servo alarm
error factor of servo amplifier side, the servo alarm is cleared (set to 0).
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Chapter 5 Data Used for Positioning Control
Monitor
value 0 878+100n 2478+100n
Regenerative load ratio/
Optional data monitor output 1
Monitor
value 0 879+100n 2479+100n
Effective load torque ratio/
Optional data monitor output 2
Monitor Monitor
value 0 value 0 0
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
"[Pr.17] Torque limit setting value", "[Cd.101] Torque output setting value", "[Cd.113]
Reverse new torque value", or "[Pr.54] OPR torque limit value" is stored.
At the positioning start/JOG operation start/ manual pulse generator operation
: "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value" is
stored.
When a value is set in "[Cd.22] New torque value/forward new torque value" or
"[Cd.113] Reverse new torque value" during operation.
: "[Cd.22] New torque value/forward new torque value" is stored when "0" is
[Md.120] Reverse torque limit stored
set in "[Cd.112] Torque change function switching request".
value
"[Cd.113] Reverse new torque value" is stored when "1" is set in "[Cd.112]
Torque change function switching request".
At the OPR
: "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value"
is stored. However, "[Pr.54] OPR torque limit value" is stored after the speed
reaches "[Pr.47] Creep speed".
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Chapter 5 Data Used for Positioning Control
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
This area stores the command speed during speed control mode.
This area stores the command speed during continuous operation to torque
control mode.
"0" is stored other than during speed control mode or continuous operation to
[Md.122] Speed during command
torque control mode.
Refresh cycle: Operation cycle (Speed control mode and continuous operation to
torque control mode only)
This area stores the command torque during torque control mode.
(Buffer memory 0.1)%
This area stores the command torque during continuous operation to torque
control mode.
[Md.123] Torque during command "0" is stored other than during torque control mode or continuous operation to
torque control mode.
Refresh cycle: Operation cycle (Torque control mode and continuous operation to
torque control mode only)
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Chapter 5 Data Used for Positioning Control
0000H 59300+100n
Stored items Meaning
Driver operation alarm 0: OFF
b9
1: ON
n: Axis No.-1
5 - 155
Chapter 5 Data Used for Positioning Control
5 - 156
Chapter 5 Data Used for Positioning Control
5 - 157
Chapter 5 Data Used for Positioning Control
The setting items of the control data are explained in this section.
• Guide to buffer memory address
In the buffer memory address, "n" in "4303+100n", etc. indicates a value
corresponding to axis No. such as the following table.
Axis No. n Axis No. n Axis No. n Axis No. n
1 0 5 4 9 8 13 12
2 1 6 5 10 9 14 13
3 2 7 6 11 10 15 14
4 3 8 7 12 11 16 15
(Note-1): Calculate as follows for the buffer memory address corresponding to each axis.
(Example) For axis No. 16
4303+100n ([Cd.6] Restart command)=4303+100 15=5803
(Note-2): The range from axis No.1 to 2 (n=0 to 1) is valid in the QD77MS2.
(Note-3): The range from axis No.1 to 4 (n=0 to 3) is valid in the QD77MS4.
Writes not only "positioning data (No.1 to 600)" and "block start data (No.7000
to 7004)" stored in the buffer memory/internal memory area, but also
"parameters" and "servo parameters" to the flash ROM/internal memory
(nonvolatile).
[POINT]
(1) Do not turn the power OFF or reset the PLC CPU while writing to the flash ROM.
If the power is turned OFF or the PLC CPU is reset to forcibly end the process,
[Cd.1] Flash ROM write request
the data backed up in the flash ROM will be lost.
(2) Do not write the data to the buffer memory before writing to the flash ROM is
completed.
(3) The number of writes to the flash ROM with the sequence program is
25 max. while the power is turned ON.
Writing to the flash ROM beyond 25 times will cause the error "Flash ROM
write number error" (error code: 805).
Refer to Section 16.4 "List of errors" for details.
(4) Monitoring is the number of writes to the flash ROM after the power is switched
ON by the "[Md.19] Number of write accesses to flash ROM".
Note: After completing the initialization of setting data, switch the power ON or
reset the PLC CPU.
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Chapter 5 Data Used for Positioning Control
Setting
value K 1
Flash ROM write request
1: Requests write access to flash ROM. 0 1900 5900
The Simple Motion module resets the value to "0" automatically when
the write access completes.
(This indicates the completion of write operation.)
Setting
value K 1
Parameter initialization request
1: Requests parameter initialization. 0 1901 5901
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Chapter 5 Data Used for Positioning Control
Set the stop command processing for deceleration stop function (deceleration
[Cd.42] Stop command processing for curve re-processing/deceleration curve continuation).
deceleration stop selection
Fetch cycle: At deceleration stop causes occurrence
5 - 160
Chapter 5 Data Used for Positioning Control
5 - 161
Chapter 5 Data Used for Positioning Control
Operate the external input signal status (Upper/lower limit signal, near-point dog
signal, stop signal) of QD77MS when "2" is set in "[Pr.80] External input signal
[Cd.44] External input signal operation selection".
device
Fetch cycle: Operation cycle
5 - 162
Chapter 5 Data Used for Positioning Control
Setting
value
H
b15 b12 b8 b4 b0
Buffer
memory
QD77MS2/QD77MS4
Buffer Default
Setting items Meaning
memory value
b0 Axis 1 Upper limit signal (FLS) 0
b1 Axis 1 Lower limit signal (RLS) 0
" Pr.22
b2 Axis 1 Near-point dog signal (DOG) 0
Input
b3 Axis 1 STOP signal (STOP) 0 signal logic
b4 Axis 2 Upper limit signal (FLS) 0 selection"
is negative
b5 Axis 2 Lower limit signal (RLS) 0 logic
b6 Axis 2 Near-point dog signal (DOG) 0 0: OFF
b7 Axis 2 STOP signal (STOP) 0 1: ON
1928
b8 Axis 3 Upper limit signal (FLS) 0 " Pr.22
b9 Axis 3 Lower limit signal (RLS) 0 Input
b10 Axis 3 Near-point dog signal (DOG) 0 signal logic
selection"
b11 Axis 3 STOP signal (STOP) 0 is positive
b12 Axis 4 Upper limit signal (FLS) 0 logic
b13 Axis 4 Lower limit signal (RLS) 0 0: ON
1: OFF
b14 Axis 4 Near-point dog signal (DOG) 0
b15 Axis 4 STOP signal (STOP) 0
QD77MS16
Buffer Default Buffer Default
memory
Setting items
value
Meaning
memory
Setting items
value
Meaning 5928
b0 Axis 1 Upper limit signal (FLS) 0 b0 Axis 9 Upper limit signal (FLS) 0 0000H 1928 to
b1 Axis 1 Lower limit signal (RLS) 0 b1 Axis 9 Lower limit signal (RLS) 0
b2 Axis 1 Near-point dog signal (DOG) 0 b2 Axis 9 Near-point dog signal (DOG) 0
5931
b3 Axis 1 STOP signal (STOP) 0 b3 Axis 9 STOP signal (STOP) 0
b4 Axis 2 Upper limit signal (FLS) 0 b4 Axis 10 Upper limit signal (FLS) 0
b5 Axis 2 Lower limit signal (RLS) 0 b5 Axis 10 Lower limit signal (RLS) 0
b6 Axis 2 Near-point dog signal (DOG) 0 b6 Axis 10 Near-point dog signal (DOG) 0
b7 Axis 2 STOP signal (STOP) 0 b7 Axis 10 STOP signal (STOP) 0
5928 5930
b8 Axis 3 Upper limit signal (FLS) 0 b8 Axis 11 Upper limit signal (FLS) 0
b9 Axis 3 Lower limit signal (RLS) 0 b9 Axis 11 Lower limit signal (RLS) 0
" Pr.22 " Pr.22
b10 Axis 3 Near-point dog signal (DOG) 0 Input b10 Axis 11 Near-point dog signal (DOG) 0 Input
b11 Axis 3 STOP signal (STOP) 0 signal logic b11 Axis 11 STOP signal (STOP) 0 signal logic
b12 Axis 4 Upper limit signal (FLS) 0 selection" b12 Axis 12 Upper limit signal (FLS) 0 selection"
is negative is negative
b13 Axis 4 Lower limit signal (RLS) 0 logic b13 Axis 12 Lower limit signal (RLS) 0 logic
b14 Axis 4 Near-point dog signal (DOG) 0 0: OFF b14 Axis 12 Near-point dog signal (DOG) 0 0: OFF
b15 Axis 4 STOP signal (STOP) 0 1: ON b15 Axis 12 STOP signal (STOP) 0 1: ON
b0 Axis 5 Upper limit signal (FLS) 0 " Pr.22 b0 Axis 13 Upper limit signal (FLS) 0 " Pr.22
b1 Axis 5 Lower limit signal (RLS) 0 Input b1 Axis 13 Lower limit signal (RLS) 0 Input
signal logic signal logic
b2 Axis 5 Near-point dog signal (DOG) 0 b2 Axis 13 Near-point dog signal (DOG) 0
selection" selection"
b3 Axis 5 STOP signal (STOP) 0 is positive b3 Axis 13 STOP signal (STOP) 0 is positive
b4 Axis 6 Upper limit signal (FLS) 0 logic b4 Axis 14 Upper limit signal (FLS) 0 logic
0: ON 0: ON
b5 Axis 6 Lower limit signal (RLS) 0 b5 Axis 14 Lower limit signal (RLS) 0
1: OFF 1: OFF
b6 Axis 6 Near-point dog signal (DOG) 0 b6 Axis 14 Near-point dog signal (DOG) 0
b7 Axis 6 STOP signal (STOP) 0 b7 Axis 14 STOP signal (STOP) 0
5929 5931
b8 Axis 7 Upper limit signal (FLS) 0 b8 Axis 15 Upper limit signal (FLS) 0
b9 Axis 7 Lower limit signal (RLS) 0 b9 Axis 15 Lower limit signal (RLS) 0
b10 Axis 7 Near-point dog signal (DOG) 0 b10 Axis 15 Near-point dog signal (DOG) 0
b11 Axis 7 STOP signal (STOP) 0 b11 Axis 15 STOP signal (STOP) 0
b12 Axis 8 Upper limit signal (FLS) 0 b12 Axis 16 Upper limit signal (FLS) 0
b13 Axis 8 Lower limit signal (RLS) 0 b13 Axis 16 Lower limit signal (RLS) 0
b14 Axis 8 Near-point dog signal (DOG) 0 b14 Axis 16 Near-point dog signal (DOG) 0
b15 Axis 8 STOP signal (STOP) 0 b15 Axis 16 STOP signal (STOP) 0
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Chapter 5 Data Used for Positioning Control
Note: After completing the initialization of setting data, switch the power ON or
reset the PLC CPU.
Set the switching request of the normal operation mode and amplifier-less
[Cd.137] Amplifier-less operation operation mode.
mode switching request
Fetch cycle: 3.5[ms]
5 - 164
Chapter 5 Data Used for Positioning Control
K 1
QD75MH initial value setting request 0 1909 5909
1: Requests QD75MH initial value setting.
The Simple Motion module resets the value to "0" automatically after the initial value setting
is completed. (Indicates that the initial value setting is completed.)
Setting
value
K
SSCNET control command
0 : No command
Axis No.(Note-1) : Disconnect command of SSCNET 0 1932 5932
communication (Axis No. to be disconnected)
-2 : Execute command
-10 : Connect command of SSCNET communication
Except above setting : Invalid
(Note-1): QD77MS2 : 1 to 2
QD77MS4 : 1 to 4
QD77MS16: 1 to 16
Setting H
value
0000H 1926 5926
Amplifier-less operation mode switching request
ABCDh: Change from normal operation mode to
amplifier-less operation mode
0000h : Change from amplifier-less operation
mode to normal operation mode
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Chapter 5 Data Used for Positioning Control
Set a "starting point No." (1 to 50) if block start data is used for positioning.
(Handled as "1" if the value of other than 1 to 50 is set.)
[Cd.4] Positioning starting point No.
Clears the axis error detection, axis error No., axis warning detection and axis
warning No.
When the axis operation state of Simple Motion module is "in error occurrence",
the error is cleared and the Simple Motion module is returned to the "waiting"
state.
Clears the both of Simple Motion module errors and servo amplifier errors by axis
[Cd.5] Axis error reset error reset.
(Some servo amplifier errors cannot be reset even if error reset is requested. At
the time, "0" is not stored in [Cd.5] by the Simple Motion module. It remains "1".
Set "0" in [Cd.5] and then set "1" to execute the error reset again by user side.
Refer to each servo amplifier instruction manual for details.)
When positioning is stopped for any reason (when axis operation state is
"stopped"), set "1" in [Cd.6]. Positioning will be carried out again from the stopped
[Cd.6] Restart command position to the end point of the stopped positioning data.
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Chapter 5 Data Used for Positioning Control
Setting K
value
value K 1 to 50
0 1501+100n 4301+100n
The Simple Motion module resets the value to "0" automatically when the
continuous operation is interrupted.
K 1
Error reset request 0 1502+100n 4302+100n
1: Axis error is reset.
The Simple Motion module resets the value to "0" automatically after the axis
error reset is completed. (Indicates that the axis error reset is completed.)
K 1
Restart command 0 1503+100n 4303+100n
1: Restarts
The Simple Motion module resets the value to "0" automatically after restart
acceptance is completed. (Indicates that the restart acceptance is completed.)
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
When changing the "current feed value" using the start No. "9003", use this data
item to specify a new feed value.
Set a value within the following range:
When changing the acceleration time during a speed change, use this data item
to specify a new acceleration time.
When changing the deceleration time during a speed change, use this data item
to specify a new deceleration time.
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Chapter 5 Data Used for Positioning Control
After the M code ON signal turns OFF, "0" is stored by the Simple Motion
module automatically. (Indicates that the OFF request is completed.)
Setting value
K 0 1505+100n 4305+100n
1508+100n 4308+100n
0
Set with a decimal. 1509+100n 4309+100n
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
To use the positioning operation speed override function, use this data item to
specify an "override" value.
: For details of the override function, refer to Section 13.5.2 "Override function".
[Cd.13] Positioning operation speed If the command speed is set to less than the minimum unit using the override
override function, the speed is raised to the minimum unit and the warning "Less than
minimum speed" (warning code: 110) occurs.
When changing the speed, use this data item to specify a new speed.
The operation halts if you specify "0".
Set a value within the following range:
0 to 0 to 0 to 0 to
Setting range
2000000000 2000000000 2000000000 1000000000
: When "[Pr.83] Speed control 10 x multiplier setting for degree axis" is valid,
this will be the setting range 0 to 2000000000 ( 10-2degree/min).
After setting the "[Cd.14] New speed value", set this data item to "1" to execute
the speed change (through validating the new speed value).
[Cd.15] Speed change request
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Chapter 5 Data Used for Positioning Control
Setting
value K
Acceleration/deceleration time change 0 1512+100n 4312+100n
during speed change, enable/disable selection
1 : Enables modifications to
acceleration/deceleration time
Other than 1: Disables modifications to
acceleration/deceleration time
Setting value
K 100 1513+100n 4313+100n
10m m Unit
2 mm/min 1514+100n 4314+100n
Setting value 0
R 3 inch/min 1515+100n 4315+100n
(Decimal) degree/min
3
0 PLS/s
When " Pr.83 Speed
Example: When the " Cd. 14 New speed control 10 x multiplier
value" is set as "20000.00mm setting for degree axis"
is valid: "2"
/min", the buffer memory
stores "2000000".
Setting
value K 1
Speed change request
1: Executes speed change. 0 1516+100n 4316+100n
n: Axis No.-1
5 - 171
Chapter 5 Data Used for Positioning Control
[Cd.16] Inching movement amount Setting range 0 to 65535 0 to 65535 0 to 65535 0 to 65535
5 - 172
Chapter 5 Data Used for Positioning Control
10m m Unit
1 m
Setting value 5 inch 0 1517+100n 4317+100n
(Decimal) R
5 degree
0 PLS
10m m Unit
2 mm/min 1518+100n 4318+100n
Setting value 0
R 3 inch/min 1519+100n 4319+100n
(Decimal)
3 degree/min
0 PLS/s
: When " Pr.83 Speed
Example: When the " Cd. 17 JOG control 10 x multiplier
speed" is set as "20000.00mm setting for degree axis"
is valid: "2"
/min", the buffer memory
stores "2000000".
Setting
value K 1
Interruption request continuous operation
1: Interrupts continuous operation control
or continuous path control. 0 1520+100n 4320+100n
The Simple Motion module resets the value to "0" automatically when the
continuous control interruption request is processed.
(This indicates the completion of continuous operation interruption request.)
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
The sequence program can use this data item to forcibly turn the OPR request
flag from ON to OFF.
[POINT]
This parameter is made valid when the increment system is valid.
This data item determines the factor by which the number of pulses from the
manual pulse generator is magnified.
[Cd.20] Manual pulse generator 1 Value "0" : read as "1".
pulse input magnification Value "10001 or more" or negative value : read as "10000".
This data item enables or disables operations using a manual pulse generator.
[Cd.21] Manual pulse generator
enable flag
Fetch cycle: Operation cycle
When "0" is set to "[Cd.112] Torque change function switching request", a new
torque limit value is set. (This value is set to the forward torque limit value and
reverse torque limit value.)
When "1" is set to "[Cd.112] Torque change function switching request", a new
forward torque limit value is set.
Set a value within "0" to "[Pr.17] Torque limit setting value". Set a ratio against the
[Cd.22] New torque value/
forward new torque value rated torque in percentage unit.
(The new torque value is invalid when "0" is set, and "[Pr.17] Torque limit setting
value" or "[Cd.101] Torque output setting value" becomes valid. The range of
torque change is 1 to "[Pr.17] Torque limit setting value".)
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Chapter 5 Data Used for Positioning Control
Setting
value K 1
OPR request flag OFF request
1: Turns the "OPR request flag" 0 1521+100n 4321+100n
from ON to OFF.
Setting
value K 1522+100n 4322+100n
1
Manual pulse generator
1523+100n 4323+100n
1 pulse input
magnification
1 to 10000
Setting value
K 0 1524+100n 4324+100n
Manual pulse generator enable flag
0: Disable manual pulse generator operation.
1: Enable manual pulse generator operation.
Setting
value K
0 1525+100n 4325+100n
New torque value/forward new
torque value
0 to Pr.17 Torque limit setting
value (%)
n: Axis No.-1
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Chapter 5 Data Used for Positioning Control
During the speed control stage of the speed-position switching control (INC
mode), it is possible to change the specification of the movement amount during
the position control stage. For that, use this data item to specify a new movement
amount.
The new movement amount has to be set during the speed control stage of the
speed-position switching control (INC mode).
The value is reset to "0" when the next operation starts.
Set a value within the following range:
[Cd.23] Speed-position switching
control movement amount [Pr.1] Unit mm inch degree PLS
change register setting ( 10-1 µm) ( 10-5 inch) ( 10-5 degree) (PLS)
0 to 0 to 0 to 0 to
Setting range
2147483647 2147483647 2147483647 2147483647
Set whether the switching signal set in "[Cd.45] Speed-position switching device
[Cd.24] Speed-position switching selection" is enabled or not.
enable flag
Fetch cycle: At switching request
0 to 0 to 0 to
Setting range 0 to 1000000000
2000000000 2000000000 2000000000
: When "[Pr.83] Speed control 10 x multiplier setting for degree axis" is valid,
this will be the setting range 0 to 2000000000 ( 10-2degree/min).
5 - 176
Chapter 5 Data Used for Positioning Control
10m m Unit
1 m 1526+100n 4326+100n
Setting value 5 inch 0
(Decimal) R 1527+100n 4327+100n
5 degree
0 PLS
Setting
value K
Speed-position switching enable flag
0: Speed control will not be taken over by
position control even when the signal
0 1528+100n 4328+100n
set in " Cd.45 Speed-position switching device
selection" comes ON.
1: Speed control will be taken over by
position control even when the signal
set in " Cd.45 Speed-position switching device
selection" comes ON.
10m m Unit
2 mm/min 1530+100n 4330+100n
Setting value 3 inch/min 0
(Decimal) R 1531+100n 4331+100n
3 degree/min
0 PLS/s
: When " Pr.83 Speed
control 10 x multiplier
Example: If " Cd. 25 Position-speed setting for degree axis"
switching control speed is valid: "2"
change register" is set
as "2000.00 mm/min", the
buffer memory stores "200000".
n: Axis No.-1
5 - 177
Chapter 5 Data Used for Positioning Control
Set whether the switching signal set in "[Cd.45] Speed-position switching device
[Cd.26] Position-speed switching selection" is enabled or not.
enable flag
Fetch cycle: At switching request
When changing the target position during a positioning operation, use this data
item to specify a new positioning address.
Set a value within the following range:
When changing the target position during a positioning operation, use this data
item to specify a new speed.
The speed will not change if "0" is set.
Set a value within the following range:
5 - 178
Chapter 5 Data Used for Positioning Control
10m m Unit
1 m
Setting value 5 inch
(Decimal) R
5 degree
0 PLS
n: Axis No.-1
5 - 179
Chapter 5 Data Used for Positioning Control
Simultaneous starting axis Use these data items to specify an axis 1 start data No. for
start data No. (axis 1 start
each axis that has to start simultaneously.
data No.)
QD77MS2 QD77MS4 Set "0" to any axis that should not start simultaneously. Fetch cycle:
[Cd.30] At start
Simultaneous starting own
Use these data items to specify a start data No. of own axis at
axis start data No.
QD77MS16
multiple axes simultaneous starting.
Simultaneous starting axis Use these data items to specify an axis 2 start data No. for
start data No. (axis 2 start
each axis that has to start simultaneously.
data No.)
QD77MS2 QD77MS4 Set "0" to any axis that should not start simultaneously. Fetch cycle:
[Cd.31] At start
Simultaneous starting axis
Use these data items to specify a start data No.1 for each axis
start data No.1
QD77MS16
that has to start simultaneously.
Simultaneous starting axis Use these data items to specify an axis 3 start data No. for
start data No. (axis 3 start
each axis that has to start simultaneously.
data No.)
QD77MS4 Set "0" to any axis that should not start simultaneously.
Fetch cycle:
[Cd.32] Use these data items to specify a start data No.2 for each axis
that has to start simultaneously. At start
Simultaneous starting axis
start data No.2
QD77MS16 Note) For 2 axis simultaneous starting, the axis setting is not
required.
(Setting value is ignored.)
Simultaneous starting axis Use these data items to specify an axis 4 start data No. for
start data No. (axis 4 start
each axis that has to start simultaneously.
data No.)
QD77MS4 Set "0" to any axis that should not start simultaneously.
Fetch cycle:
[Cd.33] Use these data items to specify a start data No.3 for each axis
that has to start simultaneously. At start
Simultaneous starting axis
start data No.3
QD77MS16 Note) For 2 axis simultaneous starting and 3 axis simultaneous
starting, the axis setting is not required.
(Setting value is ignored.)
To perform a step operation, use this data item to specify the units by which the
stepping should be performed.
[Cd.34] Step mode
5 - 180
Chapter 5 Data Used for Positioning Control
1540+100n
4340+100n
QD77MS4 use
1542+100n
Cd.30 to Cd.33
Simultaneous starting axis
start data No.
1 to 600 0
QD77MS16 use
Cd.30 4342+100n
Simultaneous starting own
axis start data No.
Cd.31 to Cd.33
Simultaneous starting axis
start data No.
1 to 600
1543+100n
4343+100n
Setting
value K 0 1544+100n 4344+100n
Step mode
0: Stepping by deceleration units
1: Stepping by data No. units
n: Axis No.-1
5 - 181
Chapter 5 Data Used for Positioning Control
To continue the step operation when the step function is used, set "1" in the data
item.
[Cd.36] Step start information
Fetch cycle: 14.2[ms]
To skip the current positioning operation, set "1" in this data item.
5 - 182
Chapter 5 Data Used for Positioning Control
Setting
value K 0 1545+100n 4345+100n
Step valid flag
0: Invalidates step operations
1: Validates step operations
Setting
value K
Step start information 0 1546+100n 4346+100n
1: Continues step operation
Setting
value K 1
Skip request
1: Issues a skip request to have
0 1547+100n 4347+100n
the machine decelerate, stop,
and then start the next positioning
operation.
The Simple Motion module resets the value to "0" automatically
when processing of the skip request completes.
Setting
value K
0 1548+100n 4348+100n
Teaching data selection
0: Takes the current feed value as a positioning
address.
1: Takes the current feed value as an arc data.
Setting value
K
0 1549+100n 4349+100n
Teaching
positioning
data No.
1 to 600
n: Axis No.-1
5 - 183
Chapter 5 Data Used for Positioning Control
This data item specifies the ABS moving direction carrying out the position control
when "degree" is selected as the unit.
[Cd.40] ABS direction in degrees
Fetch cycle: At start
Note) If the setting is outside the range at start, operation is performed with the
[Cd.45] Speed-position switching
setting regarded as "0".
device selection
Fetch cycle: At positioning start for speed-position switching control/position-speed
switching control
5 - 184
Chapter 5 Data Used for Positioning Control
Setting
value K
ABS direction in degrees 0 1550+100n 4350+100n
0: Takes a shortcut.
(Specified direction ignored.)
1: ABS circular right
2: ABS circular left
Setting
value H
Simultaneous starting axis No.1
0 to F: Axis 1 to Axis 16 0000H 4339+100n
Simultaneous starting axis No.2
0 to F: Axis 1 to Axis 16
Simultaneous starting axis No.3
0 to F: Axis 1 to Axis 16
Number of simultaneous starting axes
2 to 4: 2 axes to 4 axes
Setting
value K
Speed-position switching device selection
<Speed-position switching control>
0: Use the external command signal for switching
from speed control to position control
1: Use the near-point dog signal for switching 0 1566+100n 4366+100n
from speed control to position control
2: Use " Cd.46 Speed-position switching command" for
switching from speed control to position control
<Position-speed switching control>
0: Use the external command signal for switching
from position control to speed control
1: Use the near-point dog signal for switching
from position control to speed control
2: Use " Cd.46 Speed-position switching command" for
switching from position control to speed control
Setting
value K
Speed-position switching command 0 1567+100n 4367+100n
<Speed-position switching control>
0: Not switch from speed control to position control
1: Switch from speed control to position control
<Position-speed switching control>
0: Not switch from position control to speed control
1: Switch from position control to speed control
n: Axis No.-1
5 - 185
Chapter 5 Data Used for Positioning Control
Sets the torque output value. Set a ratio against the rated torque in percentage
unit.
[POINT]
If the "[Cd.101] Torque output setting value" is "0", the "[Pr.17] Torque limit
setting value" will be its value.
[Cd.101] Torque output setting value If a value beside "0" is set in the "[Cd.101] Torque output setting value", the
torque generated by the servomotor will be limited by that value.
The "[Pr.17] Torque limit setting value" of the detailed parameter becomes
effective at the PLC ready signal rising edge.
The "[Cd.101] Torque output setting value" (refer to the start) axis control data
can be changed at all times. Therefore in the "[Cd.101] Torque output setting
value" is used when you must change.
(Refer to Section 13.5.4 "Torque change function".)
The command required to carry out "gain changing" of the servo amplifier from the
Simple Motion module.
Sets "same setting/individual setting" of the forward torque limit value or reverse
torque limit value in the torque change function.
5 - 186
Chapter 5 Data Used for Positioning Control
Setting
value K
0 1551+100n 4351+100n
Servo OFF command
0: Servo ON
1: Servo OFF
Valid only during servo ON for all axes.
Setting
value K 0 1552+100n 4352+100n
Setting
value K 0 1559+100n 4359+100n
Gain changing command
0: Gain changing command OFF
1: Gain changing command ON
Setting
value K 0 1563+100n 4363+100n
Torque change function switching request
0: Forward/reverse torque limit value same setting
1: Forward/reverse torque limit value individual setting
n: Axis No.-1
5 - 187
Chapter 5 Data Used for Positioning Control
"1" is set in "[Cd.112] Torque change function switching request", a new reverse
torque limit value is set. (when "0" is set in "[Cd.112] Torque change function
switching request", the setting value is invalid.)
Set a value within "0" to "[Pr.17] Torque limit setting value". Set a ratio against the
rated torque in percentage unit.
[Cd.113] Reverse new torque value
(The new torque value is invalid when "0" is set, and "[Pr.17] Torque limit setting
value" or "[Cd.101] Torque output setting value" becomes valid. The range of
torque change is 1 to "[Pr.17] Torque limit setting value".
(Note-1)
Fetch cycle: Main cycle
[Cd.130] Parameter write request
(Note-1): Cycle of processing executed at free time except for the positioning
control.
It changes by status of axis start.
5 - 188
Chapter 5 Data Used for Positioning Control
Setting
value K 0 1564+100n 4364+100n
Setting
value K
0 1554+100n 4354+100n
Parameter write request
1 : 1 word write request
2 : 2 words write request
Other than 1 and 2: Not request
The Simple Motion module resets the value to "0" automatically
when the parameter write access completes.
(The Simple Motion module resets the value to "3" at writing failure.)
5 - 189
Chapter 5 Data Used for Positioning Control
Set the change value of servo parameter set in "[Cd.131] Parameter No.".
[Cd.132] Change data
Fetch cycle: At change request
Set the switching of semi closed control and fully closed control.
[Cd.133] Semi/Fully closed loop
switching request
Fetch cycle: Operation cycle (Fully closed loop control servo amplifier only)
5 - 190
Chapter 5 Data Used for Positioning Control
A B C D E F G H
(High-order buffer memory) (Low-order buffer memory)
Setting
value K 0 1558+100n 4358+100n
Semi/Fully closed loop switching request
0: Semi closed loop control
1: Fully closed loop control
n: Axis No.-1
5 - 191
Chapter 5 Data Used for Positioning Control
: When "[Pr.83] Speed control 10 x multiplier setting for degree axis" is valid,
this will be the setting range -2000000000 to 2000000000 ( 10-2degree/min).
5 - 192
Chapter 5 Data Used for Positioning Control
Setting
value K 0 1565+100n 4365+100n
PI-PID switching request
1 : PID control switching request
Other than 1: Not request
Setting
value K 0 1574+100n 4374+100n
Control mode switching request
1 : Switching request
Other than 1: Not request
Setting
value K
0 1575+100n 4375+100n
Control mode setting
0: Position control mode
10: Speed control mode
20: Torque control mode
30: Continuous operation to torque control mode
Setting
value K
1000 1578+100n 4378+100n
Acceleration time at
speed control mode (ms)
0 to 65535
n: Axis No.-1
5 - 193
Chapter 5 Data Used for Positioning Control
Set the command torque at torque control mode. Set a ratio against the rated
torque in 0.1% unit.
[Cd.143] Command torque at torque
-10000 to 10000 ( 0.1%)
control mode
Fetch cycle: Operation cycle (At torque control mode)
0 to
Setting range 0 to 2000000000 0 to 2000000000 0 to 2000000000
[Cd.146] Speed limit value at torque 1000000000
control mode : When "[Pr.83] Speed control 10 x multiplier setting for degree axis" is valid,
this will be the setting range 0 to 2000000000 ( 10-2degree/min).
5 - 194
Chapter 5 Data Used for Positioning Control
Setting
value K 1000 1579+100n 4379+100n
Deceleration time at
speed control mode (ms)
0 to 65535
Setting
value K 0 1580+100n 4380+100n
Setting
value K
1000 1581+100n 4381+100n
Torque time constant at
torque control mode
(Forward direction) (ms)
0 to 65535
Setting
value K
1000 1582+100n 4382+100n
Torque time constant at
torque control mode
(Negative direction) (ms)
0 to 65535
n: Axis No.-1
5 - 195
Chapter 5 Data Used for Positioning Control
Set the speed limit value at continuous operation to torque control mode.
Set a value within the following range:
Fetch cycle: Operation cycle (At continuous operation to torque control mode)
[Cd.148] Acceleration time at (Set the time for the speed to increase from "0" to "[Pr.8] Speed limit value".)
continuous operation to 0 to 65535 (ms)
torque control mode
Fetch cycle: At control mode switching
[Cd.149] Deceleration time at (Set the time for the speed to decrease from "[Pr.8] Speed limit value" to "0".)
continuous operation to 0 to 65535 (ms)
torque control mode
Fetch cycle: At control mode switching
Set the target torque at continuous operation to torque control mode. Set a ratio
[Cd.150] Target torque at continuous against the rated torque in 0.1% unit.
operation to torque control -10000 to 10000 ( 0.1%)
mode
Fetch cycle: Operation cycle (At continuous operation to torque control mode)
Set the time constant at driving during continuous operation to torque control
mode.
[Cd.151] Torque time constant at (Set the time for the torque to increase from "0" to "[Pr.17] Torque limit setting
continuous operation to value".)
torque control mode
0 to 65535 (ms)
(Forward direction)
5 - 196
Chapter 5 Data Used for Positioning Control
Setting
value K
1000 1588+100n 4388+100n
Acceleration time at
continuous operation to
torque control mode (ms)
0 to 65535
Setting
value K
1000 1589+100n 4389+100n
Deceleration time at
continuous operation to
torque control mode (ms)
0 to 65535
Setting
value K
0 1590+100n 4390+100n
Target torque at continuous
operation to torque control
mode ( 0.1%)
-10000 to 10000
Setting
value K
1000 1591+100n 4391+100n
Torque time constant at
continuous operation
torque control mode
(Forward direction) (ms)
0 to 65535
n: Axis No.-1
5 - 197
Chapter 5 Data Used for Positioning Control
Set the condition value when setting the control mode switching condition.
The setting value differs depending on the value set in "[Cd.153] Control mode
auto-shift selection".
When "1" or "2" is set in "[Cd.153] Control mode auto-shift selection": Set the
switching address.
Set a value within the following range:
[Cd.154] Control mode auto-shift
parameter [Pr.1] Unit mm inch degree PLS
setting ( 10-1 mm) ( 10-5 inch) ( 10-5 degree) (PLS)
5 - 198
Chapter 5 Data Used for Positioning Control
Setting
value K
1000 1592+100n 4392+100n
Torque time constant at
continuous operation
torque control mode
(Negative direction) (ms)
0 to 65535
Setting
value K
0 1593+100n 4393+100n
Control mode auto-shift selection
0: No switching condition
1: Current feed value pass
2: Real current value pass
n: Axis No.-1
5 - 199
Chapter 5 Data Used for Positioning Control
When the axis stop signal turns ON, the OPR control, positioning control, JOG
operation, inching operation, manual pulse generator operation, speed-torque
control, etc. will stop.
By turning the axis stop signal ON during positioning operation, the positioning
operation will be "stopped".
[Cd.180] Axis stop Whether to decelerate stop or suddenly stop can be selected with "[Pr.39] Stop
QD77MS16
group 3 sudden stop selection".
During interpolation control of the positioning operation, if the axis stop signal of
any axis turns ON, all axes in the interpolation control will decelerate and stop.
[Cd.181] Forward run JOG start When the JOG start signal is ON, JOG operation will be carried out at the "[Cd.17]
QD77MS16 JOG speed". When the JOG start signal turns OFF, the operation will decelerate
and stop.
When inching movement amount is set, the designated movement amount is
output for one operation cycle and then the operation stops.
[Cd.182] Reverse run JOG start
QD77MS16 Fetch cycle: Operation cycle
If the execution prohibition flag is ON when the positioning start signal turns ON,
positioning control does not start until the execution prohibition flag turns OFF.
[Cd.183] Execution prohibition flag
Used with the "Pre-reading start function". (Refer to Section 13.7.7)
QD77MS16
5 - 200
Chapter 5 Data Used for Positioning Control
Setting
value K 0 30100+10n
Axis stop
1 : Axis stop requested
Other than 1: Axis stop not requested
Setting
value K 0 30103+10n
Execution prohibition flag
1 : During execution prohibition
Other than 1: Not during execution prohibition
n: Axis No.-1
5 - 201
Chapter 5 Data Used for Positioning Control
MEMO
5 - 202
Chapter 6 Sequence Program Used for Positioning Control
The programs required to carry out positioning control with the Simple Motion module
are explained in this chapter.
The sequence program required for control is created allowing for the "start conditions",
"start time chart", "device settings" and general control configuration. (The parameters,
positioning data, block start data and condition data, etc., must be set in the Simple
Motion module according to the control to be executed, and program for setting the
control data or a program for starting the various controls must be created.)
The first half of this chapter explains the program configuration of general control, and
the latter half explains the program details. Create the required program while referring
to the various control details explained in "Section 2", and to Chapter 5 "Data Used for
Positioning Control".
6-1
Chapter 6 Sequence Program Used for Positioning Control
The common precautions to be taken when writing data from the PLC CPU to the
buffer memory of Simple Motion module are described below.
When diverting any of the program examples introduced in this manual to the actual
system, fully verify that there are no problems in the controllability of the target system.
6-2
Chapter 6 Sequence Program Used for Positioning Control
P Q Q Q
00 X20 X40
to to to
1F X3F X4F
X40 to X4F
External
devices
X20 to X3F
Servo
amplifier
Servomotor
M
X21 U0\
0 MOVP K1 G1505
X21
0 TOP H0 K1505 K1 K1
Designated Designated
value value Number of
at U0 at G1505 write data (1)
6-3
Chapter 6 Sequence Program Used for Positioning Control
(b) When the circuit uses the "intelligent function device" on the source(s) side
and the destination (D) side of a MOV command, change the command to a
FROM command and a TO command.
X15 X0C U0\ U6\
0 MOVP G826 G1
Set the
same device.
X15 X0C
0 FROMP H0 K826 D100 K1
TOP H6 K1 D100 K1
(c) When the circuit uses the "intelligent function device" for a COMPARISON
command, change the command to a FROM command and a
COMPARISON command.
M0 U0\
0 = G1521 K0 RST M0
M0
0 FROMP H0 K1521 D102 K1
(d) When the circuit uses the "intelligent function device" for a WAND command,
change the command to a FROM command and a WAND command.
M2 U0\
0 WANDP G817 H8 D0
M2
0 FROMP H0 K817 D101 K1
Data read out
WANDP D101 H8 D0
6-4
Chapter 6 Sequence Program Used for Positioning Control
REMARK
Refer to the "QnUCPU User's Manual (Function Explanation, Program
Fundamentals)" for the intelligent function devices.
Refer to the "MELSEC-Q/L Programming Manual (Common Instructions)" for detail
commands used in those programs shown in this chapter and subsequent.
6-5
Chapter 6 Sequence Program Used for Positioning Control
In the sequence programs using QD77MS4 shown in this chapter and subsequent, the
application of the devices used are as follows.
The I/O numbers for Simple Motion module indicate those when the head I/O number
is set to "0H".
If it is set to other than "0H", change the I/O number according to setting of head I/O
number.
In addition, change the external inputs, external outputs, internal relays, data resisters,
and timers according to the system used.
6-6
Chapter 6 Sequence Program Used for Positioning Control
Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3 Axis 4
X2C M code OFF command Commanding M code OFF
JOG operation speed setting Commanding JOG operation speed
X2D
command setting
Commanding forward run JOG/inching
X2E Forward run JOG/inching command
operation
Commanding reverse run JOG/inching
X2F Reverse run JOG/inching command
operation
Manual pulse generator operation Commanding manual pulse generator
X30
enable command operation enable
Manual pulse generator operation Commanding manual pulse generator
X31
disable command operation disable
X32 Speed change command Commanding speed change
X33 — Override command Commanding override
Acceleration/deceleration time change Commanding acceleration/deceleration
X34
command time change
Acceleration/deceleration time change Commanding acceleration/deceleration
X35
disable command time change disable
X36 Torque change command Commanding torque change
X37 Step operation command Commanding step operation
X38 Skip command Commanding skip
X39 Teaching command Commanding teaching
Continuous operation interrupt Commanding continuous operation
X3A
command interrupt
External X3B Restart command Commanding restart
input X3C Parameter initialization command Commanding parameter initialization
(command) X3D Flash ROM write command Commanding flash ROM write
X3E Error reset command Commanding error reset
X3F Stop command Commanding stop
Position-speed switching operation Position-speed switching operation
X40
command command
Position-speed switching enable Position-speed switching enable
X41
command command
Position-speed switching prohibit Position-speed switching prohibit
X42
command command
X43 Speed change command Speed change command
Inching movement amount setting Inching movement amount setting
X44
command command
X45 — Target position change command Target position change command
X46 Step start information command Step start information command
X47 Positioning start command k10 Positioning start command k10
X48 Override initialization value command Override initialization value command
X4A Current value changing command —
X4B PLC READY ON PLC READY ON
X4C Error reset clear command Error reset clear command
X4D For unit (degree) For unit (degree)
Positioning start signal command
X4E Positioning start command being given
(Y start)
X4F All axis servo ON command All axis servo ON command
6-7
Chapter 6 Sequence Program Used for Positioning Control
Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3 Axis 4
M0 OPR request OFF command Commanding OPR request OFF
M1 OPR request OFF command pulse OPR request OFF commanded
M2 OPR request OFF command storage OPR request OFF command held
M3 Fast OPR command Commanding fast OPR
M4 Fast OPR command storage Fast OPR command held
M5 Positioning start command pulse Positioning start commanded
M6 Positioning start command storage Positioning start command held
M7 In-JOG/Inching operation flag In-JOG/Inching operation flag
Manual pulse generator operation Commanding manual pulse generator
M8
enable command operation enable
M9 Manual pulse generator operating flag Manual pulse generator operating flag
Manual pulse generator operation Commanding manual pulse generator
M10
disable command operation disable
M11 Speed change command pulse Speed change commanded
—
M12 Speed change command storage Speed change command held
M13 Override command Requesting override
Acceleration/deceleration time change Requesting acceleration/deceleration
M14
command time change
M15 Torque change command Requesting torque change
M16 Step operation command pulse Step operation commanded
M17 Skip command pulse Skip commanded
Internal relay M18 Skip command storage Skip command held
M19 Teaching command pulse Teaching commanded
M20 Teaching command storage Teaching command held
Continuous operation interrupt Requesting continuous operation
M21
command interrupt
M22 Restart command Requesting restart
M23 Restart command storage Restart command held
Parameter initialization command
M24 Parameter initialization commanded
pulse
Parameter initialization command
M25 Parameter initialization command held
storage
M26 Flash ROM write command pulse Flash ROM write commanded
M27 Flash ROM write command storage Flash ROM write command held
M28 Error reset Error reset completed
M29 Stop command pulse Stop commanded
Target position change command
M30 Target position change commanded
pulse
— Target position change command
M31 Target position change command held
storage
ZP.PSTRT1 instruction complete
M32 ZP.PSTRT1 instruction completed
device
ZP.PSTRT1 instruction error complete ZP.PSTRT1 instruction error
M33
device completed
6-8
Chapter 6 Sequence Program Used for Positioning Control
Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3 Axis 4
M34 ZP.TEACH1 instruction complete device ZP.TEACH1 instruction completed
ZP.TEACH1 instruction error complete ZP.TEACH1 instruction error
M35
device completed
M36 ZP.PINIT instruction complete device ZP.PINIT instruction completed
ZP.PINIT instruction error complete
M37 ZP.PINIT instruction error completed
Internal relay — device
M38 ZP.PFWRT instruction complete device ZP.PFWRT instruction completed
ZP.PFWRT instruction error complete ZP.PFWRT instruction error
M39
device completed
M40 Override initialization value command Override initialization value
M50 Parameter setting complete device Parameter setting completed
6-9
Chapter 6 Sequence Program Used for Positioning Control
Device Device
Application Details of storage
name Axis 1 Axis 2 Axis 3 Axis 4
Acceleration time setting
D15
(low-order 16 bits)
[Cd.10] New acceleration time value
Acceleration time setting
D16
(high-order 16 bits)
Deceleration time setting
D17
(low-order 16 bits)
[Cd.11] New deceleration time value
Deceleration time setting
D18
(high-order 16 bits)
[Cd.12] Acceleration/deceleration
Acceleration/deceleration time change time change during speed
D19
enable change, enable/disable
selection
D20 Step mode [Cd.34] Step mode
D21 Step valid flag [Cd.35] Step valid flag
D22 Step start information —
D23 Target position (low-order 16 bits) [Cd.27] Target position change value
D24 Target position (high-order 16 bits) (New address)
Data register D25 — Target speed (low-order 16 bits) [Cd.28] Target position change value
D26 Target speed (high-order 16 bits) (New speed)
[Cd.29] Target position change
D27 Target position change request
request flag
D30 ZP.PSTRT1 instruction control data —
D31 Completion status —
D32 Start number —
D33 ZP.TEACH1 instruction control data —
D34 Completion status —
D35 Teaching data —
D36 Positioning data No. —
D37 ZP.PINIT instruction control data —
D38 Completion status —
D39 ZP.PFWRT instruction control data —
D40 Completion status —
D50 Unit setting [Pr.1] Unit setting
D51 Unit magnification [Pr.4] Unit magnification (AM)
6 - 10
Chapter 6 Sequence Program Used for Positioning Control
Device Device
Application Details of storage
name Axis 1 Axis 2 Axis 3 Axis 4
Number of pulses per rotation
D52
(low-order 16 bits) [Pr.2] Number of pulses per rotation
Number of pulses per rotation (AP)
D53
(high-order 16 bits)
Movement amount per rotation
D54
(low-order 16 bits) [Pr.3] Movement amount per rotation
Movement amount per rotation (AL)
D55
(high-order 16 bits)
D56 Bias speed at start (low-order 16 bits)
[Pr.7] Bias speed at start
D57 Bias speed at start (high-order 16 bits)
D68 Point 1 (shape, start No.)
D69 Point 2 (shape, start No.)
Block start data (Block 0)
6 - 11
Chapter 6 Sequence Program Used for Positioning Control
Device Device
Application Details of storage
name Axis 1 Axis 2 Axis 3 Axis 4
D110 Positioning identifier
Data No.2
D111 M code [Da.1] Operation pattern
[Da.2] Control system
D112 Dwell time [Da.3] Acceleration time No.
[Da.4] Deceleration time No.
D113 Dummy
[Da.5] Axis to be interpolated
D114 Command speed (low-order 16 bits) [Da.6] Positioning address/
movement amount
D115 Command speed (high-order 16 bits) [Da.7] Arc address
[Da.8] Command speed
D116 Positioning address (low-order 16 bits)
[Da.9] Dwell time/JUMP destination
D117 Positioning address (high-order 16 bits) positioning data No.
[Da.10] M code/Condition data
D118 Arc address (low-order 16 bits) No./Number of LOOP to
LEND repetitions
D119 Arc address (high-order 16 bits)
D120 Positioning identifier
Data No.3
D121 M code [Da.1] Operation pattern
[Da.2] Control system
D122 Dwell time [Da.3] Acceleration time No.
[Da.4] Deceleration time No.
D123 Dummy
[Da.5] Axis to be interpolated
D124 Command speed (low-order 16 bits) [Da.6] Positioning address/
Data register — movement amount
D125 Command speed (high-order 16 bits) [Da.7] Arc address
[Da.8] Command speed
D126 Positioning address (low-order 16 bits)
[Da.9] Dwell time/JUMP destination
D127 Positioning address (high-order 16 bits) positioning data No.
[Da.10] M code/Condition data
D128 Arc address (low-order 16 bits) No./Number of LOOP to
LEND repetitions
D129 Arc address (high-order 16 bits)
D130 Positioning identifier
Data No.4
D131 M code [Da.1] Operation pattern
[Da.2] Control system
D132 Dwell time [Da.3] Acceleration time No.
[Da.4] Deceleration time No.
D133 Dummy
[Da.5] Axis to be interpolated
D134 Command speed (low-order 16 bits) [Da.6] Positioning address/
movement amount
D135 Command speed (high-order 16 bits) [Da.7] Arc address
[Da.8] Command speed
D136 Positioning address (low-order 16 bits)
[Da.9] Dwell time/JUMP destination
D137 Positioning address (high-order 16 bits) positioning data No.
[Da.10] M code/Condition data
D138 Arc address (low-order 16 bits) No./Number of LOOP to
LEND repetitions
D139 Arc address (high-order 16 bits)
6 - 12
Chapter 6 Sequence Program Used for Positioning Control
Device Device
Application Details of storage
name Axis 1 Axis 2 Axis 3 Axis 4
D140 Positioning identifier Data No.5
[Da.1] Operation pattern
D141 M code [Da.2] Control system
[Da.3] Acceleration time No.
D142 Dwell time [Da.4] Deceleration time No.
D143 Dummy [Da.5] Axis to be interpolated
[Da.6] Positioning address/
D144 Command speed (low-order 16 bits) movement amount
[Da.7] Arc address
D145 Command speed (high-order 16 bits) [Da.8] Command speed
[Da.9] Dwell time/JUMP destination
D146 Positioning address (low-order 16 bits)
positioning data No.
D147 Positioning address (high-order 16 bits) [Da.10] M code/Condition data
No./Number of LOOP to
D148 Arc address (low-order 16 bits) LEND repetitions
D149 Arc address (high-order 16 bits)
D150 Positioning identifier
Data No.6
D151 M code [Da.1] Operation pattern
[Da.2] Control system
D152 Dwell time [Da.3] Acceleration time No.
[Da.4] Deceleration time No.
D153 Dummy
[Da.5] Axis to be interpolated
D154 Command speed (low-order 16 bits) [Da.6] Positioning address/
Data register — movement amount
D155 Command speed (high-order 16 bits) [Da.7] Arc address
[Da.8] Command speed
D156 Positioning address (low-order 16 bits) [Da.9] Dwell time/JUMP destination
D157 Positioning address (high-order 16 bits) positioning data No.
[Da.10] M code/Condition data
D158 Arc address (low-order 16 bits) No./Number of LOOP to
LEND repetitions
D159 Arc address (high-order 16 bits)
D190 Positioning identifier
Data No.10
D191 M code [Da.1] Operation pattern
[Da.2] Control system
D192 Dwell time [Da.3] Acceleration time No.
[Da.4] Deceleration time No.
D193 Dummy
[Da.5] Axis to be interpolated
D194 Command speed (low-order 16 bits) [Da.6] Positioning address/
movement amount
D195 Command speed (high-order 16 bits) [Da.7] Arc address
[Da.8] Command speed
D196 Positioning address (low-order 16 bits) [Da.9] Dwell time/JUMP destination
D197 Positioning address (high-order 16 bits) positioning data No.
[Da.10] M code/Condition data
D198 Arc address (low-order 16 bits) No./Number of LOOP to
LEND repetitions
D199 Arc address (high-order 16 bits)
6 - 13
Chapter 6 Sequence Program Used for Positioning Control
Device Device
Application Details of storage
name Axis 1 Axis 2 Axis 3 Axis 4
D200 Positioning identifier
Data No.11
D201 M code [Da.1] Operation pattern
[Da.2] Control system
D202 Dwell time [Da.3] Acceleration time No.
[Da.4] Deceleration time No.
D203 Dummy
[Da.5] Axis to be interpolated
D204 Command speed (low-order 16 bits) [Da.6] Positioning address/
movement amount
D205 Command speed (high-order 16 bits) [Da.7] Arc address
[Da.8] Command speed
D206 Positioning address (low-order 16 bits) [Da.9] Dwell time/JUMP destination
D207 Positioning address (high-order 16 bits) positioning data No.
[Da.10] M code/Condition data
D208 Arc address (low-order 16 bits) No./Number of LOOP to
LEND repetition
D209 Arc address (high-order 16 bits)
Data register —
D240 Positioning identifier
Data No.15
D241 M code [Da.1] Operation pattern
[Da.2] Control system
D242 Dwell time [Da.3] Acceleration time No.
[Da.4] Deceleration time No.
D243 Dummy
[Da.5] Axis to be interpolated
D244 Command speed (low-order 16 bits) [Da.6] Positioning address/
movement amount
D245 Command speed (high-order 16 bits) [Da.7] Arc address
[Da.8] Command speed
D246 Positioning address (low-order 16 bits) [Da.9] Dwell time/JUMP destination
D247 Positioning address (high-order 16 bits) positioning data No.
[Da.10] M code/Condition data
D248 Arc address (low-order 16 bits) No./Number of LOOP to
LEND repetitions
D249 Arc address (high-order 16 bits)
T0 PLC READY signal OFF confirmation
Timer — PLC READY signal OFF
T1 PLC READY signal OFF confirmation
6 - 14
Chapter 6 Sequence Program Used for Positioning Control
Device
Device Application Details of storage
name
U0\G806 Error code [Md.23] Axis error No.
U0\G809 Axis operation status [Md.26] Axis operation status
U0\G817 Status [Md.31] Status
U0\G1500 Positioning start No. [Cd.3] Positioning start No.
U0\G1501 Positioning starting point No. [Cd.4] Positioning starting point No.
U0\G1502 Error reset [Cd.5] Axis error reset
U0\G1503 Restart command [Cd.6] Restart command
U0\G1504 M code OFF request (Buffer memory) [Cd.7] M code OFF request
U0\G1505 External command valid [Cd.8] External command valid
[Cd.13] Positioning operation speed
U0\G1513 Override request
override
U0\G1516 Speed change request [Cd.15] Speed change request
U0\G1517 Inching movement amount [Cd.16] Inching movement amount
Interrupt request during continuous [Cd.18] Interrupt request during
U0\G1520
operation continuous operation
Code [Cd.19] OPR request flag OFF
U0\G1521 OPR request flag OFF request
request
[Cd.21] Manual pulse generator
U0\G1524 Manual pulse generator enable flag
enable flag
[Cd.23] Speed-position switching
Speed-position switching control
U0\G1526 control movement amount
movement amount
change register
[Cd.24] Speed-position switching
U0\G1528 Speed-position switching enable flag
enable flag
[Cd.25] Position-speed switching
Position-speed switching control speed
U0\G1530 control speed change
change
register
[Cd.26] Position-speed switching
U0\G1532 Position-speed switching enable flag
enable flag
[Cd.29] Target position change
U0\G1538 Target position change request flag
request flag
U0\G1544 Step mode [Cd.34] Step mode
U0\G1547 Skip command [Cd.37] Skip command
6 - 15
Chapter 6 Sequence Program Used for Positioning Control
The "positioning control operation program" actually used is explained in this chapter.
The functions and programs explained in "Section 2" are assembled into the
"positioning control operation program" explained here. (To monitor the control, add
the required monitor program that matches the system. Refer to Section 5.6 "List of
monitor data" for details on the monitor items.)
Servo parameter
Start program
Completion of program
creation
6 - 16
Chapter 6 Sequence Program Used for Positioning Control
The various programs that configure the "positioning control operation program" are
shown below. When creating the program, refer to the explanation of each program
and Section 6.4 "Positioning program examples", and create an operation program that
matches the positioning system. (Numbers are assigned to the following programs.
Configuring the program in the order of these numbers is recommended.)
Set using
No.1
GX Works2 Parameter setting program
No.3
Block start data setting program
No.4
Servo parameter
6 - 17
Chapter 6 Sequence Program Used for Positioning Control
Initialization program
No.6
External command function valid
setting program Refer to Section 6.5.1
No.7
PLC READY signal [Y0] ON
: Required
program
No.8
All axis servo ON signal [Y1] : Required
ON program
No
Absolute system ?
Yes
No
OPR uncompleted ?
Yes
No.28
Error reset program
6 - 18
Chapter 6 Sequence Program Used for Positioning Control
Start program
No.10
Positioning start program Refer to Section 6.5.3
No.11
Program to turn the
M code OFF program
M code ON signal OFF
No.12
JOG operation program Refer to Section 11.2.4
No.14
No.13
Inching operation program Refer to Section 11.3.4
No.14
No.15
Manual pulse generator
Refer to Section 11.4.4
operation program
6 - 19
Chapter 6 Sequence Program Used for Positioning Control
Sub program
No.17
Override program Refer to Section 13.5.2
No.19
Torque change program Refer to Section 13.5.4
No.20
Step operation program Refer to Section 13.7.1
No.21
Skip program Refer to Section 13.7.2
No.22
Teaching program Refer to Section 13.7.4
No.23
Continuous operation interrupt program Refer to Section 6.5.4
No.24
Target position change program Refer to Section 13.5.5
No.25
Restart program Refer to Section 6.5.5
No.26
Parameter initialization program Refer to Section 14.2
No.27
Flash ROM write program Refer to Section 14.3
No.28
Error reset program Program required to
reset errors
Stop program
Program used to stop control
No.29
Stop program Refer to Section 6.5.6
6 - 20
Chapter 6 Sequence Program Used for Positioning Control
An example of the "Axis 1" positioning program using QD77MS4 is given in this section.
[No. 1] to [No. 4] parameter and data setting program
When setting the parameters or data with the sequence program, set them in the Simple Motion
module using the TO command from the PLC CPU. (Carry out the settings while the PLC
READY signal [Y0] is OFF.)
When setting the parameters or data with GX Works2, the [No. 1] to [No. 4] program is not
necessary.
*
* No.1 Parameter setting program
* (For basic parameters <Axis 1>)
* OPR parameter
*
*
* * <Changing of speed setting >
SM402
0 DMOVP K9000 D1
ON for 1 Speed (
scan onl low-orde
y after r 16 bit
RUN s)
* <Changing of movement amount >
DMOVP K50000 D3
Movement
amount
(low-ord
er 16 bi
* <Setting of unit >
MOVP K0 D50
Unit set
ting
MOVP K1 D51
Unit mag
nificati
on : AM
TOP H0 K0 D50 K8
Unit set
ting
TOP H0 K62 K2 K1
TOP H0 K70 K6 K1
* <OPR speed >
6 - 21
Chapter 6 Sequence Program Used for Positioning Control
SET M50
Paramete
r settin
g comple
te devic
DTOP H0 K4 K9000000 K1
DTOP H0 K18 K0 K1
DTOP H0 K20 K0 K1
TOP H0 K30 K1 K1
TOP H0 K34 K2 K1
6 - 22
Chapter 6 Sequence Program Used for Positioning Control
*
* No.2-1 Positioning data setting program
* (For positioning data No.1 <Axis 1>)
* <Positioning identifier>
* Operation pattern: Positioning terminated
* Control system: 1 axis linear control (ABS)
* Acceleration time No. : 1, deceleration time No. :2
* * <Setting of positioning indetifie >
SM402
138 MOVP H190 D100
ON for 1 Position
scan onl ing iden
y after tefier
RUN
* <Setting of M code >
MOVP K0 D103
(Dummy)
6 - 23
Chapter 6 Sequence Program Used for Positioning Control
DMOVP K0 D108
Arc addr
ess
MOVP K0 D111
M code
MOVP K0 D113
(Dummy)
6 - 24
Chapter 6 Sequence Program Used for Positioning Control
DMOVP K0 D118
Arc addr
ess
MOVP K0 D121
M code
MOVP K0 D123
(Dummy)
6 - 25
Chapter 6 Sequence Program Used for Positioning Control
DMOVP K0 D128
Arc addr
ess
MOVP K0 D131
M code
6 - 26
Chapter 6 Sequence Program Used for Positioning Control
MOVP K0 D133
(Dummy)
DMOVP K0 D138
Arc addr
ess
6 - 27
Chapter 6 Sequence Program Used for Positioning Control
*
* No.2-5 Positioning data setting program
* (For positioning data No.5 <Axis 1>)
* <Positioning identifier>
* Operation pattern: Positioning terminated
* Control system: 1-axis liner control (INC)
* Acceleration time No. : 0, deceleration time No. : 0
*
* <Setting of positioning identifie >
SM402
350 MOVP H201 D140
ON for 1 Position
scan onl ing iden
y after tifier
RUN
* <Setting of M code >
MOVP K0 D141
M code
MOVP K0 D143
(Dummy)
6 - 28
Chapter 6 Sequence Program Used for Positioning Control
DMOVP K0 D148
Arc addr
ess
MOVP K0 D151
M code
MOVP K0 D153
(Dummy)
6 - 29
Chapter 6 Sequence Program Used for Positioning Control
DMOVP K0 D158
Arc addr
ess
MOVP K0 D191
M code
MOVP K0 D193
(Dummy)
6 - 30
Chapter 6 Sequence Program Used for Positioning Control
DMOVP K0 D198
Arc addr
ess
MOVP K0 D201
M code
6 - 31
Chapter 6 Sequence Program Used for Positioning Control
MOVP K0 D203
(Dummy)
DMOVP K0 D208
Arc addr
ess
6 - 32
Chapter 6 Sequence Program Used for Positioning Control
*
* No.2-9 Positioning data setting program
* (For positioning data No.15 <Axis 1>)
* <Positioning identifier>
* Operation pattern: Positioning terminated
* Control system: 1-axis liner control (INC)
* Acceleration time No. : 0, deceleration time No. : 0
*
* <Setting of positioning identifie >
SM402
562 MOVP H200 D240
ON for 1 Position
scan onl ing iden
y after tifier
RUN
* <Setting of M code >
MOVP K0 D241
M code
MOVP K0 D243
(Dummy)
6 - 33
Chapter 6 Sequence Program Used for Positioning Control
DMOVP K0 D248
Arc addr
ess
6 - 34
Chapter 6 Sequence Program Used for Positioning Control
*
*<Special start instruction to normal start >
*
*<Setting of normal start >
SM402
651 MOVP H0 D73
ON for 1 Point 1
scan onl
y after
RUN
*<Setting of normal start >
MOVP H0 D74
Point 2
MOVP H0 D75
Point 3
MOVP H0 D76
Point 4
MOVP H0 D77
Point 5
6 - 35
Chapter 6 Sequence Program Used for Positioning Control
TOP H0 K30100 H1 K1
*
*No.5 OPR request OFF program
*
*<OPR request OFF command pulse>
X20
698 PLS M1
OPR requ OPR requ
est OFF est OFF
command command
pulse
*<OPR request OFF command hold >
M1 Y10 X10
705 SET M2
OPR requ Position Start co OPR requ
est OFF ing star mplete s est OFF
command t signal ignal command
pulse storage
M2 U0\
710 WANDP G817 H8 D0
OPR requ Status OPR requ
est OFF est flag
command
storage
*<OPR request OFF command ON >
<> D0 K0 SET M0
OPR requ OPR requ
est flag est OFF
command
RST M2
OPR requ
est OFF
command
storage
*<OPR request OFF write >
M0 U0\
725 MOVP K1 G1521
OPR requ OPR requ
est OFF est flag
command OFF req
uest
*<OPR request flag OFF command OFF>
U0\
= G1521 K0 RST M0
OPR requ OPR requ
est flag est OFF
OFF req command
uest
6 - 36
Chapter 6 Sequence Program Used for Positioning Control
*
*No.6 External command function valid setting program
*
*<External command valid write >
X21 U0\
737 MOVP K1 G1505
External External
command command
valid c valid
ommand
*<External command invalid write >
X22 U0\
746 MOVP K0 G1505
External External
command command
invalid valid
command
*
*No.7 PLC READY signal [Y0] ON program
* (In the synchronization mode, contact of M50 is not needed
*
*<PLC READY signal ON/OFF >
SM403 M50 M25 M27 X4B
752 Y0
OFF for Paramete Paramete Flash RO PLC READ PLC READ
1scan on r settin r initia M write Y signal Y signal
ly after g comple lization command ON
RUN te devic command storage
*
*No.8 All axis servo ON signal [Y1] ON program
*
*
*<All axis servo ON signal >
X4F Y0 X1
763 Y1
All axis PLC READ Synchron All axis
servo O Y signal ization servo O
N signal flag N signal
*
*No.9 Positioning start No. setting program
*
*(1) Machine OPR
* *<Machine OPR write >
X23
781 MOVP K9001 D32
Machine Start No
OPR comm .
and
*
*(2) Fast OPR
*
*<OPR request flag ON/OFF extracti>
X24 U0\
781 WANDP G817 H8 D0
Fast OPR Status OPR requ
command est flag
6 - 37
Chapter 6 Sequence Program Used for Positioning Control
= D0 K0 SET M3
OPR requ Fast OPR
est flag signal
SET M4
Fast OPR
command
* hold
* (3) Positioning with positioning data No.1
*
*
* (4) Speed-position switching operation (Positioning data No.2)
* (In the ABS mode, new movement amount write is not needed)
*
6 - 38
Chapter 6 Sequence Program Used for Positioning Control
*
* (5) Position-speed switching operation (Positioning data No.3)
*
*<Setting of positioning data No.3 >
X40
836 MOVP K3 D32
Position Start No
-speed s .
witching
operati
*
* (6) High-level positioning control
*
*<Block positioning (7000) write >
X2A
863 MOVP K7000 D32
High-lev Start No
el posit .
ioning c
ontrol c
*<Positioning start point No.(1) >
U0\
MOVP K1 G1501
*
* (7) Fast OPR command and fast OPR command storage OFF
* (Not required when fast OPR is not used)
*
6 - 39
Chapter 6 Sequence Program Used for Positioning Control
X26
Speed-po
sition s
witching
operati
X40
Position
-speed s
witching
operati
X2A
High-lev
el posit
ioning c
ontrol c
M6
Position
ing star
t comman
d storag
*
* No.10 Positioning start program
*
* (1) When dedicated instruction (ZP.PSTRT1) is used
* (When fast OPR is not made, contacts of M3 and M4 are not
* needed)
* (When M code is not used, contact of X04 is not needed)
* (When JOG operation/inching operation is not performed,
* contact of M7 is not needed)
* (When manual pulse generator is not performed, contacts of
* M9 is not needed)
*
*<Positioning start command pulse >
X2B
889 PLS M5
Position Position
ing star ing star
t comman t comman
d d pulse
*<Positioning start command storag >
M5 X4 X0C M7 M9 M3
905 SET M6
Position M code O BUSY sig In-JOG/i Manual p Fast OPR Position
ing star N comman nal (Axi nching o ulse gen command ing star
t comman d s 1) peration erater o t comman
d pulse flag peration d storag
M3 M4
6 - 40
Chapter 6 Sequence Program Used for Positioning Control
RST M6
Position
ing star
t comman
d storag
*
*(2) When positioning start signal [Y10] is used
* (When fast OPR is not made, contacts of M3 and M4 are not
* needed)
* (When M code is not used, contact of X04 is not needed)
* (When JOG operation/inching operation is not performed,
* contact of M7 is not needed)
* (When manual pulse generator is not performed, contacts of
* M9 is not needed)
*
*<Positioning start command pulse >
X4E
930 PLS M5
Position Position
ing star ing star
t comman t comman
d d pulse
*<Positioning start command storag >
M5 Y10 X10 X4 M7 M9 M3
944 SET M6
Position Position Start co M code O In-JOG/i Manual p Fast OPR Position
ing star ing star mplete s N signal nching o ulse gen command ing star
t comman t signal ignal peration erater o t comman
d pulse flag peration d storag
M3 M4
SET Y10
Position
ing star
t signal
RST M6
Position
ing star
t comman
d storag
6 - 41
Chapter 6 Sequence Program Used for Positioning Control
*
** No.11 M code OFF program
** (7)(Not
Fast OPR command
required and fast
when M code is notOPR command storage OFF
used)
*
* No.12 JOG operation/inching operation setting program
*
MOVP K0 D5
Inching
movement
amount
TOP H0 K1517 D5 K3
Inching
movement
* amount
* No.13 Inching operation setting program
*
*<Setting of inching movement amou >
X44 X2D
1009 MOVP K100 D5
Inching JOG oper Inching
movement ation sp movement
amount eed sett amount
setting ing comm
*<Inching movement amount write >
U0\
MOVP D5 G1517
Inching Inching
movement movement
amount amount
6 - 42
Chapter 6 Sequence Program Used for Positioning Control
Reverse
run JOG/
inching
operatio *<JOG/inching operation completed >
X2E X2F
1029 RST M7
Forward Reverse In-JOG/i
run JOG/ run JOG/ nching o
inching inching peration
operatio operatio flag
*<Forward run JOG/inching operatio >
X2E M7 Y9
1033 Y8
Forward In-JOG/i Reverse Forward
run JOG/ nching o run JOG run JOG
inching peration start si start si
operatio flag gnal gnal
*<Reverse run JOG/inching operatio>
X2F M7 Y8
1038 Y9
Reverse In-JOG/i Forward Reverse
run JOG/ nching o run JOG run JOG
inching peration start si start si
operatio flag gnal gnal
*
*No.15 Manual pulse generator operation program
*
*<Manual pulse generator operation >
X30
1043 PLS M8
Manual p Manual p
ulse gen ulse gen
erator o erator o
peration peration
*<Manual pulse generator 1 pulse i >
M8 X0 X0C
1050 DMOVP K1 D8
Manual pREADY co BUSY sig Manual p
ulse gen mpletion nal (Axi ulse gen
erator o signal s 1) erator 1
peration pulse i
*<Manual pulse generator operation >
MOVP K1 D10
Manual p
ulse gen
erator o
peration
*<Manual pulse generator data writ >
TOP H0 K1522 D8 K3
Manual p
ulse gen
erator 1
pulse i
6 - 43
Chapter 6 Sequence Program Used for Positioning Control
SET M9
Manual p
ulse gen
erator o
peration
RST M9
Manual p
ulse gen
erator o
peration
*
* No.16 Speed change program
*
6 - 44
Chapter 6 Sequence Program Used for Positioning Control
*
* No.17 Override program
*
6 - 45
Chapter 6 Sequence Program Used for Positioning Control
*
* No.18 Acceleration/deceleration time change program
*
DMOV K0 D17
Decel. t
ime sett
ing (The
end
MOVP K1 D19
Accelera
tion/dec
eleratio
n time c
*
* No.19 Torque change program
*
PLS M15
Torque c
hange co
mmand
6 - 46
Chapter 6 Sequence Program Used for Positioning Control
*
* No.20 Step operation program
*
*<Step operation command pulse >
X37
1202 PLS M16
Step ope Step ope
ration c ration c
ommand ommand p
ulse
*<Start program K10 >
MOVP K1 D21
Step val
id flag
MOVP K1 D22
Step sta
rt infor
mation
6 - 47
Chapter 6 Sequence Program Used for Positioning Control
*
* No.21 Skip operation program
*
*<Setting of positioning start No. >
X47
1235 MOVP K10 D32
Position Start No
ing star .
t comman
d k10
*
* No.22 Teaching program
*
*
* A location to the target position is executed by manual
* operation
*
*
6 - 48
Chapter 6 Sequence Program Used for Positioning Control
MOVP K7
K3 D36
K1
Position
ing data
No.
*<Teaching execution >
*
* No.21
No. 24Continuous
Target position
operation
change
interrupt
programprogram
*
6 - 49
Chapter 6 Sequence Program Used for Positioning Control
DMOVP K0 D25
Target s
peed (lo
w-order
16bits)
*<Setting of Target position chang >
MOVP K1 D27
Target p
osition
change r
equest
*<Target position change write >
6 - 50
Chapter 6 Sequence Program Used for Positioning Control
*
*No.26 Parameter initialization program
*
*<Parameter initialization command >
X3C
1383 PLS M24
Paramete Paramete
r initia r initia
lization lization
command command
*<Parameter initialization command >
M24 X0C
1390 SET M25
Paramete BUSY sig Paramete
r initia nal (Axi r initia
lization s 1) lization
command command
*<PLC READY output to QD77 standby>
M25 Y0 K2
1394 T0
Paramete PLC READ PLC READ
r initia Y signal Y signal
lization OFF con
command firmatio
*<Parameter initialization executi >
T0
1401 ZP.PINIT "U0" D37 M36
PLC READ PINIT in PINIT in
Y signal structio structio
OFF con n contro n comple
firmation l data te devic
6 - 51
Chapter 6 Sequence Program Used for Positioning Control
X3F X0C
1486 RST Y4
Stop com BUSY sig Axis sto
mand nal (Axi p signal
s 1)
1489 END
6 - 52
Chapter 6 Sequence Program Used for Positioning Control
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
ON
OFF
PLC READY signal [Y0]
ON
OFF
READY signal [X0]
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
6 - 53
Chapter 6 Sequence Program Used for Positioning Control
This program sets which control, out of "OPR", "major positioning control", "high-level
positioning control" or "expansion control" to execute. For "high-level positioning
control", "fast OPR", "speed-position switching control" and "position-speed switching
control", add the respectively required sequence program.
(Refer to "Chapter 10" for details of "high-level positioning control" and "Chapter 12" for
details on the "expansion control".)
(1) Set the "positioning start No." corresponding to the control to be started in
"[Cd.3] Positioning start No.".
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
1 to 600 : Positioning data No.
9001 : Machine OPR
9002 : Fast OPR
9003 : Current value changing
[Cd.3] Positioning start No. 1500+100n 4300+100n
9004 : Simultaneous start
7000 to 7004 : Block No.
(For "high-level positioning
control")
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
(2) For "high-level positioning control", set the "positioning start point No." of the
block to be started in "[Cd.4] Positioning starting point No.".
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Positioning starting point
[Cd.4] 1 to 50 : Point No. of block start data 1501+100n 4301+100n
No.
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
(3) Set the following control data for "speed-position switching control (INC
mode)".
(Set "[Cd.23] Speed-position switching control movement amount change
register" as required. Setting is not required in the ABS mode.)
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Speed-position switching Set the new value when the position control's 1526+100n 4326+100n
[Cd.23] control movement amount movement amount is to be changed during
change register speed control. 1527+100n 4327+100n
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
6 - 54
Chapter 6 Sequence Program Used for Positioning Control
(4) For "position-speed switching control", set the control data shown below.
(As required, set the "[Cd.25] Position-speed switching control speed change
register".)
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Position-speed switching 1530+100n 4330+100n
Used to set a new value when speed is
[Cd.25] control speed change
changed during positioning control. 1531+100n 4331+100n
register
Position-speed switching To validate position-speed switching signal, this
[Cd.26] 1 1532+100n 4332+100n
enable flag is set to 1.
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
6 - 55
Chapter 6 Sequence Program Used for Positioning Control
3)
Control with
positioning data
1) No. 1
1
1500
(Note-1)
PLC CPU
2)
ON
Note) When starting positioning with the scan
Input/output signal after the completion of positioning,
insert X10 as an interlock so that
positioning is started after Y10 is turned
Y10 OFF and X10 is turned OFF.
6 - 56
Chapter 6 Sequence Program Used for Positioning Control
Servo ON conditions
Setting of servo parameter
Starting conditions
To start the control, the following conditions must be satisfied.
The necessary start conditions must be incorporated in the sequence program so
that the control is not started when the conditions are not satisfied.
(1) Operation state
Buffer memory address
Monitor item Operation state QD77MS2
QD77MS16
QD77MS4
[Md.26] Axis operation status "0: Standby" or "1: Stopped" 809+100n 2409+100n
n: Axis No.-1
: When the synchronous setting of the PLC CPU is made in the nonsynchronous mode, this must be
provided as an interlock.
When it is made in the synchronous mode, no interlock must be provided in the program because the flag is
turned ON when calculation is run on the PLC CPU.
6 - 57
Chapter 6 Sequence Program Used for Positioning Control
Positioning t
ON
All axis servo ON OFF
[Y1]
ON
Positioning start signal
OFF
[Y10, Y11, Y12, Y13]
ON
Start complete signal
[X10, X11, X12, X13] OFF
ON
6 - 58
Chapter 6 Sequence Program Used for Positioning Control
POINT
The BUSY signal turns ON even when position control of movement amount 0 is
executed. However, since the ON time is short, the ON status may not be
detected in the sequence program.
(The ON status of the start complete signal, positioning complete signal and M
code ON signal can be detected in the sequence program.)
Near-point dog
Zero signal
ON
Positioning start signal [Y10] OFF
ON
All axis servo ON [Y1] OFF
ON
PLC READY signal [Y0] OFF
ON
READY signal [X0] OFF
ON
Start complete signal [X10] OFF
ON
BUSY signal [XC] OFF
ON
OPR request flag
OFF
( Md. 31 Status: b3)
ON
OPR complete flag
OFF
( Md. 31 Status: b4)
6 - 59
Chapter 6 Sequence Program Used for Positioning Control
ON
Positioning start signal [Y10] OFF
ON
All axis servo ON [Y1] OFF
ON
PLC READY signal [Y0] OFF
ON
READY signal [X0] OFF
ON
Start complete signal [X10] OFF
ON
BUSY signal [XC] OFF
6 - 60
Chapter 6 Sequence Program Used for Positioning Control
6 - 61
Chapter 6 Sequence Program Used for Positioning Control
6 - 62
Chapter 6 Sequence Program Used for Positioning Control
Stop command
Cd. 26 Position-speed
1 0
switching enable flag
6 - 63
Chapter 6 Sequence Program Used for Positioning Control
Positioning start
signal [Y10, Y11, Y12, Y13]
Positioning operation t2
Operation cycle t1 t2 t3 t4
0.88 0.2 to 0.3 1.8 to 2.7 0 to 0.9 0 to 0.9
QD77MS2
1.77 0.2 to 0.3 2.7 to 3.9 0 to 1.8 0 to 0.9
0.88 0.2 to 0.3 1.8 to 2.7 0 to 0.9 0 to 0.9
QD77MS4
1.77 0.2 to 0.3 2.7 to 3.9 0 to 1.8 0 to 0.9
0.88 0.3 to 1.4 1.8 to 2.7 0 to 0.9 0 to 0.9
QD77MS16
1.77 0.3 to 1.4 3.2 to 3.9 0 to 1.8 0 to 1.8
The t1 timing time could be delayed depending on the operating conditions of the
other axis.
6 - 64
Chapter 6 Sequence Program Used for Positioning Control
M code ON signal
(WITH mode) [X4, X5, X6, X7] t2
t4
Positioning operation
t5
Positioning complete signal
[X14, X15, X16, X17]
t6
M code ON signal
(AFTER mode)
[X4, X5, X6, X7] t2
When the positioning start signal turns ON, if the "positioning complete signal" or
"OPR complete flag" are already ON, the "positioning complete signal" or "OPR
complete flag" will turn OFF when the positioning start signal turns ON.
6 - 65
Chapter 6 Sequence Program Used for Positioning Control
Restrictions
When starting by inputting the external command signal, the start complete signal
will not turn ON.
n: Axis No.-1
: Set the external command signal (DI) in "[Pr.95] External command signal selection" at QD77MS16 use.
Refer to Chapter 5 "Data Used for Positioning Control" for details on the setting details.
6 - 66
Chapter 6 Sequence Program Used for Positioning Control
t
Positioning start signal [Y10]
Fig. 6.11 Time chart for starting with external start signal
6 - 67
Chapter 6 Sequence Program Used for Positioning Control
During positioning control, the control can be interrupted during continuous positioning
control and continuous path control (continuous operation interrupt function). When
"continuous operation interruption" is execution, the control will stop when the
operation of the positioning data being executed ends. To execute continuous
operation interruption, set "1: Continuous operation interrupt request" for "[Cd.18]
Interrupt request during continuous operation".
Start
t
Positioning data No. 10 Positioning data No. 11 Positioning data No. 12
Start
t
Positioning data No. 10 Positioning data No. 11 Positioning data No. 12
[2] Restrictions
(1) When the "continuous operation interrupt request" is executed, the positioning
will end.
Thus, after stopping, the operation cannot be "restarted".
When "[Cd.6] Restart command" is issued, the warning "Restart not possible"
(warning code: 104) will occur.
6 - 68
Chapter 6 Sequence Program Used for Positioning Control
(2) Even if the stop command is turned ON after executing the "continuous
operation interrupt request", the "continuous operation interrupt request"
cannot be canceled.
Thus, if "restart" is executed after stopping by turning the stop command ON,
the operation will stop when the positioning data No. where "continuous
operation interrupt request" was executed is completed.
Axis 1
Continuous operation
interrupt request
Axis 2
Positioning with positioning data No. 10
Start
t
Positioning data No. 10 Positioning data No. 11 Positioning data No. 12
(4) When operation is not performed (BUSY signal is OFF), the interrupt request
during continuous operation is not accepted. It is cleared to 0 at a start or
restart.
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
6 - 69
Chapter 6 Sequence Program Used for Positioning Control
When a stop factor occurs during position control and the operation stops, the
positioning can be restarted from the stopped position to the position control end point
by using the "restart command" ([Cd.6] Restart command).
("Restarting" is not possible when "continuous operation is interrupted.")
This instruction is efficient when performing the remaining positioning from the stopped
position in the positioning control of incremental method such as INC linear 1.
(Calculation of remaining distance is not required.)
[2] Restrictions
(1) Restarting can be executed only when the "[Md.26] Axis operation status" is
"stopped (the deceleration stop by stop command is completed)".
If the axis operation is not "stopped", restarting is not possible.
In this case, the warning "Restart not possible" (warning code: 104) will occur,
and the process at that time will be continued.
(2) Do not execute restart while the stop command is ON.
If restart is executed while stopped, the error "Stop signal ON at start" (error
code: 106) will occur, and the "[Md.26] Axis operation status" will change to
"Error".
Thus, even if the error is reset, the operation cannot be restarted.
(3) Restarting can be executed even while the positioning start signal is ON.
However, make sure that the positioning start signal does not change from OFF
to ON while stopped.
(4) If the positioning start signal is changed from OFF to ON while "[Md.26] Axis
operation status" is "stopped", the normal positioning (the positioning data set in
"[Cd.3] Positioning start No.") is started.
(5) If positioning is ended with the continuous operation interrupt request, the
operation cannot be restarted.
If restart is requested, the warning "Restart not possible" (warning code: 104)
will occur.
6 - 70
Chapter 6 Sequence Program Used for Positioning Control
(6) When stopped with interpolation operation, write "1: Restarts" into "[Cd.6]
Restart command" for the reference axis, and then restart.
(7) If the PLC READY signal is changed from OFF to ON while stopped, restarting
is not possible.
If restart is requested, the warning "Restart not possible" (warning code: 104)
will occur.
(8) When the machine OPR and fast OPR is stopped, the error "OPR restart not
possible" (error code: 209) will occur and the positioning cannot restarts.
(9) If any of reference partner axes executes the positioning operation once after
interpolation operation stop, the warning "Restart not possible" (warning code:
104) will occur, and the positioning cannot restarts.
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
6 - 71
Chapter 6 Sequence Program Used for Positioning Control
: When the synchronous setting of the PLC CPU is made in the nonsynchronous mode, this must be
provided as an interlock.
When it is made in the synchronous mode, no interlock must be provided in the program because the flag is
turned ON when calculation is run on the PLC CPU.
V Dwell time
6 - 72
Chapter 6 Sequence Program Used for Positioning Control
The axis stop signal or stop signal from external input signal is used to stop the control.
Create a program to turn ON the axis stop signal as the stop program.
6 - 73
Chapter 6 Sequence Program Used for Positioning Control
(3) Servo OFF or free run (The operation stops with dynamic brake or
electromagnetic brake.)
The operation does not decelerate.
The Simple Motion module immediately stops the command, but the operation
will coast for the droop pulses accumulated in the servo amplifier deviation
counter.
(1) Deceleration stop (2) Sudden stop (3) Servo OFF or free run
(The operation stops with dynamic brake
or electromagnetic brake.)
REMARK
1 "Deceleration stop" and "sudden stop" are selected with the detailed parameter
2 "stop group 1 to 3 sudden stop selection". (The default setting is "deceleration
stop".
6 - 74
Chapter 6 Sequence Program Used for Positioning Control
(1) If the deceleration stop command ON (stop signal ON) or deceleration stop
cause occurs during deceleration to speed 0 (including automatic
deceleration), operation changes depending on the setting of "[Cd.42] Stop
command processing for deceleration stop selection".
(a) Manual control
Independently of the [Cd.42] setting, a deceleration curve is re-processed
from the speed at stop cause occurrence.
(b) OPR control, positioning control
When [Cd.42] = 0 (deceleration curve re-processing):
A deceleration curve is re-processed from the speed at stop cause
occurrence.
When [Cd.42] = 1 (deceleration curve continuation):
The current deceleration curve is continued after stop cause occurrence.
(For details, refer to Section 13.7.9 "Stop command processing for
deceleration stop function".)
(2) If the stop signal designated for sudden stop turns ON or a stop cause occurs
during deceleration, the sudden stop process will start from that point.
However, if the sudden stop deceleration time is longer than the deceleration
time, the deceleration stop process will be continued even if a sudden stop
cause occurs during the deceleration stop process.
Example
The process when a sudden stop cause occurs during deceleration stop is shown below.
Sudden Sudden
stop cause stop cause
Stop Stop
Sudden stop deceleration process Deceleration stop process continues Process for sudden stop
a) When deceleration stop time > sudden stop deceleration time (b) When deceleration stop time < sudden stop deceleration time
6 - 75
Chapter 6 Sequence Program Used for Positioning Control
6 - 76
Chapter 7 Memory Configuration and Data Process
7
The memory configuration and data transmission of Simple Motion module are explained
in this chapter.
7-1
Chapter 7 Memory Configuration and Data Process
Backup
Memory
Model Role
configuration
(No.7002 to 7004)
Monitor data area
(No. 1 to 100)
Cam area
Area that can be directly
Buffer Not
accessed with sequence –
memory possible
program with PLC CPU.
Area that can be set only Not
– – – – – – – – – – – –
Internal with GX Works2. possible
QD77MS2 memory Area that can be set only Not
– – – – – – – – – – –
QD77MS4 using buffer memory. possible
Area for backing up data
Flash ROM – – – – – – Possible
required for positioning.
Internal
Area for backing up servo
memory – – – – – – – – – Possible
parameter or cam data.
(nonvolatile)
Area that can be directly
Buffer Not
accessed with sequence – – – –
memory possible
program with PLC CPU.
Area that can be set only Not
– – – – – – – – –
Internal with GX Works2. possible
memory Area that can be set only Not
QD77MS16 – – – – – – – – – – –
using buffer memory. possible
Area for backing up data
Flash ROM – – – – – – Possible
required for positioning.
Internal
Area for backing up servo
memory – – – – – – – – – Possible
parameter or cam data.
(nonvolatile)
7-2
Chapter 7 Memory Configuration and Data Process
Details of areas
Parameter area
Area where parameters, such as positioning parameters and OPR parameters,
required for positioning control are set and stored.
(Note-1)
Synchronous control area
Area where parameters and control data required for synchronous control are set
and stored. Also, the operation status of synchronous control is stored.
(Note-1)
Cam area
Area where cam data, etc., are set and stored. There are cam storage area and
cam open area.
7-3
Chapter 7 Memory Configuration and Data Process
User accesses
Data is backed up
here.
here.
QD77MS
7-4
Chapter 7 Memory Configuration and Data Process
The buffer memory of Simple Motion module is configured of the following types of
areas.
Buffer memory address Writing
Buffer memory area configuration
QD77MS2/QD77MS4 QD77MS16 possibility
Basic parameter area 0+150n to 15+150n
Detailed parameter area 17+150n to 69+150n
OPR basic parameter area 70+150n to 78+150n
Parameter area OPR detailed parameter area 79+150n to 91+150n Possible
Expansion parameter area 100+150n to 149+150n
Mark detection setting parameter
54000+20k to 54019+20k
area
1200 to 1499 4000 to 4299
System monitor area
31300 to 31549 31300 to 31549
Monitor data area Not possible
Axis monitor area 800+100n to 899+100n 2400+100n to 2499+100n
Mark detection monitor data area 54960+80k to 55039+80k
System control data area 1900 to 1999 5900 to 5999
Axis control data area 1500+100n to 1599+100n 4300+100n to 4399+100n
Control data area
Expansion axis control data area 30100+10n to 30109+10n
Mark detection control data area 54640+10k to 54649+10k
Positioning data area
2000+6000n to 2999+6000n 6000+1000n to 6999+1000n
(No.1 to 100)
Positioning data area
Positioning data area
3000+6000n to 7999+6000n Set with GX Works2
(No.101 to 600)
26000+1000n to 26049+1000n 22000+400n to 22049+400n
Block start data area Block start data area
26050+1000n to 26099+1000n 22050+400n to 22099+400n
(No.7000)
Condition data area 26100+1000n to 26199+1000n 22100+400n to 22199+400n
26200+1000n to 26249+1000n 22200+400n to 22249+400n
Block start data area Block start data area Possible
26250+1000n to 26299+1000n 22250+400n to 22299+400n
(No.7001)
Condition data area 26300+1000n to 26399+1000n 22300+400n to 22399+400n
26400+1000n to 26449+1000n
Block start data area Block start data area
26450+1000n to 26499+1000n
(No.7002)
Condition data area 26500+1000n to 26599+1000n
26600+1000n to 26649+1000n
Block start data area Block start data area
26650+1000n to 26699+1000n Set with GX Works2
(No.7003)
Condition data area 26700+1000n to 26799+1000n
26800+1000n to 26849+1000n
Block start data area Block start data area
26850+1000n to 26899+1000n
(No.7004)
Condition data area 26900+1000n to 26999+1000n
PLC CPU memo area PLC CPU memo area 30000 to 30099
7-5
Chapter 7 Memory Configuration and Data Process
n: Axis No.-1
k: Mark detection setting No.-1
j: Synchronous encoder axis No.-1
: Use of address Nos. skipped above is prohibited. If used, the system may not operate correctly.
POINT
When the parameter of the servo amplifier side is changed by the following
method, the Simple Motion module reads parameters automatically, and the data
is transmitted to the servo parameter area in the buffer memory/internal memory
and internal memory (nonvolatile).
(1) When changing the servo parameters by the auto tuning.
(2) When the servo parameter is changing after the MR Configurator2 is connected
directly with the servo amplifier.
7-6
Chapter 7 Memory Configuration and Data Process
The data is transmitted between the memories of Simple Motion module with steps (1)
to (10) shown below.
: The data transmission patterns correspond to the numbers (1) to (10) in the
following drawings.
PLC CPU
QD77MS
(1) Power supply ON/
Buffer memory/Internal memory PLC CPU reset: Valid
Internal memory
(nonvolatile)
Servo amplifier
7-7
Chapter 7 Memory Configuration and Data Process
POINT
When a value other than "0" has been set to the servo parameter "[Pr.100] Servo
series" inside the internal memory (nonvolatile), the power is turned ON or PLC
CPU is reset to transmit the servo parameter inside the internal memory
(nonvolatile) to the servo amplifier (servo amplifier LED indicates "b").
After that, the TO instruction writes the servo parameter from the PLC CPU to the
buffer memory so that the servo parameter in the buffer memory is not transmitted
to the servo amplifier even if the PLC READY signal [Y0] is turned OFF then ON.
Change the servo parameter with the above method, after setting the servo
parameter "[Pr.100] Servo series" inside the internal memory (nonvolatile), to "0".
(3) Validate parameters when PLC READY signal [Y0] changes from
OFF to ON
When the PLC READY signal [Y0] changes from OFF to ON, the data stored in
4
the buffer memory's "parameter area (a) " is validated.
4: Parameter area (a) .... Parameters validated when PLC READY signal [Y0]
changes from OFF to ON.
([Pr.1] to [Pr.7], [Pr.11] to [Pr.24], [Pr.43] to [Pr.57],
[Pr.80] to [Pr.83], [Pr.89] to [Pr.95])
7-8
Chapter 7 Memory Configuration and Data Process
POINT
The setting values of the parameters that correspond to parameter area (b) are
valid when written into the buffer memory with the TO command.
However, the setting values of the parameters that correspond to parameter area
(a) are not validated until the PLC READY signal [Y0] changes from OFF to ON.
7-9
Chapter 7 Memory Configuration and Data Process
GX Works2
PLC CPU
QD77MS
Buffer memory/Internal memory Parameter area (a)
Pr.1 to Pr.7
Parameter area (a)
Pr.11 to Pr.24
Parameter area (b) Pr.43 to Pr.57
Parameter area (c) Pr.80 to Pr.83
Pr.89 to Pr.95
Positioning data area
(No.1 to 600) Parameter area (b)
Block start data area Pr.8 to Pr.10
(6) Flash ROM write (No.7000 to 7004) Pr.25 to Pr.42
Pr.84
Servo parameter area
Parameter area (c)
Monitor data area Pr.96 , Pr.97
Flash ROM
Control data area Pr.114 ,
Parameter area (a) Pr.800 to Pr.807
PLC CPU
Parameter area (b) memo area
Internal memory
(nonvolatile)
Servo amplifier
7 - 10
Chapter 7 Memory Configuration and Data Process
IMPORTANT
(1) Do not turn the power OFF or reset the PLC CPU while writing to the flash
ROM. If the power is turned OFF or the PLC CPU is reset to forcibly end the
process, the data backed up in the flash ROM/internal memory (nonvolatile) will
be lost.
(2) Do not write the data to the buffer memory/internal memory before writing to the
flash ROM is completed.
(3) The number of writes to the flash ROM with the sequence program is 25 max.
while the power is turned ON.
Writing to the flash ROM beyond 25 times will cause the error "Flash ROM write
number error" (error code: 805).
Refer to Section 16.4 "List of errors" for details.
(4) Monitoring is the number of writes to the flash ROM after power supply ON by
the "[Md.19] Number of write accesses to flash ROM".
7 - 11
Chapter 7 Memory Configuration and Data Process
GX Works2
PLC CPU
QD77MS
Buffer memory/Internal memory Parameter area (a)
Pr.1 to Pr.7
Parameter area (a)
Pr.11 to Pr.24
Parameter area (b) Pr.43 to Pr.57
Parameter area (c) Pr.80 to Pr.83
Internal memory
(nonvolatile)
Servo amplifier
7 - 12
Chapter 7 Memory Configuration and Data Process
7 - 13
Chapter 7 Memory Configuration and Data Process
QD77MS
Buffer memory/Internal memory
Internal memory
(nonvolatile)
Servo amplifier
7 - 14
Chapter 7 Memory Configuration and Data Process
POINT
When the PLC READY signal [Y0] is turned ON, the error "SSCNET
communication error" (error code: 1205) occurs, "Rotation direction selection/travel
direction selection (PA14)" is changed by sequence program or the GX Works2
after the servo parameter is transmitted to servo amplifier (LED of the servo
amplifier is indicated b, C, or d).
When "Rotation direction selection/travel direction selection (PA14)" is changed,
transmit the servo parameter to servo amplifier.
2) When the servo parameter "[Pr.100] Servo series" inside the buffer memory
area is set to the value other than "0" in Simple Motion module.
When the power is turned ON or the PLC CPU is reset, the data stored in the
flash ROM/internal memory (nonvolatile) is transmitted to the buffer
memory/internal memory.
Therefore the servo parameter "[Pr.100] Servo series" inside the internal
memory (nonvolatile) is stored to the value other than "0", and communication
with servo amplifier is started when the power is turn ON in order of the servo
amplifier, Simple Motion module.
After the servo parameter stored in the internal memory (nonvolatile) is
transmitted to the servo amplifier.
7 - 15
Chapter 7 Memory Configuration and Data Process
POINT
(1) When the servo parameter is written in the internal memory (nonvolatile), it is
unnecessary to use a setup from the sequence program/GX Works2.
(2) Axis connection time varies depending on the number of axes and the servo
amplifier's power supply ON timing. And, time when "20: Servo amplifier has not
been connected/servo amplifier power OFF" is set in "[Md.26] Axis operation
status" is also varies.
7 - 16
Chapter 7 Memory Configuration and Data Process
(1) When the servo amplifier's power supply is turned ON before the system's
power supply ON.
(a) When the servo parameter "[Pr.100] Servo series" "0" is stored in the
internal memory (nonvolatile).
Communication start timing to the servo amplifier: Initialization completion
(Fig. 7.1 (A))
Transfer the servo parameter : The data stored (backed
up) in the internal
memory (nonvolatile).
Servo parameter of
buffer memory/internal Indefinite value Value of internal memory (nonvolatile)
memory
Transfer the servo parameter at this point to the servo amplifier
Communication
During
operation status with Communication invalid Communication start (Axis connection) communication
servo amplifier
Md.26 Axis operation
0 (Standby) 20 (Servo amplifier has not been connected/servo amplifier power OFF) 21 (Servo OFF)
status
Fig. 7.1 When the servo amplifier had started before the system's power supply ON
(The servo series of internal memory (nonvolatile) is set.)
(b) When the servo parameter "[Pr.100] Servo series" = "0" is stored in the
internal memory (nonvolatile).
Communication start timing to the servo amplifier: The data written from
sequence program
before the PLC READY
signal [Y0] ON (Fig. 7.2
(B)).
Transfer the servo parameter : The data written from
sequence program/
GX Works2 before the
PLC READY signal [Y0]
ON (Fig. 7.2 (A)).
7 - 17
Chapter 7 Memory Configuration and Data Process
READY [X0]
Servo parameter of
buffer memory/internal Indefinite value Value of internal memory (nonvolatile) Write value by sequence program/GX Works2
memory
Transfer the servo parameter at this point to the servo amplifier
Communication
During
operation status with Communication invalid Communication start valid Communication start (Axis connection) communication
servo amplifier
Md.26 Axis operation
0 (Standby) 20 (Servo amplifier has not been connected/servo amplifier power OFF) 21 (Servo OFF)
status
Fig. 7.2 When the servo amplifier had started before the system's power supply ON
(The servo series of internal memory (nonvolatile) is not set.)
(2) When the servo amplifier's power supply is turned ON after the PLC READY
signal [Y0] is turned OFF to ON (Fig. 7.3 (C)).
Communication start timing to the servo amplifier: When the servo amplifier
had started (Fig. 7.3 (B)).
Transfer the servo parameter : The data written from
sequence program/
GX Works2 before the
PLC READY signal [Y0]
ON (Fig. 7.3 (A)).
READY [X0]
Servo parameter of
buffer memory/internal Indefinite value Value of internal memory (nonvolatile) Write value by sequence program/GX Works2
memory Transfer the servo parameter at this point to the
Communication servo amplifier
Communication start During
operation status with Communication invalid Communication start valid (Axis connection) communication
servo amplifier
Md.26 Axis operation
0 (Standby) 20 (Servo amplifier has not been connected/servo amplifier power OFF) 21 (Servo OFF)
status
Fig. 7.3 When the servo amplifier had started after the PLC READY signal [Y0] is turned OFF to ON
7 - 18
Chapter 7 Memory Configuration and Data Process
POINT
(1) Both of the servo parameter area (internal memory (nonvolatile) and buffer
memory/internal memory) of Simple Motion module and the parameter of servo
amplifier are changed.
(2) When the servo parameters that become valid by turning ON the servo
(Note)
amplifier's power supply are changed, be sure to turn ON twice the servo
amplifier's power supply after change.
(Note): The servo amplifier's RAM data are changed by parameter setting, but
the servo amplifier's EEPROM data are not changed. The EEPROM
data before the change are overwritten to RAM by the servo amplifier's
power supply ON again, and then the servo amplifier starts.
After that, the changed data are written to the servo amplifier's
EEPROM in an initial communication with Simple Motion module.
Therefore, the changed data are overwritten to the RAM data by turning
the servo amplifier's power supply ON again.
7 - 19
Chapter 7 Memory Configuration and Data Process
MEMO
7 - 20
Section 2 Control Details and Setting
The required settings in each control include parameter setting, positioning data setting,
control data setting by a sequence program, etc.
Carry out these settings while referring to "Chapter 5 Data Used for Positioning Control".
Also refer to "Chapter 6 Sequence Program Used for Positioning Control" when creating
the sequence programs required in each control, and consider the entire control program
configuration when creating each program.
Section 2
Chapter 8 OPR Control ............................................................................................. 8- 1 to 8- 20
Chapter 9 Major Positioning Control......................................................................... 9- 1 to 9-134
Chapter 10 High-Level Positioning Control .............................................................. 10-1 to 10- 30
Chapter 11 Manual Control ....................................................................................... 11-1 to 11- 32
Chapter 12 Expansion Control.................................................................................. 12-1 to 12- 34
Chapter 13 Control Sub Functions ........................................................................... 13-1 to 13-108
Chapter 14 Common Functions ................................................................................ 14-1 to 14- 66
Chapter 15 Dedicated Instructions ........................................................................... 15-1 to 15- 18
Chapter 16 Troubleshooting ..................................................................................... 16-1 to 16- 66
MEMO
Chapter 8 OPR Control
The details and usage of "OPR control" are explained in this chapter.
OPR control includes "machine OPR" that establish a machine OP without using address
data, and "fast OPR" that store the coordinates established by the machine OPR, and 8
carry out positioning to that position.
OPR carried out by sequence programs from the PLC CPU are explained in this chapter.
Refer to the "Simple Motion Module Setting Tool Help" of GX Works2 for details on OPR
using the GX Works2.
8-1
Chapter 8 OPR Control
In "OPR control", a position is established as the starting point (or "OP") when carrying
out positioning control, and positioning is carried out toward that starting point.
It is used to return a machine system at any position other than the OP to the OP when
(Note-1)
the Simple Motion module issues an "OPR request" with the power turned ON or
others, or after a positioning stop.
In the Simple Motion module, the following two control types are defined as "OPR
control", following the flow of the OPR work.
These two types of OPR control can be executed by setting the "OPR parameters",
setting "Positioning start No. 9001" and "positioning start No. 9002" prepared
beforehand in the Simple Motion module to "[Cd.3] Positioning start No.", and turning
ON the positioning start signal.
The ZP.PSTRT start numbers of the dedicated instruction can also be set to 9001 or
9002 to execute the OPR control. (For details, refer to Chapter 15 "Dedicated
Instructions".)
(1) Establish a positioning control OP
– "Machine OPR" (positioning start No. 9001)
(2) Carry out positioning toward the OP
– "Fast OPR" (positioning start No. 9002).
The "machine OPR" above must be carried out in advance to execute the "fast OPR".
CAUTION
When using the absolute position system function, on starting up, and when the controller or
absolute value motor has been replaced, always perform an OPR.
In the case of the absolute position system, use the sequence program to check the OPR
request before performing the positioning control.
Failure to observe this could lead to an accident such as a collision.
8-2
Chapter 8 OPR Control
REMARK
(Note-1)
OPR request
The "OPR request flag" ([Md.31] Status: b3) must be turned ON in the Simple
Motion module, and a machine OPR must be executed in the following cases.
(1) When not using an absolute position system
(a) This flag turns on in the following cases:
• System's power supply on or reset
• Servo amplifier power supply on
• Machine OPR start
(Unless a machine OPR is completed normally, the OPR request flag does
not turn off.)
n: Axis No.-1
8-3
Chapter 8 OPR Control
DOG DI3
(DOG)
COM DICOM
24VDC 24VDC
[Remarks]
The following two sub functions are only related to machine OPR.
Sub function name Machine OPR Fast OPR Reference
OPR retry function Section 13.2.1
OP shift function Section 13.2.2
: Combination possible, : Restricted, : Combination not possible
8-4
Chapter 8 OPR Control
Important
Use the OPR retry function when the OP position is not always in the same
direction from the workpiece operation area (when the OP is not set near the upper
or lower limit of the machine).
The machine OPR may not complete unless the OPR retry function is used.
M
OP
Machine OPR
Near-point dog
8-5
Chapter 8 OPR Control
REMARK
Creep speed
The stopping accuracy is poor when the machine suddenly stops from fast speeds.
To improve the machine's stopping accuracy, it is required to slow down the
speed before it stops. This speed is set in the "[Pr.47] Creep speed".
8-6
Chapter 8 OPR Control
The following shows an operation outline of the OPR method "near-point dog method".
Operation chart
The machine OPR is started.
1) (The machine begins the acceleration designated in "[Pr.51] OPR acceleration time selection", in the direction
designated in "[Pr.44] OPR direction". It then moves at the "[Pr.46] OPR speed" when the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
The machine decelerates to the "[Pr.47] Creep speed", and subsequently moves at that speed.
3) (At this time, the near-point dog must be ON. The workpiece will continue decelerating and stop if the near-point dog is
OFF.)
4) After the near-point dog turns OFF, the machine stops. It then restarts and stops at the first zero point.
The OPR complete flag ([Md.31] Status: b4) turns from OFF to ON and the OPR request flag ([Md.31] Status: b3)
5)
turns from ON to OFF.
V
Pr.46 OPR speed Deceleration at the near-point dog ON
POINT
After the home position return
(OPR) has been started, the
zero point of the encoder must t
1) 2) 3) A 4) 5)
be passed at least once before
point A is reached. Md.34 Movement amount after near-point dog ON 1
ON
Adjust so the near-point dog OFF position is
Near-point dog OFF as close as possible to the center of the zero
signal HIGH level.
If the near-point dog OFF position overlaps
with the zero signal, the machine OPR stop
Zero signal position may deviate by one servomotor
rotation.
One servo motor rotation
ON
Md.20 Current feed value Inconsistent Value of the machine moved is stored. OP address
Md.21 Machine feed value
8-7
Chapter 8 OPR Control
V
Pr. 46 OPR speed
ON
Near-point dog OFF
ON
Machine OPR start OFF
(Positioning start signal)
ON
OPR request flag OFF
( Md.31 Status : b3)
Fig. 8.4 Operation when the near-point dog is turned OFF before the creep speed is reached
8-8
Chapter 8 OPR Control
Operation chart
The machine OPR is started.
1) (The machine begins the acceleration designated in "[Pr.51] OPR acceleration time selection", in the direction
designated in "[Pr.44] OPR direction". It then moves at the "[Pr.46] OPR speed" when the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
3) The machine decelerates to the "[Pr.47] Creep speed", and subsequently moves at that speed.
The machine stops after the workpiece has been moved the amount set in the "[Pr.50] Setting for the movement amount
4)
after near-point dog ON" after the near-point dog turned ON. It then restarts and stops at the first zero point.
The OPR complete flag ([Md.31] Status: b4) turns from OFF to ON, and the OPR request flag ([Md.31] Status: b3) turns
5)
from ON to OFF.
8-9
Chapter 8 OPR Control
Fig. 8.6 Count method 1) machine OPR on the near-point dog ON position
8 - 10
Chapter 8 OPR Control
The following shows an operation outline of the OPR method "count method 2)".
The "count method 2)" method is effective when a "zero signal" cannot be received.
(Note that compared to the "count method 1)" method, using this method will result in
more deviation in the stop position during machine OPR.)
Operation chart
The machine OPR is started.
(The machine begins the acceleration designated in "[Pr.51] OPR acceleration time selection", in the
1)
direction designated in "[Pr.44] OPR direction". It then moves at the "[Pr.46] OPR speed" when the
acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
3) The machine decelerates to the "[Pr.47] Creep speed", and subsequently moves at that speed.
The command from the Simple Motion module will stop and the machine OPR will be completed when the
4) machine moves the movement amount set in "[Pr.50] Setting for the movement amount after near-point
dog ON" from the near-point dog ON position.
t
Md.34 Movement amount after near-point dog ON 1
ON
Machine OPR start OFF
(Positioning start signal)
ON
OPR request flag OFF
( Md.31 Status : b3)
ON
OPR complete flag OFF
( Md.31 Status : b4)
8 - 11
Chapter 8 OPR Control
Restrictions
When this method is used, a deviation will occur in the stop position (OP)
compared to other OPR methods because an error of about 1 ms occurs in taking
in the near-point dog ON.
(1) The error "Count method movement amount fault" (error code: 206) will occur
and the operation will not start if the "[Pr.50] Setting for the movement amount
after near-point dog ON" is smaller than the deceleration distance from the
"[Pr.46] OPR speed" to "[Pr.47] Creep speed".
(2) If the speed is changed to a speed faster than "[Pr.46] OPR speed" by the
speed change function (refer to "13.5.1 Speed change function".) during a
machine OPR, the distance to decelerate to "[Pr.47] Creep speed" may not be
ensured, depending on the setting value of "[Pr.50] Setting for the movement
amount after near-point dog ON". In this case, the error "Count method
movement amount fault" (error code: 206) occurs and the machine OPR is
stopped.
(3) The following shows the operation when a machine OPR is started while the
near-point dog is ON.
(4) Turn OFF the near-point dog at a sufficient distance from the OP.
Although there is no harm in operation if the near-point dog is turned OFF
during a machine OPR, it is recommended to leave a sufficient distance from
the OP when the near-point dog is turned OFF for the following reason.
If machine OPRs are performed consecutively after the near-point dog is
turned OFF at the time of machine OPR completion, operation will be
performed at the OPR speed until the hardware stroke limit (upper/lower limit)
is reached.
If a sufficient distance cannot be kept, consider the use of the OPR retry
function.
(5) When the stop signal stops the machine OPR, carry out the machine OPR
again. When restart command is turned ON after the stop signal stops the
OPR, the error "OPR restart not possible" (error code: 209) will occur.
Fig. 8.8 Count method 2) machine OPR on the near-point dog ON position
8 - 12
Chapter 8 OPR Control
The following shows an operation outline of the OPR method "data set method".
The "Data set method" method is effective when a "Near-point dog" is not used.
It can be used with absolute position system.
With the data set method OPR, the position where the machine OPR has been carried
out, is registered into the Simple Motion module as the OP, and the current feed value
and feed machine value is overwritten to an OP address.
Use the JOG or manual pulse generator operation to move the OP.
Operation chart
OPR start
(1) The zero point must have been passed before the OPR is carried out after the
power supply is turned ON. If the OPR is carried out without passing the zero
point even once, the error "OPR zero point not passed" (error code: 210) will
occur. When the error "OPR zero point not passed" (error code: 210) occurs,
perform the JOG or similar operation so that the servomotor makes more than
one revolution after an error reset, before carrying out the machine OPR again.
However, if selecting "1: Not need to pass servo motor Z-phase after power
on" with "Function selection C-4 (PC17)", it is possible to carry out the home
position return (OPR) without passing the zero point.
(2) The OPR data used for the data set method is the "OPR direction" and "OP
address".
The OPR data other than that for the OPR direction and OP address is not
used for the data set method OPR method, but if a value is set the outside the
setting range, an error will occur when the PLC READY signal [Y0] is turned
ON so that the READY signal [X0] is not turned OFF.
With the OPR data other than that for the OPR direction and OP address, set
an arbitrary value (default value can be allowed) within each data setting
range so that an error will not occur upon receiving the PLC READY signal
[Y0] ON.
8 - 13
Chapter 8 OPR Control
The following shows an operation outline of the OPR method "scale origin signal
detection method".
POINT
Set "0: Need to pass servo motor Z-phase after power on" in "Function selection C-
4 (PC17)". If "1: Not need to pass servo motor Z-phase after power on" is set, the
error "Z-phase passing parameter invalid" (error code: 231) will occur at the start of
scale origin signal detection method OPR.
Operation chart
The machine OPR is started.
(The machine begins the acceleration designated in "[Pr.51] OPR acceleration time selection", in the
1)
direction designated in "[Pr.44] OPR direction". It then moves at the "[Pr.46] OPR speed" when the
acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
After deceleration stop, the machine moves in the opposite direction against of OPR at the "[Pr.46] OPR
3)
speed".
4) During movement, the machine begins decelerating when the first zero signal is detected.
After deceleration stop, the operation moves in direction of OPR at the "[Pr.47] Creep speed", and then
5)
stops at the detected nearest zero signal.
The OPR complete flag ([Md.31] Status: b4) turns from OFF to ON, and the OPR request flag ([Md.31]
6)
Status: b3) turns from ON to OFF.
V
Pr.44 OPR direction
1) 5) 6) 3) POINT
After 3), when the zero signal is in the near-point dog
position, deceleration stop (4)) is started at the zero signal
without waiting for the near-point dog OFF.
4)
ON
Near-point dog OFF
Zero signal
8 - 14
Chapter 8 OPR Control
(1) The error "Start at OP" (error code: 201) will occur if another machine OPR is
attempted immediately after a machine OPR completion when the OP is in the
near-point dog ON position.
(2) The following shows the operation when a machine OPR is started from the
near-point dog ON position.
Fig. 8.11 Operation when a machine OPR is started from the near-point dog ON position
(3) When the stop signal stops the machine OPR, carry out the machine OPR
again. When restart command is turned ON after the stop signal stops the
OPR, the error "OPR restart not possible" (error code: 209) will occur.
(4) The OPR retry will not be performed regardless of setting set in "[Pr.48] OPR
retry" in the scale origin signal detection method. When a hardware limit
switch is detected during machine OPR, the error "Hardware stroke limit (+)"
(error code: 104) or "Hardware stroke limit (-)" (error code: 105) will occur.
(5) Position the near-point dog forward to overlaps with the hardware limit switch
in direction of OPR. When the near-point dog is in the opposite direction
against of OPR from the machine OPR start position, the error "Hardware
stroke limit (+)" (error code: 104) or "Hardware stroke limit (-)" (error code:
105) will occur.
M
OP
Machine OPR
Near-point dog
8 - 15
Chapter 8 OPR Control
(6) When the zero signal is detected again during deceleration ( 4) of Fig. 8.12)
with detection of zero signal, the operation stops at the zero signal detected
lastly to complete the OPR.
V
Pr.44 OPR direction
6)
1) 5) 3)
4)
ON
Near-point dog OFF
Zero signal
Fig. 8.12 Operation when the zero signal is detected again during deceleration with detection of zero
signal
(7) Do not use the scale origin signal detection method OPR for the machine with
the backlash.
(8) When using the direct drive motor, make it passed the Z phase once before
reaching 3) of Fig. 8.10.
8 - 16
Chapter 8 OPR Control
Machine OP
(OP position)
M
OP
Positioning to the OP
8 - 17
Chapter 8 OPR Control
BUSY signal
[XC, XD, XE, XF]
t1
Start complete signal
[X10, X11, X12, X13]
t3
Md.26 Axis operation status Standby Position control Standby
t2
Positioning operation
The t1 timing time could be delayed by the operation state of other axes.
Operating restrictions
(1) The fast OPR can only be executed after the OP position is established by
executing the Machine OPR.
If not, the error "OPR request ON" (error code: 207) will occur.
(OPR request flag ([Md.31] Status: b3) must be turned OFF).
(2) If the fraction pulse is cleared to zero using current value changing or fixed-
feed control, execute the fast OPR and an error will occur by a cleared amount.
(3) When unlimited length feed is executed by speed control and the machine feed
value overflows or underflows once, the fast OPR cannot be executed normally.
(4) The OPR complete flag ([Md.31] Status: b4) is not turned ON.
(5) The axis operation status during fast OPR is "in position control".
8 - 18
Chapter 8 OPR Control
If executing the home position return (OPR) when selecting "0: Need to pass servo
motor Z-phase after power on" with "Function selection C-4 (PC17)", it is necessary
that the servomotor has been rotated more than one revolution and passed the Z
phase (Motor reference position signal) and that the zero point pass signal ([Md.108]
Servo status (low-order buffer memory address): b0) has turned ON.
When selecting "1: Not need to pass servo motor Z-phase after power on" with
"Function selection C-4 (PC17)", it is possible to turn the zero point pass signal
([Md.108] Servo status (low-order buffer memory address): b0) ON without passing the
zero point.
n: Axis No.-1
Data setting
To select the "OPR setting condition", set the "servo amplifier" shown in the
following table.
Servo parameters are set for each axis.
The "OPR setting condition" is stored into the following buffer memory addresses.
n: Axis No.-1
: Refer to Section 5.2.8 "Servo parameters" for information on the storage details.
(1) Set "Function selection C-4 (PC17)" (transferred the parameter to the servo
amplifier from the Simple Motion module), and then turn off the power supply
of the servo amplifier once and switch it on again to make that parameter
setting valid.
8 - 19
Chapter 8 OPR Control
MEMO
8 - 20
Chapter 9 Major Positioning Control
The details and usage of the major positioning controls (control functions using the
"positioning data") are explained in this chapter.
The major positioning controls include such controls as "positioning control" in which
positioning is carried out to a designated position using the address information,
"speed control" in which a rotating object is controlled at a constant speed,
"speed-position switching control" in which the operation is shifted from "speed control"
to "position control" and "position-speed switching control" in which the operation is
shifted from "position control" to "speed control".
Execute the required settings to match each control.
9-1
Chapter 9 Major Positioning Control
"Major positioning controls" are carried out using the "positioning data" stored in the
Simple Motion module.
The basic controls such as position control and speed control are executed by setting
the required items in this "positioning data", and then starting that positioning data.
The control system for the "major positioning controls" is set in setting item "[Da.2]
Control system" of the positioning data.
Control defined as a "major positioning control" carries out the following types of
control according to the "[Da.2] Control system" setting.
However, the position loop is included for commanding to servo amplifier in the speed
control set in "[Da.2] Control system".
Use the "speed-torque control" (Refer to Section 12.1 "Speed-torque control") to
execute the speed control not including position loop.
9-2
Chapter 9 Major Positioning Control
9-3
Chapter 9 Major Positioning Control
The following table shows an outline of the "positioning data" configuration and setting
details required to carry out the "major positioning controls".
Setting item Setting details
Set the method by which the continuous positioning data (Ex: positioning data No.1,
[Da.1] Operation pattern
No.2, No.3) will be controlled. (Refer to Section 9.1.2.)
[Da.2] Control system Set the control system defined as a "major positioning control". (Refer to Section 9.1.)
Select and set the acceleration time at control start. (Select one of the four values set
[Da.3] Acceleration time No.
in [Pr.9], [Pr.25], [Pr.26], and [Pr.27] for the acceleration time.)
Select and set the deceleration time at control stop. (Select one of the four values set
[Da.4] Deceleration time No.
in [Pr.10], [Pr.28], [Pr.29], and [Pr.30] for the deceleration time.)
Axis to be interpolated Set an axis to be interpolated (partner axis) during the 2-axis interpolation operation
[Da.5] QD77MS2 QD77MS4
(Refer to Section 9.1.6.).
Positioning address/
Positioning data No. 1
[Da.6] Set the target value during position control. (Refer to Section 9.1.3.)
movement amount
[Da.7] Arc address Set the sub point or center point address during circular interpolation control.
[Da.8] Command speed Set the speed during the control execution.
Dwell time/JUMP The time between the command pulse output is completed to the positioning
[Da.9] destination completed signal is turned ON. Set it for absorbing the delay of the mechanical system
positioning data No. to the instruction, such as the delay of the servo system (deviation).
M code/Condition
data No./Number of Set this item when carrying out sub work (clamp and drill stops, tool replacement, etc.)
[Da.10]
LOOP to LEND corresponding to the code No. related to the positioning data execution.
repetitions
Axis to be interpolated
[Da.20]
No.1 QD77MS16
Axis to be interpolated Set an axis to be interpolated during the 2- to 4-axis interpolation operation.
[Da.21]
No.2 QD77MS16 (Refer to Section 9.1.6.)
Axis to be interpolated
[Da.22]
No.3 QD77MS16
(Note): The settings and setting requirement for the setting details of [Da.1] to [Da.10] and [Da.20] to [Da.22] differ according
to the "[Da.2] Control system". (Refer to Section 9.2 "Setting the positioning data".)
REMARK
600 positioning data (positioning data No. 1 to 600) items can be set per axis.
9-4
Chapter 9 Major Positioning Control
The following shows examples of operation patterns when "1-axis linear control (ABS
linear 1)" is set in positioning data No. 1 to No. 6 of axis 1. Details of each operation
pattern are shown on the following pages.
< Operation example when "1-axis linear positioning" is set in the positioning data of axis 1 >
(Setting details)
No.1 Start
Positioning data No.1 Positioning to address [A] at command speed [a] Operation pattern = 11: Continuous path control
No.2 Positioning to address [B] at command speed [b] Operation pattern = 11: Continuous path control
No.3 Positioning to address [C] at command speed [a] Operation pattern = 01: Continuous positioning control
No.4 Positioning to address [D] at command speed [b] Operation pattern = 01: Continuous positioning control
11 01 00
a The machine stops, and
then continues the next
positioning.
Speed is changed Positioning is terminated
without stopping
(One motor is driven, and positioning is carried out to an addresses designated in one direction.)
9-5
Chapter 9 Major Positioning Control
POINT
(1) When the operation pattern is continuous positioning control or continuous
path control, the same address as the last value is specified in absolute
system or the movement amount 0 is specified in incremental system,
positioning control of movement amount 0 is executed.
(2) The BUSY signal turns ON even when position control of movement amount 0
is executed. However, since the ON time is short, the ON status may not be
detected in the PLC program.
(3) The positioning complete signal turns ON even when position control of
movement amount 0 is executed. ON time is determined by "[Pr.40]
Positioning complete signal output time".
Dwell time
ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
Start complete signal ON
[X10, X11, X12, X13] OFF
ON
BUSY signal [XC, XD, XE, XF] OFF
ON
Positioning complete signal OFF
[X14, X15, X16, X17]
9-6
Chapter 9 Major Positioning Control
(1) The machine always automatically decelerates each time the positioning is
completed. Acceleration is then carried out after the Simple Motion module
command speed reaches 0 to carry out the next positioning data operation.
If a dwell time is designated, the acceleration is carried out after the
designated time elapses.
(2) In operation by continuous positioning control (operation pattern "01"), the
next positioning No. is automatically executed. Always set operation pattern
"00" in the last positioning data to complete the positioning.
If the operation pattern is set to positioning continue ("01" or "11"), the
operation will continue until operation pattern "00" is found.
If the operation pattern "00" cannot be found, the operation may be carried
out until the positioning data No. 600. If the operation pattern of the
positioning data No. 600 is not completed, the operation will be started again
from the positioning data No. 1.
t
Dwell time
Address (-) direction not designated
Positioning
complete (00)
ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
Start complete signal ON
[X10, X11, X12, X13] OFF
ON
BUSY signal [XC, XD, XE, XF] OFF
ON
Positioning complete signal OFF
[X14, X15, X16, X17]
9-7
Chapter 9 Major Positioning Control
9-8
Chapter 9 Major Positioning Control
ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
ON
Start complete signal OFF
[X10, X11, X12, X13]
ON
BUSY signal [XC, XD, XE, XF] OFF
ON
Positioning complete signal OFF
[X14, X15, X16, X17]
Fig. 9.3 Operation during continuous path control (Standard speed switching mode)
POINT
In the continuous path control, a speed variation will not occur using the near-pass
function when the positioning data No. is switched (Refer to Section 13.3.3 "Near
pass function").
Speed becomes 0
9-9
Chapter 9 Major Positioning Control
POINTS
(1) The movement direction is not checked during interpolation operations. Thus, automatic deceleration to a stop will
not be carried out even if the movement direction is changed (See the figures below).
Because of this, the interpolation axis may suddenly reverse direction.
To avoid this sudden direction reversal in the interpolation axis, set the pass point to continuous positioning control
"01" instead of setting it to continuous path control "11".
[Positioning by interpolation] [Reference axis operation] [Interpolation axis operation]
V V
Positioning data Positioning data
No.1 Suddenly
No.2
reverse
Interpola- direction
tion axis
t
Reference axis
Positioning data No.1 • • • Continuous path control t
Positioning data Positioning data
No.1 No.2 Positioning data Positioning data
No.1 No.2
(2) When a "0" is set in the "[Da.6] Positioning address/movement amount" of the continuous path control positioning
data, the command speed is reduced to 0 about 2 ms later.
When a "0" is set in the "[Da.6] Positioning address/movement amount" to increase the number of speed change
points in the future, change the "[Da.2] Control system" to the "NOP" to make the control nonexecutable.
(Refer to Section 9.2.20 "NOP instruction".)
(3) In the continuous path control positioning data, assure a movement distance so that the execution time with that
data is 100 ms or longer, or lower the command speed.
9 - 10
Chapter 9 Major Positioning Control
Speed P1 P2 P3 P4 P5 Speed P1 P2 P3 P4 P5
3000 3000
2000 2000
1000 1000
Da. 8 Command speed 1000 3000 -1 -1 -1 Da. 8 Command speed 1000 3000 -1 -1 -1
Md. 27 Current speed 1000 3000 3000 3000 3000 Md. 27 Current speed 1000 3000 3000 3000 3000
POINTS
(1) In the continuous path control, a speed variation will not occur using the near-pass function when the
positioning data is switched (Refer to Section 13.3.3 "Near pass function").
(2) The Simple Motion module holds the command speed set with the positioning data, and the latest value
of the speed set with the speed change request as the "[Md.27] Current speed". It controls the
operation at the "current speed" when "-1" is set in the command speed.
(Depending on the relation between the movement amount and the speed, the feedrate may not reach
the command speed value, but even then the current speed will be updated.)
(3) When the address for speed change is identified beforehand, generate and execute the positioning
data for speed change by the continuous path control to carry out the speed change without requesting
the speed change with a sequence program.
9 - 11
Chapter 9 Major Positioning Control
Speed
V switching Dwell time Dwell time
Positioning t
ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
ON
Start complete signal
[X10, X11, X12, X13] OFF
ON
BUSY signal [XC, XD, XE, XF] OFF
ON
Positioning complete signal
OFF
[X14, X15, X16, X17]
9 - 12
Chapter 9 Major Positioning Control
[When the speed cannot change over in P2] [When the movement amount is small during
For the following relation of the speed automatic deceleration]
P1 = P4, P2 = P3, P1 < P2 The movement amount required to carry out the
automatic deceleration cannot be secured, so the
machine immediately stops in a speed 0
status.
Pn Pn+1
P1 P2 P3 P4
Positioning address.
9 - 13
Chapter 9 Major Positioning Control
V
Dwell time Dwell time
Positioning t
ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
ON
Start complete signal
[X10, X11, X12, X13] OFF
ON
BUSY signal [XC, XD, XE, XF] OFF
ON
Positioning complete signal OFF
[X14, X15, X16, X17]
[When the speed cannot change over to [When the movement amount is small during
the P2 speed in P1] automatic deceleration]
For the following relation of the speed The movement amount required to carry out the
P1 = P4, P2 = P3, P1 < P2 automatic deceleration cannot be secured, so the
machine immediately stops in a speed 0
status.
P1 P2 P3 P4 Pn Pn+1
Positioning address
9 - 14
Chapter 9 Major Positioning Control
The following shows the two methods for commanding the position in control using
positioning data.
Absolute system
Positioning is carried out to a designated position (absolute address) having the
OP as a reference. This address is regarded as the positioning address. (The start
point can be anywhere.)
Incremental system
The position where the machine is currently stopped is regarded as the start point,
and positioning is carried out for a designated movement amount in a designated
movement direction.
9 - 15
Chapter 9 Major Positioning Control
The "current feed value" and "machine feed value" are used in monitoring the
current value display, etc.
Restrictions
(1) Operation cycle error will occur in the current value refresh cycle when the
stored "current feed value" and "machine feed value" are used in the control.
9 - 16
Chapter 9 Major Positioning Control
(1) The following shows the examples of programs to read out the current feed
value of the QD77MS4 [axis 1] to D104 and D105 when X40 is turned ON.
9 - 17
Chapter 9 Major Positioning Control
When the control unit is set to "degree", the following items differ from when other
control units are set.
359.99999° 359.99999°
0° 0° 0°
0
Clockwise direction
315.00000
Section A
90.00000
Section B
9 - 18
Chapter 9 Major Positioning Control
POINT
(1) When the upper/lower limit value of the axis which set the software stroke limit
as valid are changed, perform the machine OPR after that.
(2) When the software stroke limit is set as valid in the incremental data system,
perform the machine OPR after power supply on.
[3] Positioning control method when the control unit is set to "degree"
1) Absolute system
(a) When the software stroke limit is invalid
Positioning is carried out in the nearest direction to the designated
address, using the current value as a reference.
(This is called "shortcut control".)
Example
1) Positioning is carried out in a clockwise direction when the current value is moved from 315° to 45°.
2) Positioning is carried out in a counterclockwise direction when the current value is moved from 45° to 315°.
To designate the positioning direction (not carrying out the shortcut control), the
shortcut control is invalidated and positioning in a designated direction is carried out by
the "[Cd.40] ABS direction in degrees".
This function can perform only when the software stroke limit is invalid. When the
software stroke limit is valid, the error "Illegal setting of ABS direction in unit of
degree" (error code: 546) occurs and positioning is not started.
To designate the movement direction in the ABS control, a "1" or "2" is written to the
"[Cd.40] ABS direction in degrees" of the buffer memory (initial value: 0).
The value written to the "[Cd.40] ABS direction in degrees" becomes valid only when
the positioning control is started.
In the continuous positioning control and continuous path control, the operation is
continued with the setting set at the time of start even if the setting is changed during
the operation.
9 - 19
Chapter 9 Major Positioning Control
Example
When the current value is moved from 0° to 315°, positioning is carried out in the clockwise direction
if the software stroke limit lower limit value is 0° and the upper limit value is 345°.
345.00000° 0°
315.00000°
POINT
Positioning addresses are within a range of 0° to 359.99999°.
Use the incremental system to carry out positioning of one rotation or more.
2) Incremental system
Positioning is carried out for a designated movement amount in a
designated movement direction when in the incremental system of
positioning.
The movement direction is determined by the sign (+, –) of the movement
amount.
For a positive (+) movement direction ......Clockwise
For a negative (–) movement direction .....Counterclockwise
POINT
Positioning of 360° or more can be carried out with the incremental system.
At this time, set as shown below to invalidate the software stroke limit.
[Software stroke limit upper limit value = Software stroke limit lower limit value]
Set the value within the setting range (0° to 359.99999°).
9 - 20
Chapter 9 Major Positioning Control
9 - 21
Chapter 9 Major Positioning Control
Positioning address/ (Forward run speed 2, 3, and 4. (Forward run speed 2, 3, and 4.
[Da.6]
movement amount Reverse run speed 2, 3, and 4 not Reverse run speed 2, 3, and 4 not
Same positioning data Nos
required.) required.)
[Da.7] Arc address (Only during circular sub, circular (Only during circular sub, circular
right, and circular left). right, and circular left).
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 22
Chapter 9 Major Positioning Control
9 - 23
Chapter 9 Major Positioning Control
POINT
When the "reference axis speed" is set during interpolation control, set so the major
axis side becomes the reference axis. If the minor axis side is set as the reference
axis, the major axis side speed may exceed the "[Pr.8] Speed limit value".
"[Da.2] Control system" [Pr.20] Interpolation speed Reference axis and interpolation Reference axis and
interpolation control designation method axis units are the same, or a
combination of "mm" and "inch". interpolation axis units
differ 3
3
Linear 2 (ABS, INC) Composite speed
Fixed-feed 2 Reference axis speed
Circular sub (ABS, INC) Composite speed 2
Circular right (ABS, INC)
Circular left (ABS, INC) Reference axis speed
9 - 24
Chapter 9 Major Positioning Control
MEMO
9 - 25
Chapter 9 Major Positioning Control
The setting requirements and details for the setting items of the positioning data to be
set differ according to the "[Da.2] Control system".
The following table shows the positioning data setting items corresponding to the
different types of control. Details and settings for the operation of each control are
shown in Section 9.2.2 and subsequent sections.
(In this section, it is assumed that the positioning data setting is carried out using
GX Works2.)
Major positioning control Position control Speed control
1-axis linear control
2-axis linear interpolation
1-axis fixed-feed control
control
2-axis fixed-feed control 2-axis circular 1-axis, 2-axis, 3-axis,
3-axis linear interpolation
3-axis fixed-feed control interpolation control 4-axis Speed control
control
4-axis fixed-feed control
4-axis linear interpolation
Positioning data setting items control
Independent
positioning control
Operation (Positioning complete)
[Da.1]
pattern Continuous positioning
control
Continuous path control
Forward run speed 1
Reverse run speed 1
Linear 1
Fixed-feed 1 Circular sub Forward run speed 2
Linear 2
Fixed-feed 2 Circular right Reverse run speed 2
[Da.2] Control system Linear 3
Fixed-feed 3 Circular left Forward run speed 3
Linear 4
Fixed-feed 4 Reverse run speed 3
Forward run speed 4
Reverse run speed 4
[Da.3] Acceleration time No.
[Da.4] Deceleration time No.
Axis to be interpolated
[Da.5] QD77MS2 QD77MS4 : 2 - a x i s –: 1, 3, 4-axis
Positioning address/movement
[Da.6] –
amount
[Da.7] Arc address – – –
[Da.8] Command speed
Dwell time/JUMP destination
[Da.9] –
positioning data No.
M code/Condition data No./Number
[Da.10]
of LOOP to LEND repetitions
Axis to be interpolated No.1
[Da.20] QD77MS16
: 2, 3, 4-axis –: 1-axis
Axis to be interpolated No.2
[Da.21] QD77MS16
: 3, 4-axis –: 1, 2-axis
Axis to be interpolated No.3
[Da.22] QD77MS16
: 4-axis –: 1, 2,3 -axis
9 - 26
Chapter 9 Major Positioning Control
Other control
– – – –
– – – –
– – – –
Forward run
Forward run
speed/position
position/speed
Current value
NOP JUMP instruction LOOP LEND
Reverse run changing
Reverse run
speed/position
position/speed
– – – – –
– – – – –
– – – – – – –
– New address – – –
– – – – – – –
– – – – –
JUMP destination
– – – –
positioning data No.
JUMP Condition Number of LOOP
– –
data No. to LEND repetition
– – – – – – –
– – – – – – –
– – – – – – –
: Always set
: Set according to requirements ("–" when not set)
: Setting not possible (If set, the error "Continuous path control not possible" (error code: 516) will occur at start.)
– : Setting not required (The setting value is invalid. Use the initial value or a value within the setting range.)
: The "ABS (absolute) system" or "INC (incremental) system" can be used for the control system.
REMARK
It is recommended that the "positioning data" be set whenever possible with
GX Works2. Execution by sequence program uses many sequence programs and
devices. The execution becomes complicated, and the scan times will increase.
9 - 27
Chapter 9 Major Positioning Control
In "1-axis linear control" ("[Da.2] Control system" = ABS linear 1, INC linear 1), one
motor is used to carry out position control in a set axis direction.
[1] 1-axis linear control (ABS linear 1)
Operation chart
In absolute system 1-axis linear control, positioning is carried out from the current
stop position (start point address) to the address (end point address) set in "[Da.6]
Positioning address/movement amount".
Example
When the start point address (current stop position) is 1000, and the end point address (positioning address) is 8000,
positioning is carried out in the positive direction for a movement amount of 7000 (8000-1000)
0 1000 8000
9 - 28
Chapter 9 Major Positioning Control
QD77MS2 QD77MS4
Positioning address/ Set the positioning address. (Assuming "mm" is set in "[Pr.1]
[Da.6]
movement amount 8000.0m Unit setting".)
[Da.7] Arc address – Setting not required (setting value is ignored).
[Da.8] Command speed 6000.00mm/min Set the speed during movement to the positioning address.
Dwell time/JUMP Set the time the machine dwells after the positioning stop
[Da.9] destination 500ms (command stop) to the output of the positioning complete
positioning data No. signal.
M code/Condition
data No./Number of Set this when other sub operation commands are issued in
[Da.10] 10
LOOP to LEND combination with the No.1 positioning data.
repetitions
Axis to be interpolated
[Da.20] –
No.1 QD77MS16
Axis to be interpolated
[Da.21] – Setting not required (setting value is ignored).
No.2 QD77MS16
Axis to be interpolated
[Da.22] –
No.3 QD77MS16
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 29
Chapter 9 Major Positioning Control
Operation chart
In incremental system 1-axis linear control, positioning is carried out from the
current stop position (start point address) to a position at the end of the movement
amount set in "[Da.6] Positioning address/movement amount". The movement
direction is determined by the sign of the movement amount.
Start point address
(current stop position)
Example
When the start point address is 5000, and the movement amount is -7000, positioning is carried out to
the -2000 position.
Stop address after the positioning control Start point address
(current stop position)
9 - 30
Chapter 9 Major Positioning Control
QD77MS2 QD77MS4
Positioning address/ Set the movement amount. (Assuming "mm" is set in "[Pr.1]
[Da.6]
movement amount -7000.0m
Unit setting".)
[Da.7] Arc address – Setting not required (setting value is ignored).
[Da.8] Command speed 6000.00mm/min Set the speed during movement.
Dwell time/JUMP Set the time the machine dwells after the positioning stop
[Da.9] destination 500ms (command stop) to the output of the positioning complete
positioning data No. signal.
M code/Condition
data No./Number of Set this when other sub operation commands are issued in
[Da.10] 10
LOOP to LEND combination with the No.1 positioning data.
repetitions
Axis to be interpolated
[Da.20] –
No.1 QD77MS16
Axis to be interpolated
[Da.21] – Setting not required (setting value is ignored).
No.2 QD77MS16
Axis to be interpolated
[Da.22] –
No.3 QD77MS16
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 31
Chapter 9 Major Positioning Control
In "2-axis linear interpolation control" ("[Da.2] Control system" = ABS linear 2, INC
linear 2), two motors are used to carry out position control in a linear path while
carrying out interpolation for the axis directions set in each axis.
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)
Operation chart
In absolute system 2-axis linear interpolation control, the designated 2 axes are
used. Linear interpolation positioning is carried out from the current stop position
(start point address) to the address (end point address) set in "[Da.6] Positioning
address/movement amount".
Y axis movement
amount Movement by linear interpolation of the X axis and Y axis
Y1
Reverse direction
Example
When the start point address (current stop position) is (1000, 1000) and the end point address
(positioning address) is (10000, 4000), positioning is carried out as follows.
Axis 1
0 1000 5000 10000
9 - 32
Chapter 9 Major Positioning Control
Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning control.
If the movement amount of each axis exceeds "1073741824 (=230)" when "0:
Composite speed" is set in "[Pr.20] Interpolation speed designation method"
The error "Outside linear movement amount range" (error code: 504) occurs at a
positioning start.
(The maximum movement amount that can be set in "[Da.6] Positioning
30
address/movement amount" is "1073741824 (=2 )".)
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 33
Chapter 9 Major Positioning Control
POINT
When the "reference axis speed" is set during 2-axis linear interpolation control,
set so the major axis side becomes the reference axis. If the minor axis side is set
as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed
limit value".
9 - 34
Chapter 9 Major Positioning Control
Operation chart
In incremental system 2-axis linear interpolation control, the designated 2 axes are
used. Linear interpolation positioning is carried out from the current stop position
(start point address) to a position at the end of the movement amount set in "[Da.6]
Positioning address/movement amount". The movement direction is determined by
the sign of the movement amount.
• Positive movement amount .............. Positioning control to forward direction
(Address increase direction)
• Negative movement amount............. Positioning control to reverse direction
(Address decrease direction)
Reverse direction
Example
When the axis 1 movement amount is 9000 and the axis 2 movement amount is -3000, positioning
address (10000, 4000) is carried out as follows.
4000
9 - 35
Chapter 9 Major Positioning Control
Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning operation.
If the movement amount of each axis exceeds "1073741824 (=230)" when "0:
Composite speed" is set in "[Pr.20] Interpolation speed designation method"
The error "Outside linear movement amount range" (error code: 504) occurs at a
positioning start.
(The maximum movement amount that can be set in "[Da.6] Positioning
30
address/movement amount" is "1073741824 (=2 )".)
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 36
Chapter 9 Major Positioning Control
POINT
When the "reference axis speed" is set during 2-axis linear interpolation control,
set so the major axis side becomes the reference axis. If the minor axis side is set
as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed
limit value".
9 - 37
Chapter 9 Major Positioning Control
In "3-axis linear interpolation control" ("[Da.2] Control system" = ABS linear 3, INC
linear 3), three motors are used to carry out position control in a linear path while
carrying out interpolation for the axis directions set in each axis.
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)
Operation chart
In the absolute system 3-axis linear interpolation control, the designated 3 axes
are used. Linear interpolation positioning is carried out from the current stop
position (start point address) to the address (end point address) set in the "[Da.6]
Positioning address/movement amount".
Forward direction
(Y axis) End point address (X2,Y2,Z2)
(Positioning address)
Movement by linear interpolation
of the X axis, Y axis and Z axis
Y axis movement amount
Forward direction (Z axis)
Za
xis
mo
ve
Start point address (X1,Y1,Z1)
me (Current stop position)
nt
am
ou X axis movement amount
nt
Reverse direction Forward direction (X axis)
Example
When the start point address (current stop position) is (1000, 2000, 1000) and the end point address
(positioning address) is (4000, 8000, 4000), positioning is carried out as follows.
End point address
(positioning address)
Axis 2
8000
Axis 2 movement amount (8000-2000=6000)
4000 2000
Axis 3 movement amount
(4000-1000=3000)
1000 Axis 1
0 1000 4000
9 - 38
Chapter 9 Major Positioning Control
Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning control.
If the movement amount of each axis exceeds "1073741824 (=230)" when "0:
Composite speed" is set in "[Pr.20] Interpolation speed designation method"
The error "Outside linear movement amount range" (error code: 504) occurs at a
positioning start.
(The maximum movement amount that can be set in "[Da.6] Positioning
30
address/movement amount" is "1073741824 (=2 )".)
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 39
Chapter 9 Major Positioning Control
POINTS
When the "reference axis speed" is set during 3-axis linear interpolation control,
set so the major axis side becomes the reference axis. If the minor axis side is set
as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed
limit value".
Refer to Section 9.1.6 "Interpolation control" for the reference axis and
interpolation axis combinations.
9 - 40
Chapter 9 Major Positioning Control
Y2
Forward direction
X2
Reverse direction
Reverse direction
Example
When the axis 1 movement amount is 10000, the axis 2 movement amount is 5000 and the axis
3 movement amount is 6000, positioning is carried out as follows.
Stop address after the positioning control
Axis 2
Axis 3
5000
Axis 2 movement amount
6000
Axis 3 movement (5000)
amount (6000) Start point address
(current stop position)
Axis 1
5000 10000
9 - 41
Chapter 9 Major Positioning Control
Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning operation.
If the movement amount of each axis exceeds "1073741824 (=230)" when "0:
Composite speed" is set in "[Pr.20] Interpolation speed designation method"
The error "Outside linear movement amount range" (error code: 504) occurs at
a positioning start.
(The maximum movement amount that can be set in "[Da.6] Positioning
30
address/movement amount" is "1073741824 (=2 )".)
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 42
Chapter 9 Major Positioning Control
POINTS
When the "reference axis speed" is set during 3-axis linear interpolation control,
set so the major axis side becomes the reference axis. If the minor axis side is set
as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed
limit value".
Refer to Section 9.1.6 "Interpolation control" for the reference axis and
interpolation axis combinations.
9 - 43
Chapter 9 Major Positioning Control
In "4-axis linear interpolation control" ("[Da.2] Control system" = ABS linear 4, INC
linear 4), four motors are used to carry out position control in a linear path while
carrying out interpolation for the axis directions set in each axis.
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)
9 - 44
Chapter 9 Major Positioning Control
axes 2, 3 and 4.
Set the end point
Positioning address/ 4000.0 8000.0 4000.0 3000.0 4000.0 8000.0 4000.0 3000.0 address. (Assuming
[Da.6]
movement amount m m m m m m m m "mm" is set in "[Pr.1] Unit
setting".)
Setting not required
[Da.7] Arc address – – – – – – – –
(setting value is ignored).
Set the speed during
6000.00 6000.00
[Da.8] Command speed – – – – – – movement to the end
mm/min mm/min
point address.
Set the time the machine
dwells after the
Dwell time/JUMP
positioning stop
[Da.9] destination 500ms – – – 500ms – – –
(command stop) to the
positioning data No.
output of the positioning
complete signal.
Set this when other sub
M code/Condition
operation commands are
data No./Number of
[Da.10] 10 – – – 10 – – – issued in combination
LOOP to LEND
with the No. 1 positioning
repetitions
data.
Axis to be
[Da.20] interpolated No.1 Axis 2 – – –
QD77MS16
Set the axis to be
Axis to be
interpolated.
[Da.21] interpolated No.2 Axis 3 – – –
If the self-axis is set, an
QD77MS16
error will occur.
Axis to be
[Da.22] interpolated No.3 Axis 4 – – –
QD77MS16
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 45
Chapter 9 Major Positioning Control
POINTS
When the "reference axis speed" is set during 4-axis linear interpolation control,
set so the major axis side becomes the reference axis. If the minor axis side is set
as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed
limit value".
Refer to Section 9.1.6 "Interpolation control" for the reference axis and
interpolation axis combinations.
Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning operation.
When the movement amount for each axis exceeds "1073741824 (=230)"
The error "Outside linear movement amount range" (error code: 504) will occur at
the positioning start.
(The maximum movement amount that can be set in "[Da.6] Positioning address/
30
movement amount" is "1073741824 (=2 )".)
9 - 46
Chapter 9 Major Positioning Control
axes 2, 3 and 4.
Set the movement
Positioning address/ 4000.0 8000.0 4000.0 3000.0 4000.0 8000.0 4000.0 3000.0 amount. (Assuming
[Da.6]
movement amount m m m m m m m m "mm" is set in "[Pr.1] Unit
setting".)
Setting not required
[Da.7] Arc address – – – – – – – –
(setting value is ignored).
6000.00 6000.00 Set the speed during
[Da.8] Command speed – – – – – –
mm/min mm/min movement.
Set the time the machine
dwells after the
Dwell time/JUMP
positioning stop
[Da.9] destination 500ms – – – 500ms – – –
(command stop) to the
positioning data No.
output of the positioning
complete signal.
Set this when other sub
M code/Condition
operation commands are
data No./Number of
[Da.10] 10 – – – 10 – – – issued in combination
LOOP to LEND
with the No. 1 positioning
repetitions
data.
Axis to be
[Da.20] interpolated No.1 Axis 2 – – –
QD77MS16
Set the axis to be
Axis to be
interpolated.
[Da.21] interpolated No.2 Axis 3 – – –
If the self-axis is set, an
QD77MS16
error will occur.
Axis to be
[Da.22] interpolated No.3 Axis 4 – – –
QD77MS16
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 47
Chapter 9 Major Positioning Control
POINT
When the "reference axis speed" is set during 4-axis linear interpolation control,
set so the major axis side becomes the reference axis. If the minor axis side is set
as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed
limit value".
Refer to Section 9.1.6 "Interpolation control" for the reference axis and
interpolation axis combinations.
9 - 48
Chapter 9 Major Positioning Control
In "1-axis fixed-feed control" ("[Da.2] Control system" = fixed-feed 1), one motor is
used to carry out fixed-feed control in a set axis direction.
In fixed-feed control, any remainder of below control accuracy is rounded down to
convert the movement amount designated in the positioning data into the command
value to servo amplifier.
Operation chart
In 1-axis fixed-feed control, the address ([Md.20] Current feed value) of the current
stop position (start point address) is set to "0". Positioning is then carried out to a
position at the end of the movement amount set in "[Da.6] Positioning address/
movement amount".
The movement direction is determined by the movement amount sign.
• Positive movement amount .............. Positioning control to forward direction
(Address increase direction)
• Negative movement amount............. Positioning control to reverse direction
(Address decrease direction)
Designated
Positioning movement
amount
start
Stop position
Restrictions
(1) The error "Continuous path control not possible" (error code: 516) will occur
and the operation cannot start if "continuous path control" is set in "[Da.1]
Operation pattern". ("Continuous path control" cannot be set in fixed-feed
control.)
(2) "Fixed-feed" cannot be set in "[Da.2] Control system" in the positioning data
when "continuous path control" has been set in "[Da.1] Operation pattern" of
the immediately prior positioning data. (For example, if the operation pattern of
positioning data No. 1 is "continuous path control", fixed-feed control cannot
be set in positioning data No. 2.) The error "Continuous path control not
possible" (error code: 516) will occur and the machine will carry out a
deceleration stop if this type of setting is carried out.
9 - 49
Chapter 9 Major Positioning Control
POINT
When the movement amount is converted to the actual number of command
pulses, a fraction appears after the decimal point, according to the movement
amount per pulse. This fraction is normally retained in the Simple Motion module
and reflected at the next positioning.
For the fixed-feed control, since the movement distance is maintained constant
(= the command number of pulses is maintained constant), the control is carried
out after the fraction pulse is cleared to zero at start.
INC Linear 1
2PLS 3PLS(=2.5+0.5)
Fixed-feed 1
2PLS 2PLS
9 - 50
Chapter 9 Major Positioning Control
QD77MS2 QD77MS4
Positioning address/ Set the positioning address. (Assuming "mm" is set in "[Pr.1]
[Da.6]
movement amount 8000.0m
Unit setting".)
[Da.7] Arc address – Setting not required (setting value is ignored).
[Da.8] Command speed 6000.00mm/min Set the speed during movement to the positioning address.
Dwell time /JUMP Set the time the machine dwells after the positioning stop
[Da.9] destination 500ms (command stop) to the output of the positioning complete
positioning data No. signal.
M code /Condition
data No./Number of Set this when other sub operation commands are issued in
[Da.10] 10
LOOP to LEND combination with the No. 1 positioning data.
repetitions
Axis to be interpolated
[Da.20] –
No.1 QD77MS16
Axis to be interpolated
[Da.21] – Setting not required (setting value is ignored).
No.2 QD77MS16
Axis to be interpolated
[Da.22] –
No.3 QD77MS16
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 51
Chapter 9 Major Positioning Control
In "2-axis fixed-feed control" ("[Da.2] Control system" = fixed-feed 2), two motors are
used to carry out fixed-feed control in a linear path while carrying out interpolation for
the axis directions set in each axis.
In fixed-feed control, any remainder of below control accuracy is rounded down to
convert the movement amount designated in the positioning data into the command
value to servo amplifier.
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)
Operation chart
In incremental system 2-axis fixed-feed control, the addresses ([Md.20] Current
feed value) of the current stop position (start addresses) of both axes are set to "0".
Linear interpolation positioning is then carried out from that position to a position at
the end of the movement amount set in "[Da.6] Positioning address/movement
amount". The movement direction is determined by the sign of the movement
amount.
• Positive movement amount .............. Positioning control to forward direction
(Address increase direction)
• Negative movement amount............. Positioning control to reverse direction
(Address decrease direction)
Y axis
(0,0)
Designated (0,0)
movement
amount
(0,0)
X axis
Designated
movement
amount
Restrictions
(1) The error "Continuous path control not possible" (error code: 516) will occur
and the operation cannot start if "continuous path control" is set in "[Da.1]
Operation pattern". ("Continuous path control" cannot be set in fixed-feed
control.)
(2) "Fixed-feed" cannot be set in "[Da.2] Control system" in the positioning data
when "continuous path control" has been set in "[Da.1] Operation pattern" of
the immediately prior positioning data. (For example, if the operation pattern of
positioning data No. 1 is "continuous path control", fixed-feed control cannot
be set in positioning data No. 2.) The error "Continuous path control not
possible" (error code: 516) will occur and the machine will carry out a
deceleration stop if this type of setting is carried out.
9 - 52
Chapter 9 Major Positioning Control
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 53
Chapter 9 Major Positioning Control
POINTS
When the movement amount is converted to the actual number of command
pulses, a fraction appears after the decimal point, according to the movement
amount per pulse. This fraction is normally retained in the Simple Motion module
and reflected at the next positioning.
For the fixed-feed control, since the movement distance is maintained constant (=
the command number of pulses is maintained constant), the control is carried out
after the fraction pulse is cleared to zero at start.
INC Linear 1
2PLS 3PLS(=2.5+0.5)
Fixed-feed 1
2PLS 2PLS
When the "reference axis speed" is set during 2-axis fixed-feed control, set so the
major axis side becomes the reference axis. If the minor axis side is set as the
reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit
value".
In "3-axis fixed-feed control" ("[Da.2] Control system" = fixed-feed 3), three motors are
used to carry out fixed-feed control in a linear path while carrying out interpolation for
the axis directions set in each axis.
In fixed-feed control, any remainder of below control accuracy is rounded down to
convert the movement amount designated in the positioning data into the command
value to servo amplifier.
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)
9 - 54
Chapter 9 Major Positioning Control
Operation chart
In incremental system 3-axis fixed-feed control, the addresses ([Md.20] Current
feed value) of the current stop position (start addresses) of every axes are set to
"0". Linear interpolation positioning is then carried out from that position to a
position at the end of the movement amount set in "[Da.6] Positioning
address/movement amount". The movement direction is determined by the sign of
the movement amount.
• Positive movement amount .............. Positioning control to forward direction
(Address increase direction)
• Negative movement amount............. Positioning control to reverse direction
(Address decrease direction)
Y axis
(0,0,0)
(0,0,0)
Z axis
Designated movement
amount (0,0,0)
X axis
" Md.20 Current feed value" of each axis
is set to "0" at the positioning start.
Designated movement
amount
9 - 55
Chapter 9 Major Positioning Control
Restrictions
(1) The error "Continuous path control not possible" (error code: 516) will occur
and the operation cannot start if "continuous path control" is set in "[Da.1]
Operation pattern". ("Continuous path control" cannot be set in fixed-feed
control.)
30
(2) If the movement amount of each axis exceeds "1073741824 (=2 )" when "0:
Composite speed" is set in "[Pr.20] Interpolation speed designation method",
the "Outside linear movement amount range" (error code: 504) occurs at a
positioning start and positioning cannot be started. (The maximum movement
amount that can be set in "[Da.6] Positioning address/movement amount" is
30
"1073741824 (= 2 )".
(3) "Fixed-feed" cannot be set in "[Da.2] Control system" in the positioning data
when "continuous path control" has been set in "[Da.1] Operation pattern" of
the immediately prior positioning data. (For example, if the operation pattern of
positioning data No. 1 is "continuous path control", fixed-feed control cannot
be set in positioning data No. 2.) The error "Continuous path control not
possible" (error code: 516) will occur and the machine will carry out a
deceleration stop if this type of setting is carried out.
9 - 56
Chapter 9 Major Positioning Control
2 and 3.
Set the positioning address.
Positioning address/ 10000.0 5000.0 6000.0 10000.0 5000.0 6000.0
[Da.6] (Assuming "mm" is set in "[Pr.1] Unit
movement amount m m m m m m
setting".)
Setting not required (setting value is
[Da.7] Arc address – – – – – –
ignored).
6000.00 6000.00
[Da.8] Command speed – – – – Set the speed during movement.
mm/min mm/min
Set the time the machine dwells
Dwell time/JUMP
after the positioning stop (command
[Da.9] destination 500ms – – 500ms – –
stop) to the output of the positioning
positioning data No.
complete signal.
M code/Condition Set this when other sub operation
data No./Number of commands are issued in
[Da.10] 10 – – 10 – –
LOOP to LEND combination with the No. 1
repetitions positioning data.
Axis to be interpolated
[Da.20] Axis 2 – – Set the axis to be interpolated.
No.1 QD77MS16
If the self-axis is set, an error will
Axis to be interpolated
[Da.21] Axis 3 – – occur.
No.2 QD77MS16
Axis to be interpolated Setting not required (setting value is
[Da.22] – – –
No.3 QD77MS16 ignored).
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 57
Chapter 9 Major Positioning Control
POINTS
When the movement amount is converted to the actual number of command
pulses, a fraction appears after the decimal point, according to the movement
amount per pulse. This fraction is normally retained in the Simple Motion module
and reflected at the next positioning.
For the fixed-feed control, since the movement distance is maintained constant (=
the command number of pulses is maintained constant), the control is carried out
after the fraction pulse is cleared to zero at start.
INC Linear 1
2PLS 3PLS(=2.5+0.5)
Fixed-feed 1
2PLS 2PLS
When the "reference axis speed" is set during 3-axis fixed-feed control, set so the
major axis side becomes the reference axis. If the minor axis side is set as the
reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit
value".
Refer to Section 9.1.6 "Interpolation control" for the reference axis and
interpolation axis combinations.
9 - 58
Chapter 9 Major Positioning Control
In "4-axis fixed-feed control" ("[Da.2] Control system" = fixed-feed 4), four motors are
used to carry out fixed-feed control in a linear path while carrying out interpolation for
the axis directions set in each axis.
In fixed-feed control, any remainder of below control accuracy is rounded down to
convert the movement amount designated in the positioning data into the command
value to servo amplifier.
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)
Operation chart
In incremental system 4-axis fixed-feed control, the addresses ([Md.20] Current
feed value) of the current stop position (start addresses) of every axes are set to
"0". Linear interpolation positioning is then carried out from that position to a
position at the end of the movement amount set in "[Da.6] Positioning
address/movement amount". The movement direction is determined by the sign of
the movement amount.
Restrictions
(1) The error "Continuous path control not possible" (error code: 516) will occur
and the operation cannot start if "continuous path control" is set in "[Da.1]
Operation pattern". ("Continuous path control" cannot be set in fixed-feed
control.)
(2) "Fixed-feed" cannot be set in "[Da.2] Control system" in the positioning data
when "continuous path control" has been set in "[Da.1] Operation pattern" of
the immediately prior positioning data. (For example, if the operation pattern
of positioning data No. 1 is "continuous path control", fixed-feed control
cannot be set in positioning data No. 2.) The error "Continuous path control
not possible" (error code: 516) will occur and the machine will carry out a
deceleration stop if this type of setting is carried out.
9 - 59
Chapter 9 Major Positioning Control
axes 2, 3 and 4.
Set the positioning
Positioning address/ 4000.0 8000.0 4000.0 3000.0 4000.0 8000.0 4000.0 3000.0 address. (Assuming
[Da.6]
movement amount m m m m m m m m "mm" is set in "[Pr.1] Unit
setting ".)
Setting not required
[Da.7] Arc address – – – – – – – –
(setting value is ignored).
6000.00 6000.00 Set the speed during
[Da.8] Command speed – – – – – –
mm/min mm/min movement.
Set the time the machine
dwells after the
Dwell time/JUMP
positioning stop
[Da.9] destination 500ms – – – 500ms – – –
(command stop) to the
positioning data No.
output of the positioning
complete signal.
Set this when other sub
M code/Condition
operation commands are
data No./Number of
[Da.10] 10 – – – 10 – – – issued in combination
LOOP to LEND
with the No. 1 positioning
repetitions
data.
Axis to be
[Da.20] interpolated No.1 Axis 2 – – –
QD77MS16
Set the axis to be
Axis to be
interpolated.
[Da.21] interpolated No.2 Axis 3 – – –
If the self-axis is set, an
QD77MS16
error will occur.
Axis to be
[Da.22] interpolated No.3 Axis 4 – – –
QD77MS16
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 60
Chapter 9 Major Positioning Control
POINTS
When the movement amount is converted to the actual number of command
pulses, a fraction appears after the decimal point, according to the movement
amount per pulse. This fraction is normally retained in the Simple Motion module
and reflected at the next positioning.
For the fixed-feed control, since the movement distance is maintained constant (=
the command number of pulses is maintained constant), the control is carried out
after the fraction pulse is cleared to zero at start.
INC Linear 1
2PLS 3PLS(=2.5+0.5)
Fixed-feed 1
2PLS 2PLS
When the "reference axis speed" is set during 4-axis fixed-feed control, set so the
major axis side becomes the reference axis. If the minor axis side is set as the
reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit
value".
Refer to Section 9.1.6 "Interpolation control" for the reference axis and
interpolation axis combinations.
9 - 61
Chapter 9 Major Positioning Control
In "2-axis circular interpolation control" ("[Da.2] Control system" = ABS circular sub,
INC circular sub), two motors are used to carry out position control in an arc path
passing through designated sub points, while carrying out interpolation for the axis
directions set in each axis.
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)
[1] 2-axis circular interpolation control with sub point designation (ABS
circular sub)
Operation chart
In the absolute system, 2-axis circular interpolation control with sub point
designation, positioning is carried out from the current stop position (start point
address) to the address (end point address) set in "[Da.6] Positioning address/
movement amount", in an arc path that passes through the sub point address set
in "[Da.7] Arc address".
The resulting control path is an arc having as its center the intersection point of
perpendicular bisectors of a straight line between the start point address (current
stop position) and sub point address (arc address), and a straight line between the
sub point address (arc address) and end point address (positioning address).
Forward direction
OP
Reverse direction
9 - 62
Chapter 9 Major Positioning Control
Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
When "degree" is set in "[Pr.1] Unit setting"
When the units set in "[Pr.1] Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
When "reference axis speed" is set in "[Pr.20] Interpolation speed designation
method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
When the radius exceeds "536870912 (=2 )". (The maximum radius for
29
which circular interpolation control is possible is "536870912 (=2 )"
... The error "Outside radius range" (error code: 544) will occur at
positioning start.
31
When the center point address is outside the range of "–2147483648 (–2 ) to
31
2147483647 (2 –1)"
... The error "Sub point setting error" (error code: 525) will occur at
positioning start.
When the start point address is the same as the end point address
... The error "End point setting error" (error code: 526) will occur.
When the start point address is the same as the sub point address
... The error "Sub point setting error" (error code: 525) will occur.
When the end point address is the same as the sub point address
... The error "Sub point setting error" (error code: 525) will occur.
When the start point address, sub point address, and end point address are in
a straight line
... The error "Sub point setting error" (error code: 525) will occur.
9 - 63
Chapter 9 Major Positioning Control
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINT
Set a value in "[Da.8] Command speed" so that the speed of each axis does not
exceed the "[Pr.8] Speed limit value". (The speed limit does not function for the
speed calculated by the Simple Motion module during interpolation control.)
9 - 64
Chapter 9 Major Positioning Control
[2] 2-axis circular interpolation control with sub point designation (INC
circular sub)
Operation chart
In the incremental system, 2-axis circular interpolation control with sub point
designation, positioning is carried out from the current stop position (start point
address) to a position at the end of the movement amount set in "[Da.6]
Positioning address/movement amount" in an arc path that passes through the sub
point address set in "[Da.7] Arc address". The movement direction depends on the
sign (+ or -) of the movement amount.
The resulting control path is an arc having as its center the intersection point of
perpendicular bisectors of the straight line between the start point address (current
stop position) and sub point address (arc address) calculated from the movement
amount to the sub point, and a straight line between the sub point address (arc
address) and end point address (positioning address) calculated from the
movement amount to the end point.
Forward direction
Sub point address
Movement by circular interpolation
(arc address)
Arc center
Reverse direction Forward direction
Movement
amount to the
sub point
Reverse direction
9 - 65
Chapter 9 Major Positioning Control
Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
When "degree" is set in "[Pr.1] Unit setting"
When the units set in "[Pr.1] Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
When "reference axis speed" is set in "[Pr.20] Interpolation speed designation
method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
When the radius exceeds "536870912 (=2 )". (The maximum radius for
29
which circular interpolation control is possible is "536870912 (=2 )"
... The error "Outside radius range" (error code: 544) will occur at
positioning start.
31
When the sub point address is outside the range of "–2147483648 (–2 ) to
31
2147483647 (2 –1)"
... The error "Sub point setting error" (error code: 525) will occur.
31
When the end point address is outside the range of "–2147483648 (–2 ) to
31
2147483647 (2 –1)"
... The error "End point setting error" (error code: 526) will occur.
31
When the center point address is outside the range of "–2147483648 (–2 ) to
31
2147483647 (2 –1)"
... The error "Sub point setting error" (error code: 525) will occur at
positioning start.
When the start point address is the same as the end point address
... The error "End point setting error" (error code: 526) will occur.
When the start point address is the same as the sub point address
... The error "Sub point setting error" (error code: 525) will occur.
When the end point address is the same as the sub point address
... The error "Sub point setting error" (error code: 525) will occur.
When the start point address, sub point address, and end point address are in
a straight line
... The error "Sub point setting error" (error code: 525) will occur.
9 - 66
Chapter 9 Major Positioning Control
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINT
Set a value in "[Da.8] Command speed" so that the speed of each axis does not
exceed the "[Pr.8] Speed limit value". (The speed limit does not function for the
speed calculated by the Simple Motion module during interpolation control.)
9 - 67
Chapter 9 Major Positioning Control
In "2-axis circular interpolation control" ("[Da.2] Control system" = ABS circular right,
INC circular right, ABS circular left, INC circular left), two motors are used to carry out
position control in an arc path having an arc address as a center point, while carrying
out interpolation for the axis directions set in each axis.
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)
The following table shows the rotation directions, arc center angles that can be
controlled, and positioning paths for the different control systems.
Arc center angle that
Control system Rotation direction Positioning path
can be controlled
Positioning path
0° < 360°
Center point
9 - 68
Chapter 9 Major Positioning Control
Start point radius > End point radius: As compared with the speed without
error, the speed becomes slower as
end point address is reached.
Start point radius < End point radius: As compared with the speed without
error, the speed becomes faster as
end point address is reached.
(2) Calculated error > "[Pr.41] Allowable circular interpolation error width"
At the positioning start, the error "Large arc error deviation" (error code: 506)
will occur and the control will not start. The machine will immediately stop if the
error is detected during positioning control.
9 - 69
Chapter 9 Major Positioning Control
Operation chart
In the absolute system, 2-axis circular interpolation control with center point
designation positioning is carried out from the current stop position (start point
address) to the address (end point address) set in "[Da.6] Positioning address/
movement amount", in an arc path having as its center the address (arc address)
of the center point set in "[Da.7] Arc address".
Radius
Positioning of a complete round with a radius from the start point address to the
arc center point can be carried out by setting the end point address (positioning
address) to the same address as the start point address.
Forward direction
Reverse direction
9 - 70
Chapter 9 Major Positioning Control
Start point radius > End point radius: As compared with the speed without error,
the speed becomes slower as end point
address is reached.
Start point radius < End point radius: As compared with the speed without error,
the speed becomes faster as end point
address is reached.
Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
When "degree" is set in "[Pr.1] Unit setting"
When the units set in "[Pr.1] Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
When "reference axis speed" is set in "[Pr.20] Interpolation speed designation
method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
When the radius exceeds "536870912 (=2 )". (The maximum radius for
29
which circular interpolation control is possible is "536870912 (=2 )"
... The error "Outside radius range" (error code: 544) will occur at
positioning start.
When the start point address is the same as the center point address
... The error "Center point setting error" (error code: 527) will occur.
When the end point address is the same as the center point address
... The error "Center point setting error" (error code: 527) will occur.
31
When the center point address is outside the range of –2147483648 (-2 ) to
31
2147483647 (2 -1)
... The error "Center point setting error" (error code: 527) will occur.
9 - 71
Chapter 9 Major Positioning Control
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINT
Set a value in "[Da.8] Command speed" so that the speed of each axis does not
exceed the "[Pr.8] Speed limit value". (The speed limit does not function for the
speed calculated by the Simple Motion module during interpolation control.)
9 - 72
Chapter 9 Major Positioning Control
Operation chart
In the incremental system, 2-axis circular interpolation control with center point
designation, positioning is carried out from the current stop position (start point
address) to a position at the end of the movement amount set in "[Da.6]
Positioning address/movement amount", in an arc path having as its center the
address (arc address) of the center point set in "[Da.7] Arc address".
Forward direction
Start point address Movement by circular interpolation
(Current stop position)
Movement amount
to the end point
Radius
Reverse
direction Forward direction
Arc center point
Positioning of a complete round with a radius of the distance from the start point
address to the arc center point can be carried out by setting the movement amount
to "0".
Forward direction
Reverse direction
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Chapter 9 Major Positioning Control
Start point radius > End point radius: As compared with the speed without error,
the speed becomes slower as end point
address is reached.
Start point radius < End point radius: As compared with the speed without error,
the speed becomes faster as end point
address is reached.
Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
When "degree" is set in "[Pr.1] Unit setting"
When the units set in "[Pr.1] Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
When "reference axis speed" is set in "[Pr.20] Interpolation speed designation
method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
When the radius exceeds "536870912 (=2 )". (The maximum radius for
29
which circular interpolation control is possible is "536870912 (=2 )"
... The "Outside radius range" (error code: 544) will occur at positioning
start.
31
When the end point address is outside the range of –2147483648 (-2 ) to
31
2147483647 (2 -1)
... The error "End point setting error" (error code: 526) will occur.
When the start point address is the same as the center point address
... The error "Center point setting error" (error code: 527) will occur.
When the end point address is the same as the center point address
... The error "Center point setting error" (error code: 527) will occur.
31
When the center point address is outside the range of –2147483648 (-2 ) to
31
2147483647 (2 -1)
... The error "Center point setting error" (error code: 527) will occur.
9 - 74
Chapter 9 Major Positioning Control
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINT
Set a value in "[Da.8] Command speed" so that the speed of each axis does not
exceed the "[Pr.8] Speed limit value". (The speed limit does not function for the
speed calculated by the Simple Motion module during interpolation control.)
9 - 75
Chapter 9 Major Positioning Control
In "1-axis speed control" ("[Da.2] Control system" = Forward run: speed 1, Reverse
run: speed 1), control is carried out in the axis direction in which the positioning data
has been set by continuously outputting pulses for the speed set in "[Da.8] Command
speed" until the input of a stop command.
The two types of 1-axis speed control are "Forward run: speed 1" in which the control
starts in the forward run direction, and "Reverse run: speed 1" in which control starts in
the reverse run direction.
Operation chart
The following chart shows the operation timing for 1-axis speed control with axis 1
as the reference axis.
The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control.
The "Positioning complete signal" is not turned ON.
ON
OFF
Positioning start signal
[Y10]
ON
OFF
BUSY signal
[XC]
Does not turn ON even
when control is stopped
by stop command.
OFF
Positioning complete signal
[X14]
ON
Axis stop signal OFF
(stop command) [Y4]
ON
In speed control flag
( Md.31 Status:b0) OFF
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Chapter 9 Major Positioning Control
V V V
In speed control In speed control In speed control
t t t
Current feed value during speed control start is maintained Current feed value is updated 0
(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared
Restrictions
(1) Set "Positioning complete" in "[Da.1] Operation pattern". The error
"Continuous path control not possible" (error code: 516) will occur and the
operation cannot start if "continuous positioning control" or "continuous path
control" is set in "[Da.1] Operation pattern".
("Continuous positioning control" and "continuous path control" cannot be set
in speed control.)
(2) Set the WITH mode in "[Pr.18] M code ON signal output timing" when using an
M code. The M code will not be output, and the M code ON signal will not turn
ON if the AFTER mode is set.
(3) The error "No command speed" (error code: 503) will occur if the current
speed (-1) is set in "[Da.8] Command speed".
(4) The software stroke limit check is not carried out if the control unit is set to
"degree".
9 - 77
Chapter 9 Major Positioning Control
Setting example
Setting item QD77MS2 Setting details
QD77MS16
QD77MS4
Setting other than "Positioning complete" is not possible in
[Da.1] Operation pattern Positioning complete
speed control.
[Da.2] Control system Forward run speed 1 Set 1-axis speed control.
Designate the value set in "[Pr.25] Acceleration time 1" as the
[Da.3] Acceleration time No. 1
acceleration time at start.
Designate the value set in "[Pr.10] Deceleration time 0" as the
[Da.4] Deceleration time No. 0
deceleration time at deceleration.
Axis to be interpolated
[Da.5] –
Axis 1 Positioning data No. 1
QD77MS2 QD77MS4
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
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Chapter 9 Major Positioning Control
In "2-axis speed control" ("[Da.2] Control system" = Forward run: speed 2, Reverse
run: speed 2), control is carried out in the 2-axis direction in which the positioning data
has been set by continuously outputting pulses for the speed set in "[Da.8] Command
speed" until the input of a stop command.
The two types of 2-axis speed control are "Forward run: speed 2" in which the control
starts in the forward run direction, and "Reverse run: speed 2" in which control starts in
the reverse run direction.
(Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis
with the interpolation axis.)
Operation chart
The following chart shows the operation timing for 2-axis (axes 1 and 2) speed
control with axis 1 as the reference axis. The "in speed control" flag ([Md.31]
Status: b0) is turned ON during speed control.
The "positioning complete signal" is not turned ON.
V
Reference axis (axis 1)
Da. 8 Command speed
ON
OFF
Positioning start signal
[Y10]
ON
OFF
BUSY signal
[XC,XD]
Does not turn ON even
when control is stopped
by stop command.
OFF
Positioning complete signal
[X14,X15]
ON
OFF
Axis stop signal (stop command)
(Either Y4 or Y5)
ON
In speed control flag
( Md.31 Status:b0) OFF
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Chapter 9 Major Positioning Control
V V V
In speed control In speed control In speed control
t t t
Current feed value during speed control start is maintained Current feed value is updated 0
(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared
Restrictions
(1) Set "Positioning complete" in "[Da.1] Operation pattern". The error
"Continuous path control not possible" (error code: 516) will occur and the
operation cannot start if "continuous positioning control" or "continuous path
control" is set. ("Continuous positioning control" and "continuous path
control" cannot be set in speed control.)
(2) Set the WITH mode in "[Pr.18] M code ON signal output timing" when using an
M code. The M code will not be output, and the M code ON signal will not turn
ON if the AFTER mode is set.
(3) Set the "reference axis speed" in "[Pr.20] Interpolation speed designation
method". The error "Interpolation mode error" (error code: 523) will occur and
the operation cannot start if a composite speed is set.
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Chapter 9 Major Positioning Control
(4) When either of two axes exceeds the speed limit, that axis is controlled with
the speed limit value. The speeds of the other axes are limited at the ratios of
"[Da.8] Command speed".
(Examples)
Axis
Axis 1 setting Axis 2 setting
Setting item
[Da.8] Command
8000.00mm/min 6000.00mm/min
speed
With the settings shown above, the operation speed in speed control is as
follows.
Axis 1: 4000.00 mm/min (Speed is limited by [Pr.8]).
Axis 2: 3000.00 mm/min (Speed is limited at a ratio of an axis 1 command
speed to an axis 2 command speed).
(Note): Operation runs at speed 1 when a reference axis speed is less than 1
as a result of speed limit.
In addition, when "[Pr.7] Bias speed at start" is set, the set value will
be the minimum speed.
(5) An error "No command speed (error code: 503)" occurs if a current speed (-1)
is set in "[Da.8] Command speed".
(6) The software stroke limit check is not carried out when the control unit is set to
"degree".
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Chapter 9 Major Positioning Control
QD77MS2/QD77MS4 QD77MS16
Axis setting example setting example
Axis 1 Axis 2 Axis 1 Axis 2 Setting details
Setting item (reference (interpolation (reference (interpolation
axis) axis) axis) axis)
Positioning Positioning Setting other than "Positioning complete" is
[Da.1] Operation pattern – –
complete complete not possible in speed control.
Forward run Forward run
[Da.2] Control system – – Set 2-axis speed control.
speed 2 speed 2
Designate the value set in "[Pr.25]
[Da.3] Acceleration time No. 1 – 1 – Acceleration time 1" as the acceleration time
at start.
Designate the value set in "[Pr.10]
[Da.4] Deceleration time No. 0 – 0 – Deceleration time 0" as the deceleration time
at deceleration.
Axis to be interpolated Set the axis to be interpolated (partner axis).
[Da.5] Axis 2 –
Axis 1 Positioning data No. 1
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
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Chapter 9 Major Positioning Control
In "3-axis speed control" ("[Da.2] Control system" = Forward run: speed 3, Reverse
run: speed 3), control is carried out in the 3-axis direction in which the positioning data
has been set by continuously outputting pulses for the speed set in "[Da.8] Command
speed" until the input of a stop command.
The two types of 3-axis speed control are "Forward run: speed 3" in which the control
starts in the forward run direction, and "Reverse run: speed 3" in which control starts in
the reverse run direction.
(Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis
with the interpolation axes.)
Operation chart
The following chart shows the operation timing for 3-axis (axes 1, 2, and 3) speed
control with axis 1 as the reference axis.
The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control.
The "positioning complete signal" is not turned ON.
ON
OFF
Positioning start signal
[Y10]
ON
OFF
BUSY signal
[XC, XD, XE] Does not turn ON even
when control is stopped
by stop command.
OFF
Positioning complete signal
[X14, X15, X16]
ON
Axis stop signal
OFF
(stop command)
(Either Y4, Y5 or Y6)
ON
In speed control flag
( Md.31 Status:b0) OFF
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Chapter 9 Major Positioning Control
V V V
In speed control In speed control In speed control
t t t
Current feed value during speed control start is maintained Current feed value is updated 0
(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared
Restrictions
(1) Set "Positioning complete" in "[Da.1] Operation pattern". The error
"Continuous path control not possible" (error code: 516) will occur and the
operation cannot start if "continuous positioning control" or "continuous path
control" is set. ("Continuous positioning control" and "continuous path control"
cannot be set in speed control.)
(2) Set the WITH mode in "[Pr.18] M code ON signal output timing" when using an
M code. The M code will not be output, and the M code ON signal will not turn
ON if the AFTER mode is set.
(3) Set the "reference axis speed" in "[Pr.20] Interpolation speed designation
method". The error "Interpolation mode error" (error code: 523) will occur and
the operation cannot start if a composite speed is set.
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Chapter 9 Major Positioning Control
(4) When either of three axes exceeds the speed limit, that axis is controlled with
the speed limit value. The speeds of the other axes are limited at the ratios of
"[Da.8] Command speed".
(Examples)
Axis
Axis 1 setting Axis 2 setting Axis 3 setting
Setting item
Speed limit
[Pr.8] 4000.00mm/min 5000.00mm/min 6000.00mm/min
value
Command
[Da.8] 8000.00mm/min 6000.00mm/min 4000.00mm/min
speed
With the settings shown above, the operation speed in speed control is as
follows.
Axis 1: 4000.00 mm/min (Speed is limited by [Pr.8].)
Axis 2: 3000.00 mm/min (Speed is limited at ratios in axes 1, 2, and 3
command speeds.)
Axis 3: 2000.00 mm/min (Speed is limited at ratios in axes 1, 2, and 3
command speeds.)
(Note): Operation runs at speed 1 when a reference axis speed is less than 1
as a result of speed limit.
In addition, when "[Pr.7] Bias speed at start" is set, the set value will
be the minimum speed.
(5) An error "No command speed (error code: 503)" will occur if a current speed
(-1) is set in "[Da.8] Command speed".
(6) The software stroke limit check is not carried out when the control unit is set to
"degree".
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Chapter 9 Major Positioning Control
QD77MS4
axis, the interpolation axes are
axes 2 and 3.
Positioning address/
[Da.6] – – – – – – Setting not required (setting value
movement amount
is ignored).
[Da.7] Arc address – – – – – –
6000.00 3000.00 2000.00 6000.00 3000.00 2000.00
[Da.8] Command speed Set the speed to be commanded.
mm/min mm/min mm/min mm/min mm/min mm/min
Dwell time/JUMP
Setting not required (setting value
[Da.9] destination – – – – – –
is ignored).
positioning data No.
Set this when other sub operation
M code/Condition commands are issued in
data No./Number of combination with the No. 1
[Da.10] 10 – – 10 – –
LOOP to LEND positioning data. ("[Pr.18] M code
repetitions ON signal output timing" setting
only possible in the WITH mode.)
Axis to be interpolated
[Da.20] Axis 2 – – Set the axis to be interpolated.
No.1 QD77MS16
If the self-axis is set, an error will
Axis to be interpolated
[Da.21] Axis 3 – – occur.
No.2 QD77MS16
Axis to be interpolated Setting not required (setting value
[Da.22] – – –
No.3 QD77MS16 is ignored).
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
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Chapter 9 Major Positioning Control
In "4-axis speed control" ("[Da.2] Control system" = Forward run: speed 4, Reverse
run: speed 4), control is carried out in the 4-axis direction in which the positioning data
has been set by continuously outputting pulses for the speed set in "[Da.8] Command
speed" until the input of a stop command.
The two types of 4-axis speed control are "Forward run: speed 4" in which the control
starts in the forward run direction, and "Reverse run: speed 4" in which control starts in
the reverse run direction.
(Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis
with the interpolation axes.)
9 - 87
Chapter 9 Major Positioning Control
Operation chart
The following chart shows the operation timing for 4-axis speed control with axis 1
as the reference axis.
The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control.
The "positioning complete signal" is not turned ON.
ON
OFF
Positioning start signal
[Y10]
ON
OFF
BUSY signal
[XC, XD, XE, XF]
Does not turn ON even
when control is stopped
by stop command.
OFF
Positioning complete signal
[X14, X15, X16, X17]
ON
ON
In speed control flag
( Md.31 Status:b0) OFF
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Chapter 9 Major Positioning Control
V V V
In speed control In speed control In speed control
t t t
Current feed value during speed control start is maintained Current feed value is updated 0
(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared
Restrictions
(1) Set "Positioning complete" in "[Da.1] Operation pattern". The error
"Continuous path control not possible" (error code: 516) will occur and the
operation cannot start if "continuous positioning control" or "continuous path
control" is set. ("Continuous positioning control" and "continuous path control"
cannot be set in speed control.)
(2) Set the WITH mode in "[Pr.18] M code ON signal output timing" when using an
M code. The M code will not be output, and the M code ON signal will not turn
ON if the AFTER mode is set.
(3) Set the "reference axis speed" in "[Pr.20] Interpolation speed designation
method". The error "Interpolation mode error" (error code: 523) will occur and
the operation cannot start if a composite speed is set.
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Chapter 9 Major Positioning Control
(4) When either of four axes exceeds the speed limit, that axis is controlled with
the speed limit value. The speeds of the other axes are limited at the ratios of
"[Da.8] Command speed".
(Examples)
Axis
Axis 1 Axis 2 Axis 3 Axis 4
setting setting setting setting
Setting item
Speed limit 4000.00mm/ 5000.00mm/ 6000.00mm/ 8000.00mm/
[Pr.8]
value min min min min
Command 8000.00mm/ 6000.00mm/ 4000.00mm/ 1500.00mm/
[Da.8]
speed min min min min
With the settings shown above, the operation speed in speed control is as
follows.
Axis 1: 4000.00 mm/min (Speed is limited by [Pr.8].)
Axis 2: 3000.00 mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4
command speeds.)
Axis 3: 2000.00 mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4
command speeds.)
Axis 4: 750.00 mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4
command speeds.)
(Note): Operation runs at speed 1 when a reference axis speed is less than 1
as a result of speed limit.
In addition, when "[Pr.7] Bias speed at start" is set, the set value will be
the minimum speed.
(5) An error "No command speed (error code: 503)" will occur if a current speed
(-1) is set in "[Da.8] Command speed".
(6) The software stroke limit check is not carried out when the control unit is set to
"degree".
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Chapter 9 Major Positioning Control
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 91
Chapter 9 Major Positioning Control
Use the detailed parameter 1 "[Pr.81] Speed-position function selection" with regard to
the choice for "speed-position switching control (INC mode)".
The switching is performed by using the following device when "2" is set.
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Speed- The speed-position control
position switching is performed when "2"
[Cd.46] 1567+100n 4367+100n
switching is set in "[Cd.45] Speed-position
command switching device selection".
9 - 92
Chapter 9 Major Positioning Control
9 - 93
Chapter 9 Major Positioning Control
Operation chart
The following chart (Fig.9.13) shows the operation timing for speed-position
switching control (INC mode). The "in speed control flag" ([Md.31] Status: b0) is
turned ON during speed control of speed-position switching control (INC mode).
ON
OFF
Positioning start signal
[Y10, Y11, Y12, Y13]
ON
ON
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Chapter 9 Major Positioning Control
[Operation example]
The following operation assumes that the speed-position switching signal is input at the position of the
current feed value of 90.00000 [degree] during execution of "[Da.2] Control system" "Forward run:
speed/
position" at "[Pr.1] Unit setting" of "2: degree" and "[Pr.21] Current feed value during speed control"
setting of "1: Update current feed value".
(The value set in "[Da.6] Positioning address/movement amount" is 270.00000 [degree])
Speed-position 0.00000
0.00000
switching signal ON
90.00000
90.00000
90.00000+270.00000
=360.00000
=Stop at 0.00000 [degree]
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Chapter 9 Major Positioning Control
BUSY signal
[XC, XD, XE, XF] t1
M code ON signal
[X4, X5, X6, X7](WITH mode)
t2
Cd.7 M code OFF request
Speed Position
control control
t4
Positioning operation
Fig. 9.14 Operation timing and processing time during speed-position switching control (INC mode)
9 - 96
Chapter 9 Major Positioning Control
The t1 timing time could be delayed by the operation state of other axes.
When using the near-point dog signal or "[Cd.46] Speed-position switching command", the
t6 timing time could be delayed or vary influenced by the PLC scan time or communication
with servo amplifier.
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Chapter 9 Major Positioning Control
V Speed control Position control V Speed control Position control V Speed control Position control
t t t
(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared
ON
Speed-position switching latch flag OFF
1ms
(Note): Set the external command signal [DI] in "[Pr.95] External command signal selection" at QD77MS16
use. Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information
on the setting details.
9 - 98
Chapter 9 Major Positioning Control
(2) The following table shows the items that must be set to use the near-point dog
signal (DOG) as speed-position switching signals.
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Speed-position Use the near-point dog signal
[Cd.45] switching device 1 for switching from speed 1566+100n 4366+100n
selection control to position control
(Note): The setting is not required for "[Pr.42] External command function selection" and "[Cd.8] External
command valid".
Refer to Section 5.7 "List of control data" for information on the setting details.
(3) The following table shows the items that must be set to use "[Cd.46] Speed-
position switching command" as speed-position switching signals.
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Use the "[Cd.46] Speed-
Speed-position
position switching command"
[Cd.45] switching device 2 1566+100n 4366+100n
selection for switching from speed
control to position control
(Note): The setting is not required for "[Pr.42] External command function selection" and "[Cd.8] External
command valid".
Refer to Section 5.7 "List of control data" for information on the setting details.
(1) The position control movement amount can be changed during the speed
control section of speed-position switching control (INC mode).
A movement amount change request will be ignored unless issued during the
speed control section of the speed-position switching control (INC mode).
(2) The "new movement amount" is stored in "[Cd.23] Speed-position switching
control movement amount change register" by the sequence program during
speed control.
When the speed-position switching signal is turned ON, the movement amount
for position control is stored in "[Cd.23] Speed-position switching control
movement amount change register".
(3) The movement amount is stored in the "[Md.29] Speed-position switching
control positioning amount" of the axis monitor area from the point where the
control changes to position control by the input of a speed-position switching
signal from an external device.
9 - 99
Chapter 9 Major Positioning Control
Movement amount
change possible
ON
Speed-position switching signal OFF
Setting after the speed-position
switching signal ON is ignored
POINT
The machine recognizes the presence of a movement amount change request when the data is
written to "[Cd.23] Speed-position switching control movement amount change register" with the
sequence program.
The new movement amount is validated after execution of the speed-position switching control (INC
mode), before the input of the speed-position switching signal.
The movement amount change can be enable/disable with the interlock function in position control
using the "speed-position switching latch flag" ([Md.31] Status: b1) of the axis monitor area.
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Chapter 9 Major Positioning Control
Restrictions
(1) The error "Continuous path control not possible" (error code: 516) will occur
and the operation cannot start if "continuous positioning control" or
"continuous path control" is set in "[Da.1] Operation pattern".
(2) "Speed-position switching control" cannot be set in "[Da.2] Control system" of
the positioning data when "continuous path control" has been set in "[Da.1]
Operation pattern" of the immediately prior positioning data. (For example, if
the operation pattern of positioning data No. 1 is "continuous path control",
"speed-position switching control" cannot be set in positioning data No. 2.) The
error "Continuous path control not possible" (error code: 516) will occur and
the machine will carry out a deceleration stop if this type of setting is carried
out.
(3) The error "No command speed" (error code: 503) will occur if "current speed (-
1)" is set in "[Da.8] Command speed".
(4) The software stroke limit range check during speed control is made only when
the following (a) and (b) are satisfied:
(a) "[Pr.21] Current feed value during speed control" is "1: Update current feed
value".
If the movement amount exceeds the software stroke limit range during
speed control in case of the setting of other than "1: Update current feed
value", the error "Software stroke limit +" (error code: 507) or "Software
stroke limit -" (error code: 508) will occur as soon as speed control is
changed to position control and the axis will decelerate to a stop.
(b) When "[Pr.1] Unit setting" is other than "2: degree"
If the unit is "degree", the software stroke limit range check is not performed.
(5) If the value set in "[Da.6] Positioning address/movement amount" is negative,
the error "Outside address range" (error code: 530) will occur.
(6) Deceleration processing is carried out from the point where the speed-position
switching signal is input if the position control movement amount set in "[Da.6]
Positioning address/movement amount" is smaller than the deceleration
distance from the "[Da.8] Command speed".
(7) Turn ON the speed-position switching signal in the speed stabilization region
(constant speed status). The warning "Speed-position switching (during
acceleration) signal ON" (warning code: 508) will occur because of large
deviation in the droop pulse amount if the signal is turned ON during
acceleration.
During use of the servo motor, the movement amount is "[Da.6] Positioning
address/movement amount" from the assumed motor position based on
"[Md.101] Real current value" at switching of speed control to position control.
Therefore, if the signal is turned ON during acceleration/deceleration, the stop
position will vary due to large variation of the droop pulse amount. Even
though "[Md.29] Speed-position switching control positioning amount" is the
same, the stop position will change due to a change in droop pulse amount
when "[Da.8] Command speed" is different.
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Chapter 9 Major Positioning Control
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 102
Chapter 9 Major Positioning Control
"Speed-position switching control (ABS mode)" is valid only when "[Pr.1] Unit setting"
is "2: degree".
: Setting allowed,
: Setting disallowed (If setting is made, the error "Speed-position function selection error"
(error code: 935) will occur when the PLC READY signal [Y0] turns ON.)
(Note): If the set value is other than 0 and 2, it is regarded as 0 and operation is performed in the
INC mode.
For details of the setting, refer to Section 5.2 "List of parameters".
9 - 103
Chapter 9 Major Positioning Control
The switching is performed by using the following device when "2" is set.
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Speed- The speed-position control
position switching is performed when "2"
[Cd.46] 1567+100n 4367+100n
switching is set in "[Cd.45] Speed-position
command switching device selection".
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Chapter 9 Major Positioning Control
Operation chart
The following chart (Fig.9.16) shows the operation timing for speed-position
switching control (ABS mode). The "in speed control flag" ([Md.31] Status: b0) is
turned ON during speed control of speed-position switching control (ABS mode).
ON
OFF
Positioning start signal
[Y10, Y11, Y12, Y13]
ON
OFF
BUSY signal
[XC, XD, XE, XF]
ON
OFF
Positioning complete signal
[X14, X15, X16, X17]
ON
OFF
Speed-position switching signal
(External command signal (DI))
ON
OFF
Cd. 24 Speed-position
switching enable flag
ON
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Chapter 9 Major Positioning Control
[Operation example]
The following operation assumes that the speed-position switching signal is input at the position of the
current feed value of 90.00000 [degree] during execution of "[Da.2] Control system" "Forward run:
speed/position" at "[Pr.1] Unit setting" of "2: degree" and "[Pr.21] Current feed value during speed
control" setting of "1: Update current feed value".
(The value set in "[Da.6] Positioning address/movement amount" is 270.00000 [degree])
Speed-position
0.00000 0.00000
switching signal ON
270.00000 90.00000
90.00000
Stop at 270.00000 [degree]
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Chapter 9 Major Positioning Control
BUSY signal
[XC, XD, XE, XF] t1
M code ON signal
[X4, X5, X6, X7](WITH mode) t2
Speed Position
control control
t4
Positioning operation
t6 t5
Fig. 9.17 Operation timing and processing time during speed-position switching control (ABS mode)
The t1 timing time could be delayed by the operation state of other axes.
When using the near-point dog signal and "[Cd.46] Speed-position switching command", the
t6 timing time could be delayed or vary influenced by the PLC scan time or communication
with servo amplifier.
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Chapter 9 Major Positioning Control
Only "1: Update current value" is valid for the setting of "[Pr.21] Current feed value
during speed control" in speed-position switching control (ABS mode).
The error "Speed-position function selection error" (error code: 935) will occur if
the "[Pr.21] Current feed value during speed control" setting is other than 1.
Updated
ON
ON
Speed-position switching latch flag OFF
1ms
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Chapter 9 Major Positioning Control
(Note): Set the external command signal [DI] in "[Pr.95] External command signal selection" at QD77MS16
use.
Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information on
the setting details.
(2) The following table shows the items that must be set to use the near-point dog
signal (DOG) as speed-position switching signals.
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Speed-position Use the near-point dog signal
[Cd.45] switching device 1 for switching from speed 1566+100n 4366+100n
selection control to position control.
(Note): The setting is not required for "[Pr.42] External command function selection" and "[Cd.8] External
command valid".
Refer to Section 5.7 "List of control data" for information on the setting details.
(3) The following table shows the items that must be set to use "[Cd.46] Speed-
position switching command" as speed-position switching signals.
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Use the "[Cd.46] Speed-
Speed-position
position switching command"
[Cd.45] switching device 2 1566+100n 4366+100n
for switching from speed
selection
control to position control.
(Note): The setting is not required for "[Pr.42] External command function selection" and "[Cd.8] External
command valid".
Refer to Section 5.7 "List of control data" for information on the setting details.
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Chapter 9 Major Positioning Control
Restrictions
(1) The error "Continuous path control not possible" (error code: 516) will occur
and the operation cannot start if "continuous positioning control" or
"continuous path control" is set in "[Da.1] Operation pattern".
(2) "Speed-position switching control" cannot be set in "[Da.2] Control system" of
the positioning data when "continuous path control" has been set in "[Da.1]
Operation pattern" of the immediately prior positioning data. (For example, if
the operation pattern of positioning data No. 1 is "continuous path control",
"speed-position switching control" cannot be set in positioning data No. 2.) The
error "Continuous path control not possible" (error code: 516) will occur and
the machine will carry out a deceleration stop if this type of setting is carried
out.
(3) The error "No command speed" (error code: 503) will occur if "current speed
(-1)" is set in "[Da.8] Command speed".
(4) If the value set in "[Da.6] Positioning address/movement amount" is negative,
the error "Outside address range" (error code: 530) will occur.
(5) Even though the axis control data "[Cd.23] Speed-position switching control
movement amount change register" was set in speed-position switching
control (ABS mode), it would not function. The set value is ignored.
(6) To exercise speed-position switching control (ABS mode), the following
conditions must be satisfied:
(a) "[Pr.1] Unit setting" is "2: degree"
(b) The software stroke limit function is invalid (upper limit value = lower limit
value)
(c) "[Pr.21] Current feed value during speed control" is "1: Update current feed
value"
(d) The "[Da.6] Positioning address/movement amount" setting range is 0 to
359.99999 (degree)
If the value is outside of the range 0 to 359.99999 (degree), the error
"Outside address range" (error code: 530) will occur at a start.
(e) The "[Pr.81] Speed-position function selection" setting is "2: Speed-position
switching control (ABS mode)".
(7) If any of the conditions in (6) (a) to (6) (c) is not satisfied in the case of (6) (e),
the error "Speed-position function selection error" (error code: 935) will occur
when the PLC READY signal [Y0] turns from OFF to ON.
(8) If the axis reaches the positioning address midway through deceleration after
automatic deceleration started at the input of the speed-position switching
signal, the axis will not stop immediately at the positioning address. The axis
will stop at the positioning address after N revolutions so that automatic
deceleration can always be made. (N: Natural number)
In the following example, since making deceleration in the path of dotted line
will cause the axis to exceed the positioning addresses twice, the axis will
decelerate to a stop at the third positioning address.
Speed-position switching signal
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Chapter 9 Major Positioning Control
QD77MS2 QD77MS4
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
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Chapter 9 Major Positioning Control
The switching is performed by using the following device when "2" is set.
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Speed- The speed-position control
position switching is performed when "2"
[Cd.46] 1567+100n 4367+100n
switching is set in "[Cd.45] Speed-position
command switching device selection".
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Chapter 9 Major Positioning Control
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Chapter 9 Major Positioning Control
Operation chart
The following chart shows the operation timing for position-speed switching control.
The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control
of position-speed switching control.
ON
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Chapter 9 Major Positioning Control
M code ON signal
[X4, X5, X6, X7](WITH mode)
t2
Cd. 7 M code OFF request
Md.26 Axis operation status Standby Position control Speed control Stopped
Position Speed
control control
t4
Positioning operation
Fig. 9.19 Operation timing and processing time during position-speed switching control
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Chapter 9 Major Positioning Control
The t1 timing time could be delayed by the operation state of other axes.
When using the near-point dog signal and "[Cd.46] Speed-position switching command", the
t6 timing time could be delayed or vary influenced by the PLC scan time or communication
with servo amplifier.
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Chapter 9 Major Positioning Control
V Position control Speed control V Position control Speed control V Position control Speed control
t t t
(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared
ON
ON
Position-speed switching latch flag OFF
1ms
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Chapter 9 Major Positioning Control
(Note): Set the external command signal [DI] in "[Pr.95] External command signal selection" at QD77MS16
use.
Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information on
the setting details.
(2) The following table shows the items that must be set to use the near-point dog
signal (DOG) as position-speed switching signals.
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Speed-position Use the near-point dog signal
[Cd.45] switching device 1 for switching from position 1566+100n 4366+100n
selection control to speed control.
(Note): The setting is not required for "[Pr.42] External command function selection" and "[Cd.8] External
command valid".
Refer to Section 5.7 "List of control data" for information on the setting details.
(3) The following table shows the items that must be set to use "[Cd.46] Speed-
position switching command" as position-speed switching signals.
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Use the "[Cd.46] Speed-
Speed-position
position switching command"
[Cd.45] switching device 2 1566+100n 4366+100n
selection for switching from position
control to speed control.
(Note): The setting is not required for "[Pr.42] External command function selection" and "[Cd.8] External
command valid".
Refer to Section 5.7 "List of control data" for information on the setting details.
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Chapter 9 Major Positioning Control
Position Speed
control control
Speed change
enable
ON
Position-speed switching OFF
signal Setting after the position-speed
switching signal ON is ignored.
Cd.25 Position-speed
switching control 0 V2 V3
speed change register
ON ON
Position-speed switching
OFF OFF
latch flag
( Md.31 Status: b5)
ON
POINTS
The machine recognizes the presence of a command speed change request when the data is
written to "[Cd.25] Position-speed switching control speed change register" with the sequence
program.
The new command speed is validated after execution of the position-speed switching control before
the input of the position-speed switching signal.
The command speed change can be enabled/disabled with the interlock function in speed control
using the "position-speed switching latch flag" ([Md.31] Status: b5) of the axis monitor area.
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Chapter 9 Major Positioning Control
Restrictions
(1) The error "Continuous path control not possible" (error code: 516) will occur
and the operation cannot start if "continuous positioning control" or
"continuous path control" is set in "[Da.1] Operation pattern".
(2) "Position-speed switching control" cannot be set in "[Da.2] Control system" of
the positioning data when "continuous path control" has been set in "[Da.1]
Operation pattern" of the immediately prior positioning data. (For example, if
the operation pattern of positioning data No. 1 is "continuous path control",
"position-speed switching control" cannot be set in positioning data No. 2.)
The error "Continuous path control not possible" (error code: 516) will occur
and the machine will carry out a deceleration stop if this type of setting is
carried out.
(3) The software stroke limit range is only checked during speed control if the "1:
Update current feed value" is set in "[Pr.21] Current feed value during speed
control".
The software stroke limit range is not checked when the control unit is set to
"degree".
(4) The error "Software stroke limit +" (error code: 507) or "Software stroke limit -"
(error code: 508) will occur and the operation cannot start if the start point
address or end point address for position control exceeds the software stroke
limit range.
(5) Deceleration stop will be carried out if the position-speed switching signal is
not input before the machine is moved by a specified movement amount.
When the position-speed switching signal is input during automatic
deceleration by positioning control, acceleration is carried out again to the
command speed to continue speed control.
When the position-speed switching signal is input during deceleration to a stop
with the stop signal, the control is switched to the speed control to stop the
machine.
Restart is carried out by speed control using the restart command.
(6) The warning "Speed limit value over" (warning code: 501) will occur and
control is continued by "[Pr.8] Speed limit value" if a new speed exceeds
"[Pr.8] Speed limit value" at the time of change of the command speed.
(7) If the value set in "[Da.6] Positioning address/movement amount" is negative,
the error "Outside address range" (error code: 530) will occur.
(8) Set WITH mode in "[Pr.18] M code ON signal output timing" at M code use.
The M code will not be output, and the M code ON signal will not turn ON if the
AFTER mode is set.
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Chapter 9 Major Positioning Control
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
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Chapter 9 Major Positioning Control
When the current value is changed to a new value, control is carried out in which the
"[Md.20] Current feed value" of the stopped axis is changed to a random address set
by the user. (The "[Md.21] Machine feed value" is not changed when the current value
is changed.)
The two methods for changing the current value are shown below.
[1] Changing to a new current value using the positioning data
[2] Changing to a new current value using the start No. (No. 9003) for a current
value changing
The current value changing using method [1] is used during continuous positioning of
multiple blocks, etc.
Operation chart
The following chart shows the operation timing for a current value changing. The
"[Md.20] Current feed value" is changed to the value set in "[Da.6] Positioning
address/movement amount" when the positioning start signal turns ON.
Restrictions
(1) The error "New current value not possible" (error code: 515) will occur and the
operation cannot start if "continuous path control" is set in "[Da.1] Operation
pattern". ("Continuous path control" cannot be set in current value changing.)
(2) "Current value changing" cannot be set in "[Da.2] Control system" of the
positioning data when "continuous path control" has been set in "[Da.1]
Operation pattern" of the immediately prior positioning data. (For example, if
the operation pattern of positioning data No. 1 is "continuous path control",
"current value changing" cannot be set in positioning data No. 2.) The error
"New current value not possible" (error code: 515) will occur and the machine
will carry out a deceleration stop if this type of setting is carried out.
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Chapter 9 Major Positioning Control
(3) The error "Outside new current value range" (error code: 514) will occur and
the operation cannot start if "degree" is set in "[Pr.1] Unit setting" and the
value set in "[Da.6] Positioning address/movement amount (0 to 359.99999
[degree])" is outside the setting range.
(4) If the value set in "[Da.6] Positioning address/movement amount" is outside
the software stroke limit ([Pr.12], [Pr.13]) setting range, the error "Software
stroke limit +" (error code: 507) or "Software stroke limit -" (error code: 508)
will occur at the positioning start, and the operation will not start.
(5) The error "Software stroke limit +" (error code: 507) or "Software stroke limit -"
(error code: 508) will occur if the new current value is outside the software
stroke limit range.
(6) The new current value using the positioning data (No.1 to 600) cannot be
changed, if "0: Positioning control is not executed" is set in "[Pr.55] Operation
setting for incompletion of OPR" and "OPR request flag" ON. The error "Start
at OPR incomplete" (error code: 547) will occur.
[Da.4] Deceleration time No. – Setting not required (Setting value is ignored.)
Axis to be interpolated
[Da.5] –
Axis 1 Positioning data No. 1
QD77MS2 QD77MS4
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
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Chapter 9 Major Positioning Control
[2] Changing to a new current value using the current value changing
start No. (No. 9003)
In "current value changing" ("[Cd.3] Positioning start No." = 9003), "[Md.20]
Current feed value" is changed to the address set in "[Cd.9] New current value".
Operation chart
The current value is changed by setting the new current value in the current value
changing buffer memory "[Cd.9] New current value", setting "9003" in the "[Cd.3]
Positioning start No.", and turning ON the positioning start signal.
ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
Restrictions
(1) The error "Outside new current value range" (error code: 514) will occur if the
designated value is outside the setting range when "degree" is set in "Unit
setting".
(2) The error "Software stroke limit +" (error code: 507) or "Software stroke limit -"
(error code: 508) will occur if the designated value is outside the software
stroke limit range.
(3) The current value cannot be changed during stop commands and while the M
code ON signal is ON.
(4) The M code output function is made invalid.
POINTS
The current value can be changed using the current value changing start No. (No. 9003) if "0:
Positioning control is not executed" is set in "[Pr.55] Operation setting for incompletion of OPR" and
OPR request flag is ON.
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Chapter 9 Major Positioning Control
(Note): Refer to Section 5.7 "List of control data" for details on the setting details.
Cd.3 Positioning start No. Data No. during positioning execution 9003
Fig. 9.21 Changing to a new current value using the current value changing start No. (No. 9003)
9 - 125
Chapter 9 Major Positioning Control
(3) Add the following sequence program to the control program, and write it to the
PLC CPU.
X4A
0 PLS M103 <Pulsate current value changing command>
X8
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Chapter 9 Major Positioning Control
Operation
The positioning data No. to which the NOP instruction is set transfers, without any
processing, to the operation for the next positioning data No.
Axis to be interpolated
[Da.5] QD77MS2 QD77MS4
–
Axis 1 Positioning data No. 1
Positioning address/
[Da.6] –
movement amount
[Da.7] Arc address –
[Da.8] Command speed –
Dwell time/JUMP
Setting not required (Setting value is ignored.)
[Da.9] destination –
positioning data No.
M code/Condition
data No./Number of
[Da.10] –
LOOP to LEND
repetitions
Axis to be interpolated
[Da.20] –
No.1 QD77MS16
Axis to be interpolated
[Da.21] –
No.2 QD77MS16
Axis to be interpolated
[Da.22] –
No.3 QD77MS16
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
Restrictions
The error "Control system setting error" (error code: 524) will occur if the "NOP
instruction" is set for the control system of the positioning data No. 600.
POINT
<Use example of NOP instruction>
If there is a possibility of speed switching or temporary stop (automatic deceleration) at a point
between two points during positioning, that data can be reserved with the NOP instruction to change
the data merely by the replacement of the identifier.
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Chapter 9 Major Positioning Control
The JUMP instruction is used to control the operation so it jumps to a positioning data
No. set in the positioning data during "continuous positioning control" or "continuous
path control".
Operation
(1) Unconditional JUMP
The JUMP instruction is unconditionally executed. The operation jumps to the
positioning data No. set in "[Da.9] Dwell time/JUMP destination positioning
data No.".
(2) Conditional JUMP
The block start condition data is used as the JUMP instruction execution
conditions.
When block positioning data No. 7000 to 7004 is started:
Each block condition data is used.
When positioning data No. 1 to 600 is started:
Start block 0 condition data is used.
When the execution conditions set in "[Da.10] M code/Condition data
No./Number of LOOP to LEND repetitions" of the JUMP instruction have
been established:
the JUMP instruction is executed to jump the operation to the positioning
data No. set in "[Da.9] Dwell time/JUMP destination positioning data No.".
When the execution conditions set in "[Da.10] M code/Condition data
No./Number of LOOP to LEND repetitions" of the JUMP instruction have not
been established:
the JUMP instruction is ignored, and the next positioning data No. is
executed.
Restrictions
(1) When using a conditional JUMP instruction, establish the JUMP instruction
execution conditions by the 4th positioning data No. before the JUMP
instruction positioning data No..
If the JUMP instruction execution conditions are not established by the time
the 4th positioning control is carried out before the JUMP instruction
positioning data No., the operation will be processed as an operation without
established JUMP instruction execution conditions.
(During execution of continuous path control/continuous positioning control,
the Simple Motion module calculates the positioning data of the positioning
data No. four items ahead of the current positioning data.)
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Chapter 9 Major Positioning Control
(2) Set JUMP instruction to positioning data No. that "continuous positioning
control" or "continuous path control" is set in operation pattern.
It cannot set to positioning data No. that "positioning complete" is set in
operation pattern.
(3) Positioning control such as loops cannot be executed by conditional JUMP
instructions alone until the conditions have been established.
When loop control is executed using JUMP instruction, an axis operation
status is "analyzing" during loop control, and the positioning data analysis
(start) for other axes are not executed. As the target of the JUMP instruction,
specify a positioning data that is controlled by other than JUMP and NOP
instructions.
Axis to be interpolated
[Da.5] QD77MS2 QD77MS4
– Setting not required. (Setting value is ignored.)
Positioning address/
[Da.6] –
Axis 1 Positioning data No. 1
movement amount
[Da.7] Arc address –
[Da.8] Command speed –
Set the positioning data No. 1 to 600 for the JUMP
Dwell time/JUMP
destination. (The positioning data No. of the JUMP instruction
[Da.9] destination 500
cannot be set. Setting its own positioning data No. will result
positioning data No.
in the error "Illegal data No." (error code: 502).)
Set the JUMP instruction execution conditions with the
M code/Condition condition data No.
data No./Number of 0 : Unconditional JUMP
[Da.10] 1
LOOP to LEND 1 to 10 : Condition data No.
repetitions ("Simultaneous start" condition data cannot be
set.)
Axis to be interpolated
[Da.20] –
No.1 QD77MS16
Axis to be interpolated
[Da.21] – Setting not required (setting value is ignored).
No.2 QD77MS16
Axis to be interpolated
[Da.22] –
No.3 QD77MS16
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
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Chapter 9 Major Positioning Control
9.2.22 LOOP
The LOOP is used for loop control by the repetition of LOOP to LEND.
Operation
The LOOP to LEND loop is repeated by set repeat cycles.
Axis to be interpolated
[Da.5] –
Axis 1 Positioning data No. 1
QD77MS2 QD77MS4
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
Restrictions
(1) The error "Control system LOOP setting error" (error code: 545) will occur if a
"0" is set for the repeat cycles.
(2) Even if LEND is absent after LOOP, no error will occur, but repeat processing
will not be carried out.
(3) Nesting is not allowed between LOOP-LEND's. If such setting is made, only the
inner LOOP-LEND is processed repeatedly.
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Chapter 9 Major Positioning Control
POINT
The setting by this control system is easier than that by the special start "FOR loop" of "High-level
Positioning Control" (refer to Chapter 10).
• For special start: Positioning start data, special start data, condition data, and positioning data
• For control system: Positioning data
For the special start FOR to NEXT, the positioning data is required for each of FOR and NEXT
points. For the control system, loop can be executed even only by one data.
Also, nesting is enabled by using the control system LOOP to LEND in combination with the special
start FOR to NEXT.
However LOOP to LEND cannot be set across block. Always set LOOP to LEND so that the
processing ends within one block.
(For details of the "block", refer to Section 10.1 "Outline of high-level positioning control".)
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Chapter 9 Major Positioning Control
9.2.23 LEND
The LEND is used to return the operation to the top of the repeat (LOOP to LEND)
loop.
Operation
When the repeat cycle designated by the LOOP becomes 0, the loop is terminated,
and the next positioning data No. processing is started. (The operation pattern, if
set to "Positioning complete", will be ignored.)
When the operation is stopped after the repeat operation is executed by
designated cycles, the dummy positioning data (for example, incremental
positioning without movement amount) is set next to LEND.
Positioning
data No. Operation pattern Control system Conditions Operation
Axis to be interpolated
[Da.5] –
Axis 1 Positioning data No. 1
QD77MS2 QD77MS4
Positioning address/
[Da.6] movement amount –
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Chapter 9 Major Positioning Control
Restrictions
(1) Ignore the "LEND" before the "LOOP" is executed.
(2) When the operation pattern "Positioning complete" has been set between
LOOP and LEND, the positioning control is completed after the positioning data
is executed, and the LOOP control is not executed.
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Chapter 9 Major Positioning Control
MEMO
9 - 134
Chapter 10 High-Level Positioning Control
The details and usage of high-level positioning control (control functions using the
"block start data") are explained in this chapter.
High-level positioning control is used to carry out applied control using the "positioning
data". Examples of applied control are using conditional judgment to control
"positioning data" set with the major positioning control, or simultaneously starting
"positioning data" for several different axes.
Read the execution procedures and settings for each control, and set as required.
10
10.1 Outline of high-level positioning control ................................................................. 10- 2
10.1.1 Data required for high-level positioning control........................................ 10- 3
10.1.2 "Block start data" and "condition data" configuration ............................... 10- 4
10.2 High-level positioning control execution procedure ............................................... 10- 6
10.3 Setting the block start data ..................................................................................... 10- 7
10.3.1 Relation between various controls and block start data .......................... 10- 7
10.3.2 Block start (normal start) ........................................................................... 10- 8
10.3.3 Condition start ........................................................................................... 10- 10
10.3.4 Wait start ................................................................................................... 10- 11
10.3.5 Simultaneous start .................................................................................... 10- 12
10.3.6 Repeated start (FOR loop) ....................................................................... 10- 13
10.3.7 Repeated start (FOR condition)................................................................ 10- 14
10.3.8 Restrictions when using the NEXT start................................................... 10- 15
10.4 Setting the condition data ....................................................................................... 10- 16
10.4.1 Relation between various controls and the condition data ...................... 10- 16
10.4.2 Condition data setting examples .............................................................. 10- 19
10.5 Multiple axes simultaneous start control ................................................................ 10- 21
10.6 Start program for high-level positioning control ..................................................... 10- 26
10.6.1 Starting high-level positioning control....................................................... 10- 26
10.6.2 Example of a start program for high-level positioning control ................. 10- 27
10 - 1
Chapter 10 High-Level Positioning Control
In "high-level positioning control" the execution order and execution conditions of the
"positioning data" are set to carry out more applied positioning. (The execution order
and execution conditions are set in the "block start data" and "condition data".)
The following applied positioning controls can be carried out with "high-level
positioning control".
High-level positioning
Details
control
Block (Note-1) start
With one start, executes the positioning data in a random block with the set order.
(Normal start)
Carries out condition judgment set in the "condition data" for the designated
positioning data, and then executes the "block start data".
Condition start • When the condition is established, the "block start data" is executed.
• When not established, that "block start data" is ignored, and the next point's "block
start data" is executed.
Carries out condition judgment set in the "condition data" for the designated
positioning data, and then executes the "block start data".
Wait start
• When the condition is established, the "block start data" is executed.
• When not established, stops the control until the condition is established. (Waits.)
Simultaneous start Simultaneously executes the positioning data having the No. for the axis designated
(Note-2)
with the "condition data". (Outputs command at the same timing.)
Repeated start (FOR Repeats the program from the "block start data" set with the "FOR loop" to the "block
loop) start data" set in "NEXT" for the designated number of times.
Repeats the program from the "block start data" set with the "FOR condition" to the
Repeated start (FOR
"block start data" set in "NEXT" until the conditions set in the "condition data" are
condition)
established.
REMARK
(Note-1): Block
"1 block" is defined as all the data continuing from the positioning data in
which "continuous positioning control" or "continuous path control" is set in
the "[Da.1] Operation pattern" to the positioning data in which "independent
positioning control (Positioning complete)" is set.
(Note-2): Simultaneous start
Besides the simultaneous start of "block start data" system, the
"simultaneous starts" include the "multiple axes simultaneous start control"
of control system.
Refer to Section 10.5 "Multiple axes simultaneous start control" for details.
10 - 2
Chapter 10 High-Level Positioning Control
"High-level positioning control" is executed by setting the required items in the "block
start data" and "condition data", then starting that "block start data". Judgment about
whether execution is possible, etc., is carried out at execution using the "condition
data" designated in the "block start data".
"Block start data" can be set for each No. from 7000 to 7004 (called "block Nos."), and
up to 50 points can be set for each axis. (This data is controlled with Nos. called
"points" to distinguish it from the positioning data. For example, the 1st block start data
item is called the "1st point block start data" or "point No. 1 block start data".)
"Condition data" can be set for each No. from 7000 to 7004 (called "block Nos."), and
up to 10 data items can be set for each axis.
The "block start data" and "condition data" are set as 1 set for each block No.
The following table shows an outline of the "block start data" and "condition data"
stored in the Simple Motion module.
Setting item Setting details
Set whether to end the control after executing only the "block
[Da.11] Shape start data" of the shape itself, or continue executing the "block
start data" set in the next point.
Block start data
[Da.12] Start data No. Set the "positioning data No." to be executed.
Set the method by which the positioning data set in [Da.12] will
[Da.13] Special start instruction
be started.
Set the conditions by which the start will be executed according
[Da.14] Parameter to the commands set in [Da.13]. (Designate the "condition data
No." and "Number of repetitions".)
[Da.18] Parameter 1 Set the required conditions according to the details set in
[Da.19] Parameter 2 [Da.15], [Da.16] and [Da.23] QD77MS16 .
Number of
Set the number of axes to be started simultaneously in the
[Da.23] simultaneously
simultaneously start.
starting axes
Simultaneously
[Da.24]
starting axis No.1 QD77MS16
10 - 3
Chapter 10 High-Level Positioning Control
The "block start data" and "condition data" corresponding to "block No. 7000" can be
stored in the buffer memory.
• QD77MS2/QD77MS4
50th point
Buffer memory
Setting item
address
2nd point
1st point Buffer memory
Setting item
Buffer memory address 26049+1000n
Setting item
address
b15 b8b7 b0
26001+1000n
Block start data
26000+1000n
b15 b8b7 b0
26051+1000n
26050+1000n
Da.14 Parameter
Da.13 Special start instruction
No.10
Buffer memory
Setting item
address
No.2
No.1 Buffer memory
Setting item
Buffer memory address 26190+1000n
Setting item
address
b15 b8b7 b0
26110+1000n 26192+1000n Low-order buffer memory
26193+1000n High-order buffer memory
Condition data
26100+1000n
26194+1000n
Da.16 Condition Da.15 Condition 26195+1000n
operator target 26112+1000n 26196+1000n
26102+1000n 26113+1000n 26197+1000n
Da.17 Address 26114+1000n
26103+1000n
26104+1000n 26115+1000n
Da.18 Parameter 1 26116+1000n
26105+1000n
26106+1000n 26117+1000n
Da.19 Parameter 2
26107+1000n
n: Axis No.-1
Block No. 7000 (Note): Set the block No. with sequence program or
GX Works2.
10 - 4
Chapter 10 High-Level Positioning Control
• QD77MS16
50th point
Buffer memory
Setting item
address
2nd point
1st point Buffer memory
Setting item
Buffer memory address 22049+400n
Setting item
address
b15 b8b7 b0
22001+400n
Block start data
22000+400n
b15 b8b7 b0
22051+400n
22050+400n
Da.14 Parameter
Da.13 Special start instruction
No.10
Buffer memory
Setting item
address
No.2
No.1 Buffer memory
Setting item
Buffer memory address 22190+400n
Setting item
address
b15 b12 b8 b4 b0
22110+400n
22100+400n
Da.16 Condition Da.15 Condition
operator target
b15 b12 b8 b4 b0 22191+400n
Condition data
Block No. 7000 (Note): Set the block No. with sequence program or
GX Works2.
Set the "block start data" and "condition data" corresponding to the following "block
Nos. 7001 to 7004" using sequence program or GX Works2 to Simple Motion module.
For QD77MS16, the "block start data" and "condition data" corresponding to "block No.
7002 to 7004" are not allocated. Set the data with GX Works2.
10 - 5
Chapter 10 High-Level Positioning Control
STEP 2 Set the "block start data" corresponding to each The "block start data" from 1 to 50 points can be set.
Refer to Section 10.3 control (Note-1).
( Da. 11 to Da. 14 ) × required data amount
STEP 4 Create a sequence program in which block No. is set in The Simple Motion module recognizes that the control
Refer to Section 10.6 the" Cd. 3 Positioning start No." (Note-1) is high-level positioning control using "block start data"
(Control data setting) by the "7000" designation.
Use GX Works2 to create a sequence program
Create a sequence program in which the "block start to execute the "high-level positioning control".
data point No. to be started" (1 to 50) is set in the
" Cd. 4 Positioning starting point No."
STEP 5 Write the sequence programs created in STEP4 Write the sequence program created in STEP 4 to the
to the PLC CPU. PLC CPU using GX Works2.
Refer to Chapter 6
STEP 6 Turn ON the "positioning start command" of Same procedure as for the "major positioning control"
Starting the control
Refer to Section 6.5.3 the axis to be started. start.
Stopping the control STEP 8 Same procedure as for the "major positioning control" stop.
Stop when control is completed
Refer to Section 6.5.6
Control termination
REMARK
(Note-1): Five sets of "block start data (50 points)" and "condition data (10 items)"
corresponding to "block No. 7000 to 7004" are set with GX Works2 or
sequence program.
"7000 to 7004" can be set in "[Cd.3] Positioning start No." on STEP4 when
the above is set.
10 - 6
Chapter 10 High-Level Positioning Control
The "block start data" must be set to carry out "high-level positioning control". The
setting requirements and details of each "block start data" item to be set differ
according to the "[Da.13] Special start instruction" setting.
The following shows the "block start data" setting items corresponding to various
control systems. The operation details of each control type are explained starting in
Section 10.3.2. Also refer to Section 10.4 "Setting the condition data" for details on
"condition data" with which control execution is judged.
(The "block start data" settings in this chapter are assumed to be carried out using
GX Works2.)
High-level positioning Repeated
control Block start Condition Simulta-
Repeated
start NEXT start
(Normal Wait start start
Block start data start neous start (FOR
setting items start) (FOR loop)
condition)
0 : End
[Da.11] Shape
1 : Continue
Special start
[Da.13] 0 1 2 3 4 5 6
instruction
Number of Condition
[Da.14] Parameter – Condition data No. –
repetitions data No.
The "NEXT start" instruction is used in combination with "repeated start (FOR loop)" and "repeated start (FOR
condition)". Control using only the "NEXT start" will not be carried out.
REMARK
It is recommended that the "block start data" be set whenever possible with
GX Works2. Execution by sequence program uses many sequence programs and
devices. The execution becomes complicated, and the scan times will increase.
10 - 7
Chapter 10 High-Level Positioning Control
In a "block start (normal start)", the positioning data groups of a block starting from the
positioning data set in "[Da.12]Start data No." are continuously executed with the set
order by starting once..
Section [2] shows a control example where the "block start data" and "positioning data"
are set as shown in section [1].
REMARK
(Note-1): Block
"1 block" is defined as all the data continuing from the positioning data in
which "continuous positioning control" or "continuous path control" is set in
the "[Da.1] Operation pattern" to the positioning data in which "independent
positioning control (Positioning complete)" is set.
10 - 8
Chapter 10 High-Level Positioning Control
<1> The positioning data is executed in the following order before stopping.
Axis 1 positioning data No. 1 2 3 4 5 6 10 15.
Operation pattern
Positioning data No. 1 1
3(01)
1(00) 4(00)
2(11)
Address(+) 10(00)
t
Address(-) 1 1
5(11)
6(00)
1
1 15(00)
ON
Positioning start signal OFF ON
[Y10, Y11, Y12, Y13]
Start complete signal OFF ON
[X10, X11, X12, X13]
BUSY signal [XC, XD, XE, XF] OFF ON
Positioning complete signal OFF
[X14, X15, X16, X17]
1 Dwell time of corresponding positioning data
10 - 9
Chapter 10 High-Level Positioning Control
Section [2] shows a control example where the "block start data" and "positioning data"
are set as shown in section [1].
10 - 10
Chapter 10 High-Level Positioning Control
Section [2] shows a control example where the "block start data" and "positioning data"
are set as shown in section [1].
10 - 11
Chapter 10 High-Level Positioning Control
[3] Precautions
Positioning data No. executed by simultaneously started axes is set to condition
data ("[Da.18] Parameter 1", "[Da.19] Parameter 2"), but the setting value of start
axis (the axis which carries out positioning start) should be "0". If the setting
value is set to other than "0", the positioning data set in "[Da.18] Parameter 1",
"[Da.19] Parameter 2" is given priority to be executed rather than "[Da.12] Start
data No.".
(For details, refer to Section 5.5 "List of condition data".)
10 - 12
Chapter 10 High-Level Positioning Control
In a "repeated start (FOR loop)", the data between the "block start data" in which "4:
FOR loop" is set in "[Da.13] Special start instruction" and the "block start data" in which
"6: NEXT start" is set in "[Da.13] Special start instruction " is repeatedly executed for
the number of times set in "[Da.14] Parameter". An endless loop will result if the
number of repetitions is set to "0".
(The number of repetitions is set in "[Da.14] Parameter" of the "block start data" in
which "4: FOR loop" is set in "[Da.13] Special start instruction".)
Section [2] shows a control example where the "block start data" and "positioning data"
are set as shown in section [1].
10 - 13
Chapter 10 High-Level Positioning Control
In a "repeated start (FOR condition)", the data between the "block start data" in which
"5: FOR condition" is set in "[Da.13] Special start instruction" and the "block start data"
in which "6: NEXT start" is set in "[Da.13] Special start instruction" is repeatedly
executed until the establishment of the conditions set in the "condition data".
Conditional judgment is carried out as soon as switching to the point of "6: NEXT start"
(before positioning of NEXT start point).
(The "condition data" designation is set in "[Da.14] Parameter" of the "block start data"
in which "5: FOR condition" is set in "[Da.13] Special start instruction".)
Section [2] shows a control example where the "block start data" and "positioning data"
are set as shown in section [1].
10 - 14
Chapter 10 High-Level Positioning Control
The "NEXT start" is an instruction indicating the end of the repetitions when executing
Section 10.3.6 "Repeated start (FOR loop)" and Section 10.3.7 "Repeated start (FOR
condition)".
The following shows the restrictions when setting "6: NEXT start" in the "block start
data".
(1) The processing when "6: NEXT start" is set before execution of "4: FOR loop" or
"5: FOR condition" is the same as that for a "0: block start".
(2) Repeated processing will not be carried out if there is no "6: NEXT start"
instruction after the "4: FOR loop" or "5: FOR condition" instruction. (Note that an
"error" will not occur.)
(3) Nesting is not possible between "4: FOR loop" and "6: NEXT start", or between
"5: FOR condition" and "6: NEXT start". The warning "FOR to NEXT nest
construction" (warning code: 506) will occur if nesting is attempted.
[Operating examples without nesting structure] [Operating examples with nesting structure]
[Da.13] [Da.13]
Start block data Start block data
Special start instruction Special start instruction
1st point Normal start 1st point Normal start
2nd point FOR 2nd point FOR
3rd point Normal start 3rd point Normal start
4th point NEXT 4th point FOR
5th point Normal start 5th point Normal start
6th point Normal start 6th point Normal start
7th point FOR 7th point NEXT
8th point Normal start 8th point Normal start
9th point NEXT 9th point NEXT
10 - 15
Chapter 10 High-Level Positioning Control
(1) When setting conditions during execution of Section 9.2.21 "JUMP instruction"
(major positioning control)
(2) WHEN SETTING conditions during execution of "high-level positioning control"
The "condition data" to be set includes the setting items from [Da.15] to [Da.19] and
[Da.23] to [Da.26], but the setting requirements and details differ according to the
control system and setting conditions.
The following shows the "condition data" "[Da.15] Condition target" corresponding to
the different types of control.
(The "condition data" settings in this chapter are assumed to be carried out using
GX Works2.)
Control type Major positioning
High-level positioning control
control
[Da.15] Block Wait Simultaneous Repeated start
JUMP instruction
Setting item start start start (For condition)
(Note-1)
01: Device X
(Note-1)
02: Device Y
03: Buffer memory
(1 word)
04: Buffer memory
(2 words)
05: Positioning data
No.
: One of the setting items must be set.
: Setting not possible
(Note-1): Refer to devices X/Y which belongs to Simple Motion module.
REMARK
It is recommended that the "condition data" be set whenever possible with
GX Works2. Execution by sequence program uses many sequence programs and
devices. The execution becomes complicated, and the scan times will increase.
10 - 16
Chapter 10 High-Level Positioning Control
The setting requirements and details of the following "condition data" [Da.16] to [Da.19]
and [Da.23] setting items differ according to the "[Da.15] Condition target" setting.
The following shows the [Da.16] to [Da.19] and [Da.23] setting items corresponding to
the "[Da.15] Condition target".
• QD77MS2/QD77MS4
Other setting
item [Da.16] [Da.17] [Da.18] [Da.19]
[Da.15] Condition operator Address Parameter 1 Parameter 2
Condition target
01H: Device X 07H: DEV=ON 0 to 1FH (bit No.)
– –
02H: Device Y 08H: DEV=OFF 0 to 1FH (bit No.)
03H: Buffer memory 01H: =P1
(Note-1)
(1 word) 02H: P1
P1 Buffer P2 (numeric value)
03H:
memory P1 (numeric value) (Set only when "[Da.16]" is
04H: Buffer memory 04H: P1 address
(Note-1) [05H] or [06H].)
(2 words) 05H: P1 P 2
06H: P1, P2
10H: Axis 1 selected
20H: Axis 2 selected
30H: Axis 1 and 2 selected
40H: Axis 3 selected
50H: Axis 1 and 3 selected
60H: Axis 2 and 3 selected
70H: Axis 1, 2, and 3 Low-order 16 bits: Low-order 16 bits:
selected Axis 1 positioning data No. Axis 3 positioning data No.
(Note-2) (Note-2)
05H: Positioning data 80H: Axis 4 selected
—
No. 90H: Axis 1 and 4 selected High-order 16 bits: High-order 16 bits:
A0H: Axis 2 and 4 selected Axis 2 positioning data No. Axis 4 positioning data No.
(Note-2) (Note-2)
B0H: Axis 1, 2, and 4
selected
C0H: Axis 3 and 4 selected
D0H: Axis 1, 3, and 4
selected
E0H: Axis 2, 3, and 4
selected
– : Setting not required (The setting value is invalid. Set the initial value or a value within the setting range.)
: Value stored in buffer memory designated in [Da.17]
(Note-1): Comparison of and is judged as signed values.
Refer to Section 5.5 "List of condition data" for the setting contents.
(Note-2): The setting value of start axis (the axis which executes positioning start) should be "0". If the setting value is
set to other than "0", the positioning data set in "[Da.18] Parameter 1", "[Da.19] Parameter 2" is given priority
to be executed rather than "[Da.12] Start data No.".
10 - 17
Chapter 10 High-Level Positioning Control
• QD77MS16
Other setting [Da.23]
item [Da.16] Number of [Da.17] [Da.18] [Da.19]
[Da.15] Condition operator simultaneously Address Parameter 1 Parameter 2
Condition target starting axes
01H: Device X 07H : DEV=ON 0 to 1FH (bit No.)
— —
02H: Device Y 08H : DEV=OFF 0 to 1FH (bit No.)
03H: Buffer memory 01H : =P1
(Note-1)
(1 word) 02H : P1
03H : P1 — Buffer P2 (numeric value)
04H : P1 memory P1 (numeric value) (Set only when "[Da.16]"
04H: Buffer memory address is [05H] or [06H].)
(Note-1) 05H : P1 P 2
(2 words)
06H : P 1 ,
P2
2 Low-order 16 bits:
"[Da.24] —
3 Simultaneously
starting axis No.1" Low-order 16 bits:
05H: Positioning data positioning data No. "[Da.26]
— Simultaneously
No. High-order 16 bits:
4 "[Da.25] starting axis No.3"
Simultaneously positioning data No.
starting axis No.2" High-order 16 bits:
positioning data No. Unusable (Set "0".)
– : Setting not required (The setting value is invalid. Set the initial value or a value within the setting range.)
: Value stored in buffer memory designated in [Da.17]
(Note-1): Comparison of and is judged as signed values.
Refer to Section 5.5 "List of condition data" for the setting contents.
Judgment whether the condition operator is "=" or "=” at the start of wait.
Judgment on data is carried out for each operation cycle of the Simple Motion module.
Thus, in the judgment on the data such as current feed value which varies
continuously, the operator "=" may not be detected. If this occurs, use a range operator.
REMARK
The "PLC CPU memo area" can be designated as the buffer memory address to be
designated in [Da.17]. (Refer to Section 7.1.1 "Configuration and roles of QD77MS
memory".)
Simple Motion module
buffer memory
Address 30000
30001
30099
10 - 18
Chapter 10 High-Level Positioning Control
(1) QD77MS2/QD77MS4
(a) Setting the device ON/OFF as a condition
[Condition]
Device "XC" (Axis 1 BUSY signal) is OFF.
[Da.16]
[Da.15] [Da.17] [Da.18] [Da.19]
Condition
Condition target Address Parameter 1 Parameter 2
operator
01H: Device X 08H: DEV=OFF — 0CH —
(b) Setting the numeric value stored in the "buffer memory" as a condition
[Condition]
The value stored in buffer memory addresses "800, 801" ("[Md.20] Current
feed value") is "1000" or larger.
[Da.16]
[Da.15] [Da.17] [Da.18] [Da.19]
Condition
Condition target Address Parameter 1 Parameter 2
operator
04H: Buffer memory
04H: P1 800 1000 —
(2 words)
(c) Designating the axis and positioning data No. to be simultaneously started in
"simultaneous start"
[Condition]
Simultaneously starting "axis 2 positioning data No.3"
[Da.16]
[Da.15] [Da.17] [Da.18] [Da.19]
Condition
Condition target Address Parameter 1 Parameter 2
operator
High-order 16
05H: Positioning 20H: Axis 2 bits "0003H" (Note-1)
— —
data No. selected (Note-1)
(Note-1): The setting value of start axis (the axis which executes positioning start) should
be "0000H".
10 - 19
Chapter 10 High-Level Positioning Control
(2) QD77MS16
(a) Setting the device ON/OFF as a condition
[Condition]
Device "X10" (Axis 1 BUSY signal) is OFF.
[Da.23] [Da.24] [Da.25] [Da.26]
[Da.15] [Da.16]
[Da.17] [Da.18] [Da.19] Number of Simultaneously Simultaneously Simultaneously
Condition Condition
Address Parameter 1 Parameter 2 simultaneously starting axis starting axis starting axis
target operator
starting axes No.1 No.2 No.3
01H: 08H:
— 10H — — — — —
Device X DEV=OFF
(b) Setting the numeric value stored in the "buffer memory" as a condition
[Condition]
The value stored in buffer memory addresses "2400, 2401" ([Md.20] Current
feed value) is "1000" or larger.
[Da.23] [Da.24] [Da.25] [Da.26]
[Da.15] [Da.16]
[Da.17] [Da.18] [Da.19] Number of Simultaneously Simultaneously Simultaneously
Condition Condition
Address Parameter 1 Parameter 2 simultaneously starting axis starting axis starting axis
target operator
starting axes No.1 No.2 No.3
04H: Buffer
04H:
memory (2 2400 1000 — — — — —
P1
words)
(c) Designating the axis and positioning data No. to be simultaneously started in
"simultaneous start"
[Condition]
Simultaneously starting "axis 2 positioning data No.3"
[Da.23] [Da.24] [Da.25] [Da.26]
[Da.15] [Da.16]
[Da.17] [Da.18] [Da.19] Number of Simultaneously Simultaneously Simultaneously
Condition Condition
Address Parameter 1 Parameter 2 simultaneously starting axis starting axis starting axis
target operator
starting axes No.1 No.2 No.3
05H: Low-order
Positioning — — 16 bits — 2H: 2 axes 1H: Axis 2 0H 0H
data No. "0003H"
10 - 20
Chapter 10 High-Level Positioning Control
The "multiple axes simultaneous start" starts outputting the command to the specified
simultaneous starting axis at the same timing as the started axis.
The maximum of four axes can be started simultaneously.
[2] Restrictions
(1) The error "Error before simultaneous start" (error code: 501) will occur and
all simultaneously started axes will not start if the simultaneously started axis
start data No. is not set to the axis control data on the start axis or set outside
the setting range.
(2) The error "Error before simultaneous start" (error code: 501) will occur and
all simultaneously started axes will not start if either of the simultaneously
started axes is BUSY.
(3) The error "Error before simultaneous start" (error code: 501) will occur and
all simultaneously started axes will not start if an error occurs during the
analysis of the positioning data on the simultaneously started axes.
(4) No error or warning will occur if only the start axis is the simultaneously
started axis.
(5) This function cannot be used with the sub function Section 13.7.7 "Pre-
reading start function".
10 - 21
Chapter 10 High-Level Positioning Control
10 - 22
Chapter 10 High-Level Positioning Control
n: Axis No.-1
(Note-1): Refer to Section 5.7 "List of control data" for information on setting details.
(Note-2): The signal of axis 3 and 4 cannot be used in the QD77MS2.
10 - 23
Chapter 10 High-Level Positioning Control
(2) The following shows the setting examples in which the QD77MS16 [axis 10]
is used as the start axis and the simultaneously started axes are used as
the axes 12 and 14.
10 - 24
Chapter 10 High-Level Positioning Control
POINTS
(1) The "multiple axes simultaneous start control" carries out an operation equivalent to the
"simultaneous start" using the "block start data".
(2) The setting of the "multiple axes simultaneous start control" is easier than that of the
"simultaneous start" using the "block start data".
• Setting items for "simultaneous start" using "block start data"
Positioning start data, block start data, condition data, and positioning data
• Setting items for "multiple axes simultaneous start control"
Positioning data and axis control data
10 - 25
Chapter 10 High-Level Positioning Control
The following shows the procedure for starting the "1st point block start data"
(regarded as block No. 7000) set in axis 1.
[QD77MS4 use]
QD77MS
Buffer memory Servo amplifier
4)
Control by designated
1) positioning data
7000
2) 1500
1
PLC CPU 1501
3)
ON
Input/output signal
10 - 26
Chapter 10 High-Level Positioning Control
The following shows an example of a start program for high-level positioning control in
which the 1st point "block start data" of axis 1 is started. (The block No. is regarded as
"7000".)
n: Axis No.-1
(Note): Refer to Section 5.7 "List of control data" for details on the setting details.
Start conditions
The following conditions must be fulfilled when starting the control. The required
conditions must also be integrated into the sequence program, and configured so
the control does not start unless the conditions are fulfilled.
Device
Signal name Signal state QD77MS2
QD77MS16
QD77MS4
PLC READY signal ON PLC CPU preparation completed Y0
READY signal ON QD77MS preparation completed X0
All axis servo ON ON All axis servo ON Y1
QD77MS buffer memory
Synchronization flag ON X1
The access is possible.
Interface
signal Axis stop signal OFF Axis stop signal is OFF Y4 to Y7 [Cd.180] Axis stop
Start complete signal OFF Start complete signal is OFF X10 to X13 [Md.31] Status: b14
BUSY signal OFF BUSY signal is OFF XC to XF X10 to X1F
Error detection signal OFF There is no error X8 to XB [Md.31] Status: b13
M code ON signal OFF M code ON signal is OFF X4 to X7 [Md.31] Status: b12
Forced stop input signal ON There is no forced stop input –
External Stop signal OFF Stop signal is OFF –
signal Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –
10 - 27
Chapter 10 High-Level Positioning Control
(Note): Refer to Section 3.3 for input/output signal or Chapter 5 for buffer memory address of QD77MS16.
Fig. 10.3 Start time chart for high-level positioning control (block start)
10 - 28
Chapter 10 High-Level Positioning Control
Positioning
start
command
M104 Y10 XC
TO H0 K1500 K7000 K1 <Write the positioning data No. 7000
for block positioning.>
10 - 29
Chapter 10 High-Level Positioning Control
MEMO
10 - 30
Chapter 11 Manual Control
The details and usage of manual control are explained in this chapter.
In manual control, commands are issued during a JOG operation and an inching operation
executed by the turning ON of the JOG START signal, or from a manual pulse generator
connected to the Simple Motion module.
Manual control using a sequence program from the PLC CPU is explained in this chapter.
Refer to the "Simple Motion Module Setting Tool Help" of GX Works2 for an explanation of
manual control (JOG operation, inching operation and manual pulse generator operation)
using the GX Works2.
11 - 1
Chapter 11 Manual Control
"Manual control" refers to control in which positioning data is not used, and a
positioning operation is carried out in response to signal input from an external device.
The three types of this "manual control" are explained below.
ON
JOG START signal OFF
ON
JOG start signal OFF
11 - 2
Chapter 11 Manual Control
Movement in response
Command to the command pulses
output
Simple
Motion M
module
Pulse input
11 - 3
Chapter 11 Manual Control
JOG operation
In JOG operation, the forward run JOG start signal or reverse run JOG start signal
turns ON, causing pulses to be output to the servo amplifier from the Simple
Motion module while the signal is ON. The workpiece is then moved in the
designated direction.
1) 2) 3) 4)
Reverse JOG run
ON
PLC READY signal [Y0] OFF
ON
All axis servo ON [Y1] OFF
ON
READY signal [X0] OFF
ON
Forward run JOG start signal OFF
[Y8, YA, YC, YE]
ON
Reverse run JOG start signal OFF
[Y9, YB, YD, YF] ON
BUSY signal[XC, XD, XE, XF] OFF
11 - 4
Chapter 11 Manual Control
Important
Use the hardware stroke limit function when carrying out JOG operation near the
upper or lower limits. (Refer to Section "13.4.4".)
If the hardware stroke limit function is not used, the workpiece may exceed the
moving range, causing an accident.
(1) For safety, set a small value to "[Cd.17] JOG speed" at first and check the
movement. Then gradually increase the value.
(2) The error "Outside JOG speed range" (error code: 300) will occur and the
operation will not start if the "JOG speed" is outside the setting range at the
JOG start.
(3) The error "JOG speed limit value error" (error code: 956) will occur and the
operation will not start if "[Pr.31] JOG speed limit value" is set to a value larger
than "[Pr.8] Speed limit value".
(4) If "[Cd.17] JOG speed" exceeds the speed set in "[Pr.31] JOG speed limit
value", the workpiece will move at the "[Pr.31] JOG speed limit value" and the
warning "JOG speed limit value" (warning code: 301) will occur in the Simple
Motion module.
(5) The JOG operation can be continued even if an "Axis warning" has occurred.
(6) Set a "0" in "[Cd.16] Inching movement amount". If a value other than "0" is set,
the operation will become an inching operation (Refer to Section 11.3 "Inching
operation").
V
JOG operation
ON
Upper/lower
limit signal OFF
11 - 5
Chapter 11 Manual Control
t3
Positioning operation
Delays may occur in the t1 timing time due to the operation status of other axes.
11 - 6
Chapter 11 Manual Control
STEP 2
Create a sequence program for the following
Refer to Section setting.
11.2.4. Set a "0" in " Cd.16 Inching movement amount".
Set the " Cd.17 JOG speed". (Control data
setting)
STEP 6 Stop the JOG operation when the JOG start signal is turned
JOG operation Turn OFF the JOG start signal that is ON. OFF using the sequence program in STEP 2.
stop
End of control
REMARK
Mechanical elements such as limit switches are considered as already installed.
Parameter settings work in common for all control using the Simple Motion module.
11 - 7
Chapter 11 Manual Control
11 - 8
Chapter 11 Manual Control
REMARK
Parameter settings work in common for all controls using the Simple Motion
module. When carrying out other controls ("major positioning control", "high-level
positioning control", "OPR positioning control"), set the respective setting items as
well.
Parameters are set for each axis.
Refer to Chapter 5 "Data Used for Positioning Control" for the setting details.
11 - 9
Chapter 11 Manual Control
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
Start conditions
The following conditions must be fulfilled when starting. The required conditions
must also be assembled in the sequence program, and the sequence program
must be configured so the operation will not start if the conditions are not fulfilled.
Device
Signal name Signal state QD77MS2
QD77MS16
QD77MS4
PLC READY signal ON PLC CPU preparation completed Y0
READY signal ON QD77MS preparation completed X0
All axis servo ON ON All axis servo ON Y1
QD77MS buffer memory
Synchronization flag ON X1
The access is possible.
Interface
signal Axis stop signal OFF Axis stop signal is OFF Y4 to Y7 [Cd.180] Axis stop
Start complete signal OFF Start complete signal is OFF X10 to X13 [Md.31] Status: b14
BUSY signal OFF QD77MS is not operating XC to XF X10 to X1F
Error detection signal OFF There is no error X8 to XB [Md.31] Status: b13
M code ON signal OFF M code ON signal is OFF X4 to X7 [Md.31] Status: b12
Forced stop input signal ON There is no forced stop input –
External Stop signal OFF Stop signal is OFF –
signal Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –
: If the PLC CPU is set to the asynchronous mode in the synchronization setting, this must be
inserted in the program for interlocking. If it is set to the synchronous mode, it must not be
inserted in the program for interlocking because it is turned ON when the PLC CPU executes
calculation.
11 - 10
Chapter 11 Manual Control
Forward
JOG run
t
Reverse JOG run
ON
Forward run JOG start signal [Y8] OFF
ON
Reverse run JOG start signal [Y9] OFF
ON
PLC READY signal [Y0] OFF ON
All axis servo ON [Y1] OFF
ON
READY signal [X0] OFF
ON
BUSY signal [XC] OFF
X2D
224 DMOVP K10000 D6 <Set JOG operation speed (100.00mm/min)>
X2E X0 X0C
280 SET M7 <JOG/inching operation flag ON>
X2F
X2E X2F
287 RST M7 <JOG/inching operation termination>
X2E M7 Y9
291 ( Y8 ) <Execute forward JOG/inching operation>
X2F M7 Y8
296 ( Y9 ) <Execute reverse JOG operation>
11 - 11
Chapter 11 Manual Control
ON
PLC READY signal [Y0] OFF
ON
All axis servo ON [Y1] OFF
ON
READY signal [X0] OFF
ON
Forward run JOG start signal OFF
[Y8, YA, YC, YE]
ON
Axis stop signal OFF
[Y4, Y5, Y6, Y7]
ON
BUSY signal[XC, XD, XE, XF] OFF
Fig. 11.7 Operation when the stop signal is turned ON during JOG operation
11 - 12
Chapter 11 Manual Control
When both the "forward run JOG start signal" and "reverse run JOG start
signal" are turned ON simultaneously for one axis
When both the "forward run JOG start signal" and "reverse run JOG start signal"
are turned ON simultaneously for one axis, the "forward run JOG start signal" is
given priority. In this case, the "reverse run JOG start signal" is validated when the
BUSY signal of Simple Motion module is turned OFF.
If the forward run JOG operation is stopped due to stop by a stop signal or axis
error, the reverse run JOG operation will not be executed even if the "reverse run
JOG start signal" turns ON.
ON
Forward run JOG start signal OFF
[Y8, YA, YC, YE]
ON
OFF
Reverse run JOG start signal
[Y9, YB, YD, YF]
ON
BUSY signal[XC, XD, XE, XF]
OFF
Fig. 11.8 Operation when both the forward run JOG start signal and reverse run JOG start signal are
turned ON simultaneously
11 - 13
Chapter 11 Manual Control
When the "JOG start signal" is turned ON again during deceleration caused
by the ON OFF of the "JOG start signal"
When the "JOG start signal" is turned ON again during deceleration caused by the
ON OFF of the "JOG start signal", the JOG operation will be carried out from
the time the "JOG start signal" is turned ON.
ON
Forward run JOG start
OFF
signal [Y8, YA, YC, YE]
ON
BUSY signal
[XC, XD, XE, XF] OFF
Fig. 11.9 Operation when the JOG start signal is turned ON during deceleration
When the "JOG start signal" is turned ON while the test function of
GX Works2 is used
When the "JOG start signal" is turned ON while the test function of GX Works2 is
used, it will be ignored and the JOG operation will not be carried out.
ON
In test mode flag OFF
ON
Fig. 11.10 Operation when the JOG start signal is turned ON while the test function is used
11 - 14
Chapter 11 Manual Control
Inching operation
In inching operation, pulses are output to the servo amplifier at operation cycle to
move the workpiece by a designated movement amount after the forward run JOG
start signal or reverse JOG start signal is turned ON.
1) 3) 4)
OFF
ON
All axis servo ON
[Y1] OFF
ON
READY signal [X0]
OFF
ON
Forward run JOG start signal
[Y8, YA, YC, YE] OFF
ON
BUSY signal
[XC, XD, XE, XF] OFF
ON
Positioning complete
signal OFF
Pr.40 Positioning complete signal
[X14, X15, X16, X17]
output time
11 - 15
Chapter 11 Manual Control
Important
When the inching operation is carried out near the upper or lower limit, use the
hardware stroke limit function (Refer to Section 13.4.4).
If the hardware stroke limit function is not used, the workpiece may exceed the
movement range, and an accident may result.
Operation cycle
0.88 1.77
When the unit setting is PLS 1125 562.5
When the unit setting is degree and the "[Pr.83] Speed control
67.5 33.75
10 x multiplier setting for degree axis" is valid
When the unit setting is other than the above 675 337.5
(2) Set a value other than a "0" in "[Cd.16] Inching movement amount".
If a "0" is set, the operation will become JOG operation (Refer to Section 11.2
"JOG operation").
ON
Upper/lower
limit signal OFF
11 - 16
Chapter 11 Manual Control
BUSY signal
OFF
[XC, XD, XE, XF]
t1 t3
Md.26 Axis operation Standby (0) JOG operation (3) *1 Standby (0)
status
Positioning operation
Positioning complete ON
signal
OFF
[X14, X15, X16, X17]
t4
*1: "JOG operation" is set in "[Md.26] Axis operation status" even during inching operation.
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
Depending on the operating statuses of the other axes, delay may occur in the
t1 timing time.
11 - 17
Chapter 11 Manual Control
End of control
REMARK
Mechanical elements such as limit switches are considered as already installed.
Parameter settings work in common for all control using the Simple Motion module.
11 - 18
Chapter 11 Manual Control
REMARK
Positioning parameter settings work in common for all controls using the Simple
Motion module. When carrying out other controls ("major positioning control",
"high-level positioning control", and "OPR control"), set the respective setting items
as well.
Parameters are set for each axis.
Refer to Chapter 5 "Data Used for Positioning Control" for the setting details.
11 - 19
Chapter 11 Manual Control
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for information on setting details.
Start conditions
The following conditions must be fulfilled when starting. The required conditions
must also be assembled in the sequence program, and the sequence program
must be configured so the operation will not start if the conditions are not fulfilled.
Device
Signal name Signal state QD77MS2
QD77MS16
QD77MS4
PLC READY signal ON PLC CPU preparation completed Y0
READY signal ON QD77MS preparation completed X0
All axis servo ON ON All axis servo ON Y1
Accessible to QD77MS buffer
Synchronization flag ON X1
memory
Interface Axis stop signal OFF Axis stop signal is OFF Y4 to Y7 [Cd.180] Axis stop
signal Start complete signal OFF Start complete signal is OFF X10 to X13 [Md.31] Status: b14
BUSY signal OFF QD77MS is not operating XC to XF X10 to X1F
Positioning complete Positioning complete signal is
OFF X14 to X17 [Md.31] Status: b15
signal OFF
Error detection signal OFF There is no error X8 to XB [Md.31] Status: b13
M code ON signal OFF M code ON signal is OFF X4 to X7 [Md.31] Status: b12
Forced stop input signal ON There is no forced stop input –
External Stop signal OFF Stop signal is OFF –
signal Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –
: If the PLC CPU is set to the asynchronous mode in the synchronization setting, this must be
inserted in the program for interlocking. If it is set to the synchronous mode, it must not be
inserted in the program for interlocking because it is turned ON when the PLC CPU executes
calculation.
11 - 20
Chapter 11 Manual Control
ON
Forward run JOG start signal [Y8] OFF
ON
X44
482 MOVP K100 D5 <Set inching movement amount (10.0µm)>
U0\
MOVP D5 G1517 <Write inching movement amount>
X2E X0 X0C
507 SET M7 <JOG/inching operation flag ON>
X2F
X2E X2F
514 RST M7 <JOG/inching operation termination>
X2E M7 Y9
518 ( Y8 ) <Execute forward JOG/inching operation>
X2F M7 Y8
523 ( Y9 ) <Execute reverse JOG operation>
11 - 21
Chapter 11 Manual Control
ON
PLC READY signal
[Y0] OFF
ON
All axis servo ON OFF
[Y1]
ON
READY signal OFF
[X0]
ON
Forward run JOG
start signal OFF
[Y8, YA, YC, YE]
ON
Axis stop signal OFF
[Y4, Y5, Y6, Y7]
ON
BUSY signal OFF
[XC, XD, XE, XF]
Fig. 11.14 Operation when executing inching operation while stop signal is turned ON
11 - 22
Chapter 11 Manual Control
When the "JOG start signal" is turned ON while the test function of
GX Works2 is used
When the "JOG star signal" is turned ON while the test function is used, it will be
ignored and the inching operation will not be carried out.
ON
In test mode flag OFF
Fig. 11.15 Operation when the JOG start signal is turned ON while the test function is used
11 - 23
Chapter 11 Manual Control
When "[Cd.21] Manual pulse generator enable flag" is set to "0", the BUSY signal turns
4)
OFF and the manual pulse generator operation is disabled.
Manual pulse
generator
operation stops 1
t
1) 2) 3) 4)
ON
BUSY signal [XC, XD, YE, XF] OFF
Manual pulse
generator input
Important
Create the sequence program so that "[Cd.21] Manual pulse generator enable flag"
is always set to "0" (disabled) when a manual pulse generator operation is not
carried out.
Mistakenly touching the manual pulse generator when the "manual pulse generator
enable flag" is set to "1" (enable) can cause accidents or incorrect positioning.
11 - 24
Chapter 11 Manual Control
Restricted items
A manual pulse generator is required to carry out manual pulse generator
operation.
Important
The speed command is issued according to the input from the manual pulse
generator irrelevant of the speed limit setting.
When the speed command is larger than 62914560 [PLS/s], the servo alarm
"Command frequency error" (alarm No: 35) will occur.
The following calculation formula is used to judge whether or not an error will occur.
Number of Manual pulse Manual pulse
input pulses generator 1 generator 1 Number of pulses per rotation
(Speed command) = Movement amount per rotation
for one pulse input pulse movement
second magnification amount
If a large value is set to the manual pulse generator 1 pulse input magnification,
there is a high possibility of the servo alarm "Command frequency error" (alarm No:
35) occurrence. Note that the servomotor does not work rapidly by sudden pulse
input even if the servo alarm does not occur.
REMARK
One Simple Motion module can be connected to one manual pulse generator.
The Simple Motion module can simultaneously command to servo amplifier
(QD77MS2: Axis 1 to 2, QD77MS4: Axis 1 to 4, QD77MS16: Axis 1 to 16) by one
manual pulse generator.
(Simultaneous operation (QD77MS2: 1 axis to 2 axes, QD77MS4: 1 axis to 4 axes,
QD77MS16: 1 axis to 16 axes) is possible.)
11 - 25
Chapter 11 Manual Control
V
Manual pulse
generator operation
ON
Upper/lower
limit signal OFF
Start complete signal The start complete signal does not turn ON in manual pulse generator operation.
[X10, X11, X12, X13]
Md. 26 Axis operation status Standby (0) Manual pulse generator operation (4) Standby (0)
t2
Positioning operation
Fig. 11.17 Manual pulse generator operation timing and processing times
11 - 26
Chapter 11 Manual Control
Delays may occur in the t1 timing time due to the operation status of other axes.
For example, when "[Pr.1] Unit setting" is mm and "[Cd.20] Manual pulse
generator 1 pulse input magnification" is 2, and 100 pulses are input from the
manual pulse generator, the current feed value is as follows.
The number of pulses output actually to the servo amplifier is "Manual pulse
generator 1pulse movement amount/movement amount per pulse".
The movement amount per pulse can be calculated using the expression shown
below.
[Pr.3] Movement amount per rotation(AL)
Movement amount per pulse = [Pr.2] Number of pulses per rotation(AP) [Pr.4] Unit magnification(AM)
For example, when "[Pr.1] Unit setting" is mm and the movement amount per pulse
is 1μm, 0.1/1 = 1/10, i.e., the output to the servo amplifier per pulse from the manual
pulse generator is 1/10pulse. Thus, the Simple Motion module outputs 1pulse to the
servo amplifier after receiving 10pulses from the manual pulse generator.
Output command frequency = Input frequency [Cd.20] Manual pulse generator 1 pulse
input magnification
11 - 27
Chapter 11 Manual Control
The manual pulse generator operation is carried out by the following procedure.
STEP 6 Stop operating the manual pulse generator, and write "0"
Manual pulse End the input from the manual pulse generator, in " Cd.21 Manual pulse generator enable flag".
generator operation and issue a command to disable the manual
stop pulse generator operation.
End of control
REMARK
Mechanical elements such as limit switches are considered as already installed.
Parameter settings work in common for all control using the Simple Motion module.
11 - 28
Chapter 11 Manual Control
11.4.3 Setting the required parameters for manual pulse generator operation
The "Positioning parameters" must be set to carry out manual pulse generator
operation.
The following table shows the setting items of the required parameters for carrying out
manual pulse generator operation. Parameters not shown below are not required to be
set for carrying out only manual pulse generator operation. (Set the initial value or a
value within the setting range.)
Factory-set initial value
Setting item Setting requirement
(setting details)
[Pr.1] Unit setting 3 (PLS)
[Pr.2] Number of pulses per rotation (AP) (Unit: PLS) 20000
[Pr.3] Movement amount per rotation (AL) (Unit: PLS) 20000
[Pr.4] Unit magnification (AM) 1 (1 times)
[Pr.8] Speed limit value (Unit: PLS/s) 200000
Positioning parameters
REMARK
Positioning parameter settings work in common for all controls using the Simple
Motion module. When carrying out other controls ("major positioning control",
"high-level positioning control", "OPR control"), set the respective setting items as
well.
Parameters are set for each axis. But [Pr.22] Manual pulse generator input (b8),
[Pr.24], [Pr.89] is set only for axis 1. (The setting for other than axis 1 is ignored.)
Refer to Chapter 5 "Data Used for Positioning Control" for the setting details.
11 - 29
Chapter 11 Manual Control
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
Start conditions
The following conditions must be fulfilled when starting. The required conditions
must also be assembled in the sequence program, and the sequence program
must be configured so the operation will not start if the conditions are not fulfilled.
Device
Signal name Signal state QD77MS2
QD77MS16
QD77MS4
PLC READY signal ON PLC CPU preparation completed Y0
READY signal ON QD77MS preparation completed X0
All axis servo ON ON All axis servo ON Y1
QD77MS buffer memory
Synchronization flag ON X1
Interface The access is possible.
signal Axis stop signal OFF Axis stop signal is OFF Y4 to Y7 [Cd.180] Axis stop
Start complete signal OFF Start complete signal is OFF X10 to X13 [Md.31] Status: b14
BUSY signal OFF QD77MS is not operating XC to XF X10 to X1F
Error detection signal OFF There is no error X8 to XB [Md.31] Status: b13
M code ON signal OFF M code ON signal is OFF X4 to X7 [Md.31] Status: b12
Forced stop input signal ON There is no forced stop input –
External Stop signal OFF Stop signal is OFF –
signal Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –
: If the PLC CPU is set to the asynchronous mode in the synchronization setting, this must be
inserted in the program for interlocking. If it is set to the synchronous mode, it must not be
inserted in the program for interlocking because it is turned ON when the PLC CPU executes
calculation.
11 - 30
Chapter 11 Manual Control
Forward run
Reverse run
X30
301 PLS M8 <Pulsate manual pulse generator operation command>
M8 X0 X0C
308 DMOVP K1 D8 <Set manual pulse generator input scale per pulse>
11 - 31
Chapter 11 Manual Control
MEMO
11 - 32
Chapter 12 Expansion Control
The details and usage of expansion control are explained in this chapter.
Expansion control includes the speed-torque control to execute the speed control and torque
control not including position loop and the synchronous control to synchronize with input axis
using software with "synchronous control parameter" instead of controlling mechanically
with gear, shaft, speed change gear or cam, etc.
12 - 1
Chapter 12 Expansion 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.
"Continuous operation to torque control mode" that switches the control mode to
torque control mode without stopping the servomotor during positioning operation is
also available for tightening a bottle cap or a screw.
Switch the control mode from "position control mode" to "speed control mode", "torque
control mode" or "continuous operation to torque control mode" to execute the "Speed-
torque control".
Use the servo amplifiers whose software versions are compatible with each control
mode to execute the "Speed-torque control".
Servo amplifier software versions that are compatible with each control mode are
shown below.
Software version
Servo amplifier model Continuous operation
Speed control Torque control
to torque control 1
MR-J4(W)-B/MR-JE-B — — —
MR-J3-_B — B3 or later C7 or later
MR-J3W-_B — — Not compatible
MR-J3-_BS — — C7 or later
—: There is no restriction by the version.
1: The torque generation direction of servomotor can be changed by setting the servo
parameter "Function selection C-B POL reflection selection at torque control (PC29)" for the
servo amplifier that is compatible with the continuous operation to torque control. (Refer to
Section 12.1.4 "Operation of speed-torque control".)
For the servo amplifier that is not compatible with the continuous operation to torque control,
the operation is the same as that of when "0: Enabled" is set in servo parameter "Function
selection C-B POL reflection selection at torque control (PC29)".
12 - 2
Chapter 12 Expansion Control
CAUTION
If operation that generates torque more than 100% of the rating is performed with an
abnormally high frequency in a servomotor stop status (servo lock status) or in a 30r/min or
less low-speed operation status, the servo amplifier may malfunction regardless of the
electronic thermal relay protection.
12 - 3
Chapter 12 Expansion Control
REMARK
Positioning parameter settings work in common for all controls using the Simple
Motion module. When carrying out other controls ("major positioning control",
"high-level positioning control", "OPR control"), set the respective setting items as
well.
Parameters are set for each axis.
Refer to Chapter 5 "Data Used for Positioning Control" for the setting details.
12 - 4
Chapter 12 Expansion Control
When "30: Continuous operation to torque control mode" is set, set the switching
condition of the control mode to switch to the continuous operation to torque
control mode.
The control data shown below must be set to set the switching condition of control
mode.
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Set the switching condition when
switching to continuous operation to
Control mode auto- torque control mode.
[Cd.153] 0: No switching condition 1593+100n 4393+100n
shift selection
1: Current feed value pass
2: Real current value pass
Control mode auto- Set the condition value when setting the 1594+100n 4394+100n
[Cd.154]
shift parameter control mode switching condition. 1595+100n 4395+100n
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for the setting details.
12 - 5
Chapter 12 Expansion Control
Required control data setting for the continuous operation to torque control
mode
The control data shown below must be set to execute the continuous operation to
torque control.
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Speed limit value at
continuous operation Set the speed limit value at continuous 1586+100n 4386+100n
[Cd.147]
to torque control operation to torque control mode. 1587+100n 4387+100n
mode
Acceleration time at
continuous operation Set the acceleration time at continuous
[Cd.148] 1588+100n 4388+100n
to torque control operation to torque control mode.
mode
Deceleration time at
continuous operation Set the deceleration time at continuous
[Cd.149] 1589+100n 4389+100n
to torque control operation to torque control mode.
mode
Target torque at
continuous operation Set the target torque at continuous
[Cd.150] 1590+100n 4390+100n
to torque control operation to torque control mode.
mode
Torque time constant
at continuous Set the time constant at driving during
[Cd.151] operation to torque continuous operation to torque control 1591+100n 4391+100n
control mode mode.
(Forward direction)
Torque time constant
at continuous Set the time constant at regeneration
[Cd.152] operation to torque during continuous operation to torque 1592+100n 4392+100n
control mode control mode.
(Negative direction)
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for the setting details.
12 - 6
Chapter 12 Expansion Control
1) 2) 4) 3)
5)
Speed control mode Torque control mode
6)
12 - 7
Chapter 12 Expansion Control
The history of control mode switching is stored to the start history at request of
control mode switching. (Refer to Section 5.6.1 "System monitor data".)
Confirm the control mode with "control mode (high-order buffer memory address:
b2, b3)" of "[Md.108] Servo status". (Refer to Section 5.6.2 "Axis monitor data".)
Buffer memory address (High-order)
QD77MS2/QD77MS4 QD77MS16
[Md.108] Servo status: b2, b3 877+100n 2477+100n
n: Axis No.-1
Speed initial value selection Command speed to servo amplifier immediately after switching from
([Pr.90]: b8 to b11) position control mode to speed control mode
0: Command speed The speed to servo amplifier immediately after switching is "0".
1: Feedback speed Motor speed received from servo amplifier at switching.
The command speed is invalid due to the setting of continuous
2: Automatic selection operation to torque control mode. At control mode switching,
operation is the same as "0: Command speed".
When the speed control mode is switched to the position control mode, the
command position immediately after the switching is the current feed value at
switching.
12 - 8
Chapter 12 Expansion Control
20000
0 t
6 to 11ms 6 to 11ms
Control mode
[0, 0] [1, 0] [0, 0]
( Md.108 Servo status: b2, b3)
ON
Zero speed
( Md.108 Servo status: b3) OFF
(Note): Refer to Section 3.3 for input/output signal of QD77MS16 and Chapter 5 for buffer memory address.
12 - 9
Chapter 12 Expansion Control
Torque initial value selection Command torque to servo amplifier immediately after switching from
([Pr.90]: b4 to b7) position control mode to torque control mode
The value of "[Cd.143] Command torque at torque control mode" at
0: Command torque
switching.
1: Feedback torque Motor torque value at switching.
POINT
When the servo parameter "Function selection C-B POL reflection selection at
torque control (PC29)" is set to "0: Enabled" and "Torque initial value selection" is
set to "1: Feedback torque", the warning "Torque initial value selection invalid"
(warning code: 521) will occur at control mode switching, and the command value
immediately after switching is the same as the case of selecting "0: Command
torque". If the feedback torque is selected, set "1: Disabled" in the servo parameter
"Function selection C-B POL reflection selection at torque control (PC29)".
12 - 10
Chapter 12 Expansion Control
When the torque control mode is switched to the position control mode, the
command position immediately after the switching is the current feed value at
switching.
20.0%
0 t
6 to 11ms 6 to 11ms
Control mode
( Md.108 Servo status: b2, b3) [0, 0] [0, 1] [0, 0]
ON
Zero speed
( Md.108 Servo status: b3) OFF
(Note): Refer to Section 3.3 for input/output signal of QD77MS16 and Chapter 5 for buffer memory address.
12 - 11
Chapter 12 Expansion Control
Torque initial value selection Command torque to servo amplifier immediately after switching from
([Pr.90]: b4 to b7) speed control mode to torque control mode
The value of "[Cd.143] Command torque at torque control mode" at
0: Command torque
switching.
1: Feedback torque Motor torque value at switching.
POINT
When the servo parameter "Function selection C-B POL reflection selection at
torque control (PC29)" is set to "0: Enabled" and "Torque initial value selection" is
set to "1: Feedback torque", the warning "Torque initial value selection invalid"
(warning code: 521) will occur at control mode switching, and the command value
immediately after switching is the same as the case of selecting "0: Command
torque". If the feedback torque is selected, set "1: Disabled" in the servo parameter
"Function selection C-B POL reflection selection at torque control (PC29)".
12 - 12
Chapter 12 Expansion Control
When the torque control mode is switched to the speed control mode, the
command speed immediately after the switching is the motor speed at switching.
20000
0 t
Torque
20.0%
0 t
6 to 11ms 6 to 11ms
Control mode
[1, 0] [0, 1] [1, 0]
( Md.108 Servo status: b2, b3)
(Note): Refer to Section 3.3 for input/output signal of QD77MS16 and Chapter 5 for buffer memory address.
12 - 13
Chapter 12 Expansion Control
1) 2) 3) 4) 5) 6)
12 - 14
Chapter 12 Expansion Control
The history of control mode switching is stored to the start history at request of
control mode switching. (Refer to Section 5.6.1 "System monitor data".)
Confirm the status of the continuous operation to torque control mode with "b14:
Continuous operation to torque control mode" of "[Md.125] Servo status3". When
the mode is switched to the continuous operation to torque control mode, the value
in "control mode (high-order buffer memory address: b2, b3)" of "[Md.108] Servo
status" remains the same as before switching the control mode. (Refer to Section
5.6.2 "Axis monitor data".)
Buffer memory address (High-order)
QD77MS2/QD77MS4 QD77MS16
[Md.108] Servo status: b2, b3 877+100n 2477+100n
n: Axis No.-1
POINTS
(1) 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, the warning "Control mode switching not
possible" (warning code: 125) will occur, and the control mode is not switched.
(2) When the mode is switched from speed control mode to continuous operation
to torque control mode, only the switching from continuous operation to torque
control mode to speed control mode is possible. If the mode is switched to
other control modes, the warning "Control mode switching not possible"
(warning code: 125) will occur, and the control mode is not switched.
12 - 15
Chapter 12 Expansion Control
When the position control mode is switched to the continuous operation to torque
control mode, the command torque and command speed immediately after the
switching are the values set according to the following setting in "Torque initial
value selection (b4 to b7)" and "Speed initial value selection (b8 to b11)" of "[Pr.90]
Operation setting for speed-torque control mode".
Torque initial value selection Command torque to servo amplifier immediately after switching from
([Pr.90]: b4 to b7) position control mode to continuous operation to torque control mode
The value of "[Cd.150] Target torque at continuous operation to
0: Command torque
torque control mode" at switching.
1: Feedback torque Motor torque value at switching.
Speed initial value selection Command speed to servo amplifier immediately after switching from
([Pr.90]: b8 to b11) position control mode to continuous operation to torque control mode
Speed that the position command at switching is converted into the
motor speed.
0: Command speed
(When the positioning does not start at switching, the speed to servo
amplifier immediately after switching is "0".)
1: Feedback speed Motor speed received from servo amplifier at switching.
The lower speed between speed that position command at switching
2: Automatic selection is converted into the motor speed and motor speed received from
servo amplifier at switching.
POINT
When the mode is switched to continuous operation to torque control mode in cases
where command speed and actual speed are different such as during
acceleration/deceleration or when the speed does not reach command speed due to
torque limit, set "1: Feedback speed" in "Speed initial value selection (b8 to b11)".
12 - 16
Chapter 12 Expansion Control
Contact with
target
1000
0 t
Torque
30.0%
0 t
6 to 11 6 to 11
ms ms
Cd.138 Control mode switching 0 1 0 1 0
request
(Note): Refer to Section 3.3 for input/output signal of QD77MS16 and Chapter 5 for buffer memory address.
12 - 17
Chapter 12 Expansion Control
When the speed control mode is switched to the continuous operation to torque
control mode, the command torque immediately after the switching is the torque
set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for
speed-torque control mode".
Torque initial value selection Command torque to servo amplifier immediately after switching from
([Pr.90]: b4 to b7) speed control mode to continuous operation to torque control mode
The value of "[Cd.150] Target torque at continuous operation to
0: Command torque
torque control mode" at switching.
1: Feedback torque Motor torque value at switching.
12 - 18
Chapter 12 Expansion Control
10000
Contact with
target
1000
0 t
-10000
Torque
30.0%
0 t
6 to 11 6 to 11
ms ms
Cd.138 Control mode switching 0 1 0 1 0
request
(Note): Refer to Section 3.3 for input/output signal of QD77MS16 and Chapter 5 for buffer memory address.
12 - 19
Chapter 12 Expansion Control
If "[Cd.154] Control mode auto-shift parameter" is outside the setting range, the
error "Outside control mode auto-shift switching parameter range" (error code:
551) occurs at control mode switching request, and the current processing stops.
(In the positioning control, the operation stops according to the setting of "[Pr.39]
Stop group 3 sudden stop selection". In the speed control, the mode switches to
the position control, and the operation immediately stops.)
12 - 20
Chapter 12 Expansion Control
POINT
(1) Automatic switching is valid only when the control mode is switched from the
position control mode to the continuous operation to torque control mode.
When the mode is switched from speed control mode to continuous operation
to torque control mode or from continuous operation to torque control mode to
other control modes, even if the automatic switching is set, the state is not
waiting for the completion of condition, and control mode switching is
executed immediately.
(2) When the mode switching request is executed after setting the switching
condition, the state of waiting for the completion of control mode switching
condition continues until the setting condition is satisfied. Therefore, if the
positioning by automatic switching is interrupted, unexpected control mode
switching may be executed in other positioning operations. Waiting for the
completion of control mode switching condition can be cancelled by setting
"Other than 1: Not request" in "[Cd.138] Control mode switching request" or by
turning the axis stop signal ON. When an error occurs, waiting for the
completion of control mode switching condition is also cancelled. (In both
cases, "0" is stored in "[Cd.138] Control mode switching request".
(3) In the state of waiting for the completion of control mode switching condition, if
the current values are updated by the current value changing, the fixed-feed
control or the speed control (when "2: Clear current feed value to zero" is set
in "[Pr.21] Current feed value during speed control"), an auto-shift judgment is
executed based on the updated current value. Therefore, depending on the
setting condition, the mode may be switched to the continuous operation to
torque control mode immediately after the positioning starts. To avoid this
switching, set "1: Switching request" in "[Cd.138] Control mode switching
request".
12 - 21
Chapter 12 Expansion Control
The following chart shows the operation when "1: Current feed value pass" is set
in "[Cd.153] Control mode auto-shift selection".
V
Position control mode Continuous operation to torque control mode
Contact with
target
1000
0 t
Current feed value passes the address
"adr" set in " Cd.154 Control mode
auto-shift parameter".
Torque
30.0%
0 t
6 to 11
ms
Cd.138 Control mode switching request 0 1 0
12 - 22
Chapter 12 Expansion Control
Cd.141 Cd.142
Acceleration time at Deceleration time at
V speed control mode speed control mode
0 t
-10000
-20000
Cd.141 Cd.142
Acceleration time at Deceleration time at
speed control mode speed control mode
Cd.140 Command speed at
0 20000 30000 0 -10000 -20000 0
speed control mode
12 - 23
Chapter 12 Expansion Control
The current value reached the software stroke limit. An error (error code: 507, 508, 104, 105, or 101)
occurs. The mode switches to the position control
The position of the motor reached the hardware
mode at the current position, and the operation
stroke limit.
immediately stops. (Deceleration processing is not
PLC READY [Y0] turned OFF. executed.)
12 - 24
Chapter 12 Expansion Control
(1) When servo parameter "Function selection C-B POL reflection selection at
torque control (PC29)" is set to "0: Enabled"
"Rotation direction selection/travel "[Cd.143] Command torque at torque control
Torque generation direction of servo motor
direction selection (PA14)" mode"
0: Forward rotation (CCW) with the Positive value (Forward direction) CCW direction
increase of the positioning address Negative value (Reverse direction) CW direction
1: Reverse rotation (CW) with the Positive value (Forward direction) CW direction CCW
direction CW
increase of the positioning address Negative value (Reverse direction) CCW direction direction
(2) When servo parameter "Function selection C-B POL reflection selection at
torque control (PC29)" is set to "1: Disabled"
"Rotation direction selection/travel "[Cd.143] Command torque at torque control
Torque generation direction of servo motor
direction selection (PA14)" mode"
0: Forward rotation (CCW) with the Positive value (Forward direction) CCW direction
increase of the positioning address Negative value (Reverse direction) CW direction
1: Reverse rotation (CW) with the Positive value (Forward direction) CCW direction CCW
direction CW
increase of the positioning address Negative value (Reverse direction) CW direction direction
12 - 25
Chapter 12 Expansion Control
Set time for the command torque to increase from 0% to "[Pr.17] Torque limit
setting value" in "[Cd.144] Torque time constant at torque control mode (Forward
direction)" and for the command torque to decrease from "[Pr.17] Torque limit
setting value" to 0% in "[Cd.145] Torque time constant at torque control mode
(Negative direction)". The value at torque control mode switching request is valid
for "[Cd.144]" and "[Cd.145]".
The command torque during the torque control mode is limited with "[Pr.17]
Torque limit setting value". If the torque exceeding the torque limit setting value is
set, the warning "Torque limit value over" (warning code: 520) occurs, and the
operation is controlled with the torque limit setting value.
Confirm the command torque to servo amplifier with "[Md.123] Torque during
command".
Cd.144 Cd.145
Torque time Torque time
constant at torque constant at torque
Torque control mode control mode
[%] (Forward direction) (Negative direction)
0 t
-10.0
-20.0
Cd.144 Cd.145
Torque time Torque time
constant at torque constant at torque
control mode control mode
(Forward direction) (Negative direction)
Cd.143 Command torque at
0 200 300 0 -100 -200 0
torque control mode
12 - 26
Chapter 12 Expansion Control
"[Cd.146] Speed limit value at torque control mode" is set to a positive value
regardless of the rotation direction. (Controlled by the same value for forward and
reverse directions.)
In addition, "[Cd.146] Speed limit value at torque control mode" is limited with
"[Pr.8] Speed limit value". If the speed exceeding the speed limit value is set, the
warning "Speed limit value over" (warning code: 501) occurs, and the operation is
controlled with the speed limit value.
The acceleration/deceleration processing is invalid for "[Cd.146] Speed limit value
at torque control mode".
POINT
The actual motor speed may not reach the speed limit value depending on the
machine load situation during the torque control.
12 - 27
Chapter 12 Expansion Control
12 - 28
Chapter 12 Expansion Control
0: Forward rotation (CCW) with the Positive value (Forward direction) CCW direction
increase of the positioning address Negative value (Reverse direction) CW direction
1: Reverse rotation (CW) with the Positive value (Forward direction) CCW direction CCW
direction CW
increase of the positioning address Negative value (Reverse direction) CW direction direction
Important
Regardless of the setting in "Rotation direction selection/travel direction selection (PA14)", set a
positive value when torque command is in CCW direction of servomotor and a negative value
when torque command is in CW direction of servomotor in "[Cd.150] Target torque at
continuous operation to torque control mode".
If the setting is incorrect, the motor may rotate in an opposite direction.
POINTS
(1) The motor rotates in a direction according to the setting in "[Cd.150] Target
torque at continuous operation to torque control mode". Set the value
corresponding to the motor rotation direction in "[Cd.147] Speed limit value at
continuous operation to torque control mode".
12 - 29
Chapter 12 Expansion Control
If torque exceeding the torque limit setting value is commanded, the warning
"Torque limit value over" (warning code: 520) occurs, and the operation is
controlled with the torque limit setting value.
Confirm the command torque to servo amplifier with "[Md.123] Torque during
command".
During the continuous operation to torque control mode, "Torque limit" ("[Md.108]
Servo status" (high-order buffer memory address): b13) does not turn ON. Confirm
the current torque value in "[Md.104] Motor current value".
Buffer memory address (High-order)
QD77MS2/QD77MS4 QD77MS16
[Md.108] Servo status: b13 877+100n 2477+100n
n: Axis No.-1
12 - 30
Chapter 12 Expansion Control
Contact with
target
1000
0 t
Torque
0 t
12 - 31
Chapter 12 Expansion Control
POINT
The actual motor speed may not reach the command speed depending on the
machine load situation during the continuous operation to torque control mode.
12 - 32
Chapter 12 Expansion Control
All axis servo ON [Y1] turned OFF. The servo OFF is not executed during the continuous operation
"[Cd.100] Servo OFF command" turned to torque control mode. The command status when the mode is
ON. switched to the position control mode becomes valid.
The current value reached the software An error (error code: 507, 508, 104, 105, or 101) occurs. The
stroke limit. mode switches to the position control mode at the current
The position of the motor reached the position, and the operation immediately stops. (Deceleration
*1
hardware stroke limit. processing is not executed.)
When the operation immediately stops, the motor may start
hunting depending on the motor speed. Therefore, be sure not
PLC READY [Y0] turned OFF.
to reach the limit in high speed and not to turn OFF the PLC
READY.
The forced stop input to Simple Motion The mode switches to the position control mode when the servo
module. OFF (Servo ON of "[Md.108] Servo status" turns OFF) is
*1
The emergency stop input to servo executed.
amplifier. (While the servo amplifier is servo OFF, even if the mode is
switched to position control mode, the servomotor occurs to the
The servo error occurred.
free run (The operation stops with dynamic brake).)
The motor occurs to the free run (The operation stops with
The servo amplifier's power supply
dynamic brake.). (The mode is set to the position control mode
turned OFF.
at the servo amplifier's power supply ON again.)
1: When the mode has switched from the speed control mode to the continuous operation
to torque control mode, the mode switches to the position control mode after switching
the speed control mode once. Therefore, it takes the following time to switch to the
position control mode.
Switching time for the speed control mode + Switching time for the position control
mode.
12 - 33
Chapter 12 Expansion Control
12 - 34
Chapter 13 Control Sub Functions
The details and usage of the "sub functions" added and used in combination with
the main functions are explained in this chapter.
A variety of sub functions are available, including functions specifically for machine
OPR and generally related functions such as control compensation, etc.
More appropriate, finer control can be carried out by using these sub functions.
Each sub function is used together with a main function by creating matching
parameter settings and sequence programs. Read the execution procedures and
settings for each sub function, and set as required.
13 - 1
Chapter 13 Control Sub Functions
"Sub functions" are functions that compensate, limit, add functions, etc., to the control
when the main functions are executed. These sub functions are executed by
parameter settings, operation from GX Works2, sub function sequence programs, etc.
1: The near pass function is validated only when the machine of the standard specification carries out the position control
with the continuous path control mode. It cannot be invalidated with parameters.
13 - 2
Chapter 13 Control Sub Functions
13 - 3
Chapter 13 Control Sub Functions
The sub functions specifically for machine OPR include the "OPR retry function" and
"OP shift function". Each function is executed by parameter setting.
When the workpiece goes past the OP without stopping during positioning control, it
may not move back in the direction of the OP although a machine OPR is commanded,
depending on the workpiece position. This normally means the workpiece has to be
moved to a position before the near-point dog by a JOG operation, etc., to start the
machine OPR again. However, by using the OPR retry function, a machine OPR can
be carried out regardless of the workpiece position.
The details shown below explain about the "OPR retry function".
[1] Control details
[2] Precautions during control
[3] Setting the OPR retry function
1) The movement starts in the "[Pr.44] OPR direction" by a machine OPR start.
2) The operation decelerates when the limit signal OFF is detected.
3) After stopping due to the limit signal OFF detection, the operation moves at the "[Pr.46] OPR speed" in the
opposite direction of the "[Pr.44] OPR direction".
4) The operation decelerates when the near-point dog turns OFF.
5) After stopping due to the near-point dog OFF, a machine OPR is carried out in the "[Pr.44] OPR direction".
6) Machine OPR completion
2)
5) 1)
6) 3)
4)
Zero signal
13 - 4
Chapter 13 Control Sub Functions
(2) OPR retry operation when the workpiece is outside the range between the
upper and lower limits.
1) When the direction from the workpiece to the OP is the same as the "[Pr.44] OPR direction", a
normal machine OPR is carried out.
Zero signal
Movement range
2) When the direction from the workpiece to the OP is the opposite direction from the "[Pr.44] OPR
direction", the operation carries out a deceleration stop when the near-point dog turns OFF, and
then carries out a machine OPR in the direction set in "[Pr.44] OPR direction".
OP
Pr. 44 OPR direction
Zero signal
Movement range
In the above example 1) and 2), "0: Positive direction" is set in "[Pr.44] OPR direction"
REMARK
When the "0: Positive direction" is selected in "[Pr.44] OPR direction", the upper limit switch is set
to the limit switch in the OPR direction.
When the "1: Negative direction" is selected in "[Pr.44] OPR direction", the lower limit switch is
set to the limit switch in the OPR direction.
If inverting the install positions of upper/lower limit switches, hardware stroke limit function cannot
be operated properly.
If any problem is found for OPR operation, review "Rotation direction selection/travel direction
selection (PA14)" and the wiring for the upper/lower limit switch.
Fig. 13.2 OPR retry operation from on limit (limit signal OFF)
13 - 5
Chapter 13 Control Sub Functions
"[Pr.57] Dwell time during OPR retry" is validated when the operation stops
at the "A" and "B" positions in the following drawing. (The dwell time is the
same value at both positions "A" and "B".)
B OP A
Stop by near-point
dog OFF
Reverse run operation
after limit signal detection
Near-point dog Limit signal OFF
Hardware limit switch
Zero signal
(2) Always establish upper/lower limit switches at the upper/lower limit positions
of the machine. If the OPR retry function is used without hardware stroke
limit switches, the motor will continue rotation until a hardware stroke limit
signal is detected.
(3) Do not configure a system so that the servo amplifier power turns OFF by
the upper/lower limit switches. If the servo amplifier power is turned OFF,
the OPR retry cannot be carried out.
(4) The operation decelerates upon detection of the hardware limit signal, and
the movement starts in the opposite direction. In this case, however, the
error "Hardware stroke limit (+)" (error code: 104) or "Hardware stroke limit
(–)" (error code: 105) does not occur.
13 - 6
Chapter 13 Control Sub Functions
POINT
The settings of the upper/lower stroke limit signal are shown below. The OPR
retry function can be used with either setting. (Refer to Section 13.4.4 "Hardware
stroke limit function".)
External input signal of Simple Motion module
External input signal of servo amplifier
External input signal via CPU (buffer memory of Simple Motion module)
REMARK
Parameters are set for each axis.
It is recommended that the parameters be set whenever possible with GX Works2.
Execution by sequence program uses many sequence programs and devices. The
execution becomes complicated, and the scan times will increase.
13 - 7
Chapter 13 Control Sub Functions
When a machine OPR is carried out, the OP is normally established using the near-
point dog or zero signal. However, by using the OP shift function, the machine can be
moved a designated movement amount from the position where the zero signal was
detected. A mechanically established OP can then be interpreted at that point.
The details shown below explain about the "OP shift function".
[1] Control details
[2] Setting range for the OP shift amount
[3] Movement speed during OP shift
[4] Precautions during control
[5] Setting the OP shift function
Near-point dog
Zero signal
13 - 8
Chapter 13 Control Sub Functions
Near-point dog
Lower limit switch Upper limit switch
Pr. 44 OPR direction
Zero signal
OP
Near-point dog
Zero signal
13 - 9
Chapter 13 Control Sub Functions
Pr. 44 OPR
V direction
OP
Zero signal
REMARK
Parameters are set for each axis.
It is recommended that the parameters be set whenever possible with GX Works2.
Execution by sequence program uses many sequence programs and devices. The
execution becomes complicated, and the scan times will increase.
13 - 10
Chapter 13 Control Sub Functions
The sub functions for compensating the control include the "backlash compensation
function", "electronic gear function", and "near pass function". Each function is
executed by parameter setting or sequence program creation and writing.
The details shown below explain about the "backlash compensation function".
[1] Control details
[2] Precautions during control
[3] Setting the backlash compensation function
Worm gear
Workpiece
13 - 11
Chapter 13 Control Sub Functions
Setting Factory-set
Setting item Setting details
value initial value
Backlash
[Pr.11] compensation Set the backlash compensation amount. 0
amount
: Refer to Section 5.2 "List of parameters" for setting details.
REMARK
Parameters are set for each axis.
It is recommended that the parameters be set whenever possible with GX Works2.
Execution by sequence program uses many sequence programs and devices. The
execution becomes complicated, and the scan times will increase.
13 - 12
Chapter 13 Control Sub Functions
The "electronic gear function" adjusts the actual machine movement amount and
number of pulse output to servo amplifier according to the parameters set in the
Simple Motion module.
The "electronic gear function" has the following three functions ( [A] to [C] ).
[A] During machine movement, the function increments in the Simple Motion
module values less than one pulse that could not be output, and outputs the
incremented amount when the total incremented value reached one pulse or
more.
[B] When machine OPR is completed, current value changing is completed,
speed control is started (except when current feed value change is present), or
fixed-feed control is started, the function clears to "0" the cumulative values of
less than one pulse which could not be output. (If the cumulative value is
cleared, an error will occur by a cleared amount in the feed machine value.
Control can be constantly carried out at the same machine movement amount,
even when the fixed-feed control is continued.)
[C] The function compensates the mechanical system error of the command
movement amount and actual movement amount by adjusting the "electronic
gear".
(The "movement amount per pulse" value is defined by "[Pr.2] Number of
pulses per rotation (AP)", "[Pr.3] Movement amount per rotation (AL)" and
"[Pr.4] Unit magnification (AM)".)
The Simple Motion module automatically carries out the processing for [A] and [B].
The details shown below explain about the "electronic gear function", including the
method for compensating the error in [C] above, etc.
[1] Basic concept of the electronic gear
[2] The method for compensating the error
13 - 13
Chapter 13 Control Sub Functions
AP AP
Electronic gear = = …(1)
S AL AM
Set values for AP, AL and AM so that this related equation is established.
However, because values to be set for AP, AL and AM have the settable range,
values calculated (reduced) from the above related equation must be contained
in the setting range for AP, AL and AM.
13 - 14
Chapter 13 Control Sub Functions
Machine
M
Reduction ratio 9/44
First, find how many millimeters the load (machine) will travel ( S) when
the motor turns one revolution (AP).
AP (Number of pulses per rotation) = 4194304 [PLS]
S (Movement amount per rotation)
= Ball screw pitch Reduction ratio
= 10 [mm] 9/44 When the control unit is
"mm", the minimum
= 10000.0 [ m] 9/44 command unit is 0.1 μm.
Note): These two examples of settings are only examples. There are
settings other than these examples.
13 - 15
Chapter 13 Control Sub Functions
(3) When "degree" is set as the control unit for a rotary axis
When the rotary axis is used, the motor is HG-KR (4194304PLS/rev) and
the reduction ratio of the reduction gear is 3/11.
Reduction
ratio 3/11
First, find how many degrees the load (machine) will travel ( S) when the
motor turns one revolution (AP).
AP (Number of pulses per rotation) = 4194304 [PLS]
S (Movement amount per rotation)
= 360.00000 [degree] Reduction ratio
= 360.00000 3/11
Substitute this for the above expression (1).
At this time, make calculation with the reduction ratio 3/11 remaining as a
fraction.
AP 4194304 [PLS]
=
S 360.00000 [degree] 3/11
4194304 [PLS] 11
=
360.00000 3
46137344
=
1080.00000
2883584 2883584 (AP)
= =
67.50000 67.50000(AL) 1 (AM)
2883584 (AP)
=
0.06750 (AL) 1000 (AM)
13 - 16
Chapter 13 Control Sub Functions
Note): These two examples of settings are only examples. There are
settings other than these examples.
(4) When "mm" is set as the control unit for conveyor drive
(calculation including )
When the belt conveyor drive is used, the conveyor diameter is 135mm,
the pulley ratio is 1/3, the motor is HG-KR (4194304PLS/rev) and the
reduction ratio of the reduction gear is 7/53.
Belt
M conveyor
135mm
As the travel value of the conveyor is used to exercise control, set "mm"
as the control unit.
First, find how many millimeters the load (machine) will travel ( S) when
the motor turns one revolution (AP).
AP (Number of pulses per rotation) = 4194304 [PLS]
S (Movement amount per rotation)
= 135000.0 [m] Reduction ratio
= 135000.0 [m] 7/53 1/3
Substitute this for the above expression (1).
At this time, make calculation with the reduction ratio 7/53 1/3
remaining as a fraction.
AP AP 4194304 [PLS]
= =
S AL AM 135000.0 [m] 7/53 1/3
4194304 53 3
=
135000.0 7
166723584
=
236250
13 - 17
Chapter 13 Control Sub Functions
PLS
Feedback pulse
Linear encoder
Calculate the number of pulses (AP) and movement amount (AL) for the
linear encoder in the following conditions.
Number of pulses (AP)
Linear encoder resolution = Movement amount (AL)
Set the number of pulses in "[Pr.2] Number of pulses per rotation (AP)",
and the movement amount in "[Pr.3] Movement amount per rotation (AL)"
in the actual setting.
(Note): Set the same value as the value set in the fixed parameter to the
servo parameter "Linear encoder resolution setting Numerator
(PS02)" and "Linear encoder resolution setting Denominator
(PS03)".
Refer to each servo amplifier instruction manual for details.
13 - 18
Chapter 13 Control Sub Functions
Calculation example
(Conditions)
Number of pulses per rotation (AP) : 4194304 [PLS]
Movement amount per rotation (AL) : 5000.0 [m]
Unit magnification (AM) :1
(Positioning results)
Command movement amount (L) : 100 [mm]
Actual movement amount (L') : 101 [mm]
(Compensation value)
AP L 4194304 100 4194304 (AP')
= =
AL AM L' 5000.0 1 101 5050(AL') 1(AM')
13 - 19
Chapter 13 Control Sub Functions
When continuous pass control is carried out using interpolation control, the near pass
function is carried out.
The "near pass function" is a function to suppress the mechanical vibration occurring at
the time of switching the positioning data when continuous pass control is carried out
using interpolation control.
The details shown below explain about the "near pass function".
[1] Control details
[2] Precautions during control
13 - 20
Chapter 13 Control Sub Functions
Positioning Positioning
Partner axis
Reference
axis
Positioning data No.1 Continuous path control t
Suddenly reverse
direction
Fig. 13.10 Path and output speed of various axes when movement direction varies
during continuous path control
13 - 21
Chapter 13 Control Sub Functions
Functions to limit the control include the "speed limit function", "torque limit function",
"software stroke limit function", "hardware stroke limit function", and "forced stop
function". Each function is executed by parameter setting or sequence program
creation and writing.
The speed limit function limits the command speed to a value within the "speed limit
value" setting range when the command speed during control exceeds the "speed limit
value".
The details shown below explain about the "speed limit function".
[1] Relation between the speed limit function and various controls
[2] Precautions during control
[3] Setting the speed limit function
[1] Relation between the speed limit function and various controls
The following table shows the relation of the "speed limit function" and various
controls.
Control type Speed limit function Speed limit value
OPR Machine OPR control
control Fast OPR control
1-axis linear control
2 to 4-axes linear
interpolation control
Position 1-axis fixed-feed control
control 2 to 4-axes fixed-feed [Pr.8] Speed limit
value
control (interpolation)
Major 2-axis circular interpolation
positioning control
control 1 to 4-axes Speed control
Speed-position switching control,
Position-speed switching control
Current value changing –
Other JUMP instruction, NOP Setting value invalid
control instruction, LOOP to –
LEND
[Pr.31] JOG speed
Manual JOG operation, Inching operation
limit value
control
Manual pulse generator operation – Setting is invalid
Expansion [Pr.8] Speed limit
Speed-torque control
control value
: Always set
– : Setting not required (The setting value is invalid. Use the initial value or a value within
the setting range.)
13 - 22
Chapter 13 Control Sub Functions
REMARK
Parameters are set for each axis.
It is recommended that the parameters be set whenever possible with GX Works2.
Execution by sequence program uses many sequence programs and devices. The
execution becomes complicated, and the scan times will increase.
13 - 23
Chapter 13 Control Sub Functions
The "torque limit function" limits the generated torque to a value within the "torque limit
value" setting range when the torque generated in the servomotor exceeds the "torque
limit value".
The "torque limit function" protects the deceleration function, limits the power of the
operation pressing against the stopper, etc. It controls the operation so that
unnecessary force is not applied to the load and machine.
The details shown below explain about the "torque limit function".
[1] Relation between the torque limit function and various controls
[2] Control details
[3] Precautions during control
[4] Setting the torque limit function
[1] Relation between the torque limit function and various controls
The following table shows the relation of the "torque limit function" and various
controls.
Torque limit
Control type Torque limit value *
function
"[Pr.17] Torque limit setting
value" or "[Cd.101] Torque
output setting value".
OPR Machine OPR control : After the "[Pr.47] Creep
control speed" is reached, this value
becomes the "[Pr.54] OPR
torque limit value".
Fast OPR control
1-axis linear control
2 to 4-axes linear
interpolation control
Position 1-axis fixed-feed control
control 2 to 4-axes fixed-feed "[Pr.17] Torque limit setting
value" or "[Cd.101] Torque
control (interpolation) output setting value".
Major
2-axis circular interpolation
positioning
control
control
1 to 4-axes speed control
Speed-position switching control
Position-speed switching control
Current value changing –
Other
JUMP instruction, NOP Setting value is invalid.
control –
instruction, LOOP to LEND
JOG operation, Inching operation "[Pr.17] Torque limit setting
Manual
value" or "[Cd.101] Torque
control Manual pulse generator operation output setting value".
Torque limit value before
Expansion
Speed-torque control switching control mode is
control
continued.
13 - 24
Chapter 13 Control Sub Functions
Each operation
2 2 2
Cd.101 Torque output setting 0 100 150
value
Cd.112 Torque change function 0 (Forward/reverse torque limit value same setting)
switching request
3 3 3
Cd.22 New torque value/
forward new torque value 0
(Note): Refer to Section 3.3 for input/output signal or Chapter 5 for buffer memory address of QD77MS16.
13 - 25
Chapter 13 Control Sub Functions
b) The set details are validated at the rising edge (OFF ON) of the
positioning start signal [Y10].
Setting Factory-set
Setting item Setting details
value initial value
Torque output
[Cd.101] Set the torque output value as a percentage. 0
setting value
: Refer to Section 5.2 "List of parameters" or Section 5.7 "List of control data" for setting details.
: Torque limit value: Will be an upper limit value of the torque change value. Even if a larger value has been
mistakenly input for the torque change value, it is restricted within the torque limit setting values to prevent an
erroneous entry. (Even if a value larger than the torque limit setting value has been input to the torque change
value, the torque value is not changed.)
: Torque output setting value: to be taken at the start of positioning, and used as a torque limit value. If the value
is "0" or larger than the torque limit setting value, the parameter "torque limit setting value" is taken at the start.
(2) The "torque limit value" set in the Simple Motion module is set in the
"[Md.35] Torque limit stored value/forward torque limit stored value" or
"[Md.120] Reverse torque limit stored value".
[QD77MS4 use]
QD77MS4
13 - 26
Chapter 13 Control Sub Functions
(3) The following table shows the "[Md.35] Torque limit stored value/forward
torque limit stored value" and "[Md.120] Reverse torque limit stored value" of
the buffer memory address.
REMARK
Parameters are set for each axis.
It is recommended that the parameters be set whenever possible with GX Works2.
Execution by sequence program uses many sequence programs and devices. The
execution becomes complicated, and the scan times will increase.
Use "[Md.120] Reverse torque limit stored value" and "[Cd.113] Reverse new
torque value" only when "1: Forward/reverse torque limit value individual setting" is
set in "[Cd.112] Torque change function switching request".
(Refer to Section 13.5.4 "Torque change function".)
13 - 27
Chapter 13 Control Sub Functions
In the "software stroke limit function" the address established by a machine OPR is
used to set the upper and lower limits of the moveable range of the workpiece.
Movement commands issued to addresses outside that setting range will not be
executed.
In the Simple Motion module, the "current feed value" and "machine feed value" are
used as the addresses indicating the current position. However, in the "software stroke
limit function", the address used to carry out the limit check is designated in the "[Pr.14]
Software stroke limit selection". (Refer to Section 9.1.4 "Confirming the current value"
or details on the "current feed value" and "machine feed value".)
The upper and lower limits of the moveable range of the workpiece are set in "[Pr.12]
Software stroke limit upper limit value"/"[Pr.13] Software stroke limit lower limit value".
The details shown below explain about the "software stroke limit function".
[1] Differences in the moveable range when "current feed value" and "machine feed
value" are selected.
[2] Software stroke limit check details
[3] Relation between the software stroke limit function and various controls
[4] Precautions during software stroke limit check
[5] Setting the software stroke limit function
[6] Invalidating the software stroke limit
[7] Setting when the control unit is "degree"
[1] Differences in the moveable range when "current feed value" and
"machine feed value" are selected.
The following drawing shows the moveable range of the workpiece when the
software stroke limit function is used.
Software stroke limit (lower limit) Software stroke limit (upper limit)
13 - 28
Chapter 13 Control Sub Functions
The following drawing shows the differences in the operation when "[Md.20]
Current feed value" and "[Md.21] Machine feed value" are used in the moveable
range limit check.
[Conditions]
Assume the current stop position is 2000, and the upper stroke limit is set to 5000.
Moveable range
Fig. 13.14 Software stroke limits of the current feed value and machine feed value
POINT
When "machine feed value" is set in "[Pr.14] Software stroke limit selection", the
moveable range becomes an absolute range referenced on the OP. When "current
feed value" is set, the moveable range is the relative range from the "current feed
value".
13 - 29
Chapter 13 Control Sub Functions
13 - 30
Chapter 13 Control Sub Functions
[3] Relation between the software stroke limit function and various
controls
Limit
Control type Processing at check
check
The current value will not be changed if the home
Data set method position address is outside the software stroke limit
Machine OPR control range.
OPR control
Other than "Data
–
set method" Check not carried out.
Fast OPR control –
1-axis linear control
2 to 4-axes axis linear
interpolation control Checks 1) and 2) in the previous section [2] are carried
Position 1-axis fixed-feed control out.
control 2 to 4-axes fixed-feed control For speed control : The axis decelerates to a stop
(interpolation) when it exceeds the software
2-axis circular interpolation stroke limit range.
Major For position control: The axis comes to an immediate
control
positioning stop when it exceeds the software
control 1 to 4-axes speed control stroke limit range.
1, 2
Speed-position switching control
Position-speed switching control 1, 2
The current value will not be changed if the new
Current value changing
Other current value is outside the software stroke limit range.
control JUMP instruction, NOP
– Check not carried out.
instruction, LOOP to LEND
JOG operation, Inching operation 3 Check 1) in the previous section [2] is carried out.
The machine will carry out a deceleration stop when
Manual the software stroke limit range is exceeded. If the
control Manual pulse generator operation 3 address is outside the software stroke limit range, the
operation can only be started toward the moveable
range.
Check 1) in the previous section [2] is carried out.
Expansion The mode switches to the position control mode when
Speed-torque control
control the software stroke limit range is exceeded, and the
operation immediately stops.
: Check valid
: Check is not made when the current feed value is not updated (Refer to [Pr.21]) at the setting of "current feed value"
in "[Pr.14] Software stroke limit selection" during speed control.
– : Check not carried out (check invalid).
: Valid only when "0: valid" is set in the "[Pr.15] Software stroke limit valid/invalid setting".
1 : The value in "[Md.20] Current feed value" will differ according to the "[Pr.21] Current feed value during speed control"
setting.
2: When the unit is "degree", check is not made during speed control.
3: When the unit is "degree", check is not carried out.
13 - 31
Chapter 13 Control Sub Functions
Axis 1
: The software stroke limit check is carried out for the following addresses during circular
interpolation control. (Note that " Da. 7 Arc address" is carried out only for circular interpolation
control with sub point designation.)
Current value/end point address ( Da. 6 )/arc address ( Da. 7 )
(4) If an error is detected during continuous path control, the axis stops
immediately on completion of execution of the positioning data located right
before the positioning data in error.
Example
• If the positioning address of positioning data No. 13 is outside the software stroke limit range,
the operation immediately stops after positioning data No. 12 has been executed.
Positioning data
Immediate stop at
error detection No.10
P11
No.11
P11
No.10 No.11 No.12 No.13
No.12
P11
No.13
P11
Md. 26
Axis operation status Position control Error No.14
P01
13 - 32
Chapter 13 Control Sub Functions
(5) During simultaneous start, a stroke limit check is carried out for the current
values of every axis to be started. Every axis will not start if an error occurs,
even if it only occurs in one axis.
(To invalidate only the manual operation, set "1: software stroke limit invalid" in
the "[Pr.15] Software stroke limit valid/invalid setting".)
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal [Y0].
When the unit is "degree", the software stroke limit check is not performed during
speed control (including speed control in speed-position switching control or
position-speed switching control) or during manual control, independently of the
values set in [Pr.12], [Pr.13] and [Pr.15].
REMARK
Parameters are set for each axis.
It is recommended that the parameters be set whenever possible with GX Works2.
Execution by sequence program uses many sequence programs and devices. The
execution becomes complicated, and the scan times will increase.
13 - 33
Chapter 13 Control Sub Functions
359.99999° 359.99999°
0° 0° 0°
Fig. 13.15 Current value address when the control unit is "degree".
Lower limit
90
Section B
Fig. 13.16 Software stroke limit when the control unit is "degree"
13 - 34
Chapter 13 Control Sub Functions
DANGER
When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic
using b-contact. If it is set in positive logic using a-contact, a serious accident may occur.
In the "hardware stroke limit function", limit switches are set at the upper/lower limit of
the physical moveable range, and the control is stopped (by deceleration stop) by the
input of a signal from the limit switch. Damage to the machine can be prevented by
stopping the control before the upper/lower limit of the physical moveable range is
reached.
The hardware stroke limit is able to use the following signals. (Refer to the "[Pr.80]
External input signal selection".)
External input signal of QD77MS
External input signal of servo amplifier
External input signal via CPU (buffer memory of QD77MS)
The details shown below explain about the "hardware stroke limit function".
[1] Control details
[2] Wiring the hardware stroke limit
[3] Precautions during control
[4] When the hardware stroke limit function is not used
13 - 35
Chapter 13 Control Sub Functions
13 - 36
Chapter 13 Control Sub Functions
FLS DI1
(FLS)
RLS DI2
(RLS)
COM DICOM
24VDC 24VDC
(Note): Wire the limit switch installed in the direction to which "Current feed value" increases as upper
limit switch and the limit switch installed in the limit switch installed in the direction to which
"Current feed value" decreases as lower limit switch. If inverting the install positions of
upper/lower limit switches, hardware stroke limit function cannot be operated properly. In
addition, the servomotor does not stop. Refer to each servo amplifier instruction manual for
details about the "Rotation direction selection/travel direction selection (PA14)".
13 - 37
Chapter 13 Control Sub Functions
FLS DI1
(FLS)
RLS DI2
(RLS)
COM DICOM
24VDC 24VDC
Fig. 13.19 Wiring when not using the hardware stroke limit function
(When "[Pr.22] Input signal logic selection" is the initial value)
13 - 38
Chapter 13 Control Sub Functions
DANGER
When the forced stop is required to be wired, ensure to wire it in the negative logic using b-
contact.
Provided safety circuit outside the Simple Motion module so that the entire system will operate
safety even when the "[Pr.82] Forced stop valid/invalid selection" is set "1: Invalid". Be sure to
use the forced stop signal (EMI) of the servo amplifier.
By the Simple Motion module external input connection connector is connected forced
stop input, this function is available for all axes of servo amplifier. (The initial value is
"0: Valid".)
The forced stop input valid/invalid is selected by "[Pr.82] Forced stop valid/invalid
selection".
The details shown below explain about the "forced stop function".
[1] Control details
[2] Wiring the forced stop
[3] Setting the forced stop
[4] How to check the forced stop
[5] Precautions during control
13 - 39
Chapter 13 Control Sub Functions
The following drawing shows the operation of the forced stop function.
(Note): Refer to Section 3.3 for input/output signal and Chapter 5 for buffer memory address of QD77MS16.
EMI
24VDC
EMI.COM
13 - 40
Chapter 13 Control Sub Functions
13 - 41
Chapter 13 Control Sub Functions
Functions to change the control details include the "speed change function", "override
function", "acceleration/deceleration time change function", "torque change function"
and "target position change function". Each function is executed by parameter setting
or sequence program creation and writing.
Refer to Section 3.2.5 "Combination of QD77MS main functions and sub functions" for
combination with main function.
Both the "speed change function" or "override function" change the speed, but the
differences between the functions are shown below. Use the function that corresponds
to the application.
"Override function"
The speed is changed for all control to be executed.
The new speed is set as a percent (%) of the command speed.
POINT
"Speed change function" and "Override function" cannot be used in the manual
pulse generator operation and speed-torque control.
The speed control function is used to change the speed during control to a newly
designated speed at any time.
The new speed is directly set in the buffer memory, and the speed is changed by a
speed change command ([Cd.15] Speed change request) or external command signal.
During the machine OPR, a speed change to the creep speed cannot be carried out
after deceleration start because the near point dog ON is detected.
The details shown below explain about the "speed change function".
[1] Control details
[2] Precautions during control
[3] Setting the speed change function from the PLC CPU
[4] Setting the speed change function using an external command signal
13 - 42
Chapter 13 Control Sub Functions
V3
t
Md. 40 In speed change processing flag
Speed change
command
(2) When changing the speed during continuous path control, the speed change
will be ignored if there is not enough distance remaining to carry out the
change.
13 - 43
Chapter 13 Control Sub Functions
(3) When the stop command was given to make a stop after a speed change
that had been made during position control, the restarting speed depends
on the "[Cd.14] New speed value".
V
Da. 8 Command speed
Speed change
command Cd. 14 New speed value
Restarting
Stop command command
t
Fig. 13.24 Restarting speed after speed change made during position control
(4) When the speed is changed by setting "[Cd.14] New speed value" to "0", the
operation is carried out as follows.
When "[Cd.15] Speed change request" is turned ON, the speed change 0
flag ([Md.31] Status: b10) turns ON.
(During interpolation control, the speed change 0 flag on the reference axis
side turns ON.)
The axis stops, but "[Md.26] Axis operation status" does not change, and
the BUSY signal remains ON. (If a stop signal is input, the BUSY signal
will turn OFF, and "[Md.26] Axis operation status" will change to
"stopped".)
In this case, setting the "[Cd.14] New speed value" to a value besides "0"
will turn OFF the speed change 0 flag ([Md.31] Status: b10), and enable
continued operation.
Positioning operation
ON
Speed change 0 flag OFF
( Md. 31 status: b10)
13 - 44
Chapter 13 Control Sub Functions
(5) The warning "Deceleration/stop speed change" (warning code: 500) occurs
and the speed cannot be changed in the following cases.
During deceleration by a stop command
During automatic deceleration during positioning control
(6) The warning "Speed limit value over" (warning code: 501) occurs and the
speed is controlled at the "[Pr.8] Speed limit value" when the value set in
"[Cd.14] New speed value" is larger than the "[Pr.8] Speed limit value".
(7) When the speed is changed during interpolation control, the required speed
is set in the reference axis.
(8) When carrying out consecutive speed changes, be sure there is an interval
between the speed changes of 100ms or more.
(If the interval between speed changes is short, the Simple Motion module
will not be able to track, and it may become impossible to carry out
commands correctly.)
(9) When a speed change is requested simultaneously for multiple axes, change
the speed one by one.
Therefore, the start timing of speed change is different for each axis.
(10) Speed change cannot be carried out during the machine OPR. A request for
speed change is ignored.
(11) When deceleration is started by the speed change function, the deceleration
start flag does not turn ON.
(12) The speed change function cannot be used during speed control mode,
torque control mode or continuous operation to torque control mode.
Refer to Section 12.1 "Speed-torque control" for the speed change during
speed control mode or continuous operation to torque control mode.
[3] Setting the speed change function from the PLC CPU
The following shows the data settings and sequence program example for
changing the control speed of axis 1 from the PLC CPU. (In this example, the
control speed is changed to "20.00mm/min".)
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
13 - 45
Chapter 13 Control Sub Functions
Fig. 13.26 Time chart for changing the speed from the PLC CPU
(3) Add the following sequence program to the control program, and write it to
the PLC CPU.
X32
483 PLS M11 <Pulsate speed change command>
M11 X0C
490 SET M12 <Hold speed change command>
M12
494 DMOVP PLS
K2000 M11
D11 <Set speed change value
(20.00mm/min)>
MOVP PLS
K1 M11
D13 <Set speed change request>
U0\
=
G1516 K0
RST M12 <Turn OFF speed change request
memory>
13 - 46
Chapter 13 Control Sub Functions
(1) Set the following data to change the speed using an external command
signal.
(Use the speed change time chart shown in section (2) below as a reference,
and set using the sequence program shown in section (3).)
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
External command
[Pr.42] 1 Set "1: External speed change request". 62+150n
function selection
External command
[Cd.8] 1 Set "1: Validate the external command". 1505+100n 4305+100n
valid
1514+100n 4314+100n
[Cd.14] New speed value 1000000 Set the new speed.
1515+100n 4315+100n
n: Axis No.-1
: Set the external command signal (D1) in "[Pr.95] External command signal selection" at QD77MS16 use.
Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for details on the setting details.
Fig. 13.27 Time chart for changing the speed using an external command signal
13 - 47
Chapter 13 Control Sub Functions
(3) Add the following sequence program to the control program, and write it to
the PLC CPU.
External command
valid signal [Speed change processing]
DTOP H0 K1514 D108 K1 <Write the new speed. >
Input the external command signal. (QD77MS starts speed change processing.)
13 - 48
Chapter 13 Control Sub Functions
Md. 22 Feedrate 50 1 25 75 50 75
V
Not affected by the override value Not enough remaining
distance could be secured,
during deceleration
so operation is carried out
at an increased speed.
13 - 49
Chapter 13 Control Sub Functions
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
13 - 50
Chapter 13 Control Sub Functions
(2) The following shows a time chart for changing the speed using the override
function.
V
Dwell time
Fig.13.29 Time chart for changing the speed using the override function
(3) Add the following sequence program to the control program, and write it to
the PLC CPU.
X33
514 PLS M13 <Pulsate override command>
M13 X0C
521 MOV K200 D14 <Set override value (200%)>
U0\
MOV D14 G1513 <Write override value>
13 - 51
Chapter 13 Control Sub Functions
The details shown below explain about the "acceleration/deceleration time change
function".
[1] Control details
[2] Precautions during control
[3] Setting the acceleration/deceleration time change function
13 - 52
Chapter 13 Control Sub Functions
Cd.15 Speed
change request
t
Cd.12 Acceleration/deceleration
time change during
Disabled
speed change, enable/
disable selection
V
Operation with the acceleration/deceleration
time ( Cd. 10 and Cd. 11 ) set in the buffer memory.
Cd.15 Speed
change request
Cd.12 Acceleration/deceleration
time change during Disabled Enabled
speed change, enable/
disable selection
13 - 53
Chapter 13 Control Sub Functions
V Speed change
Speed change
13 - 54
Chapter 13 Control Sub Functions
(4) If the "new acceleration/deceleration time" is set to "0" and the speed is
changed after the "new acceleration/deceleration time" is validated, the
operation will be controlled with the previous "new acceleration/deceleration
time".
Example
New acceleration/deceleration
time ( Cd. 10 , Cd. 11 )
V Speed change
Speed change
Speed change
POINT
If the speed is changed when an acceleration/deceleration change is enabled, the
"new acceleration/deceleration time" will become the acceleration/deceleration time
of the positioning data being executed. The "new acceleration/deceleration time"
remains valid until the changeover to the next positioning data. (The automatic
deceleration processing at the completion of the positioning will also be controlled
by the "new acceleration/deceleration time".)
13 - 55
Chapter 13 Control Sub Functions
X34
531 PLS M14 <Pulsate acceleration/deceleration time change
M14 X0C command>
538 DMOV K2000 D15 <Set 2000ms for acceleration time>
13 - 56
Chapter 13 Control Sub Functions
The "torque change function" is used to change the torque limit value during torque
limiting.
The torque limit value at the control start is the value set in the "[Pr.17] Torque limit
setting value" or "[Cd.101] Torque output setting value".
: Forward torque limit value: The limit value to the generated torque during CW regeneration at
the CCW driving of the servo motor.
Reverse torque limit value: The limit value to the generated torque during CCW regeneration
at the CW driving of the servo motor.
Set previously "same setting" or "individual setting" of the forward/reverse torque limit
value in "[Cd.112] Torque change function switching request". Set the new torque
value (forward new torque value/reverse new torque value) in the axis control data
([Cd.22] and [Cd.113]) shown below.
Setting items
Torque change function Torque change function New torque value
switching request ([Cd.112]) ([Cd.22], [Cd.113])
New torque value/
Forward/reverse torque limit 0: Forward/reverse torque limit [Cd.22] forward new torque
value same setting value same setting value
[Cd.113] Setting invalid
New torque value/
[Cd.22] forward new torque
Forward/reverse torque limit 1: Forward/reverse torque limit value
value individual setting value individual setting
Reverse new torque
[Cd.113]
value
The details shown below explain about the "torque change function".
[1] Control details
[2] Precautions during control
[3] Setting the torque change function start signal
13 - 57
Chapter 13 Control Sub Functions
Each operation
Positioning start
signal [Y10]
1 1
Pr.17 Torque limit setting 300 250
value
2 2 2
Cd.101 Torque output setting 0 100 150
value
Md.35 Torque limit stored value/ 0 300 300 200 100 75 230 150
forward torque limit
stored value
1: The torque limit setting value or torque output setting value becomes effective at the PLC READY signal [Y0] rising edge
(however, after the servo turned ON.)
If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value will be its value.
2: The torque limit setting value or torque output setting value becomes effective at the positioning start signal [Y10] rising edge,
and the torque limit value is updated.
If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value will be its value.
3: The torque change value is cleared to "0" at the positioning start signal [Y10] rising edge.
4: The torque limit value is changed by the torque changed value.
5: When the new torque value is 0, a torque change is considered not to be carried out.
6: When the change value is exceeds the torque limit value, a torque change is considered not to be carried out.
(Note): Refer to Section 3.3 for input/output signal and Chapter 5 for buffer memory address of QD77MS16.
Fig. 13.31 Torque change operation (forward/reverse torque limit value same setting) (Axis 1)
13 - 58
Chapter 13 Control Sub Functions
Each operation
1 1
Pr.17 Torque limit setting 300 250
value
2 2 2
Cd.101 Torque output setting 0 100 150
value
Md.120 Reverse torque limit 0 300 300 120 100 200 80 150
stored value
1: The torque limit setting value or torque output setting value becomes effective at the PLC READY signal [Y0] rising edge
(however, after the servo turned ON.)
2: The torque limit setting value or torque output setting value becomes effective at the positioning start signal [Y10] rising edge,
and the torque limit value is updated.
3: The torque change value is cleared to "0" at the positioning start signal [Y10] rising edge.
4: The torque limit value is changed by the torque changed value.
5: When the new torque value is 0, a torque change is considered not to be carried out.
6: When the change value is exceeds the torque limit value, a torque change is considered not to be carried out.
(Note): Refer to Section 3.3 for input/output signal and Chapter 5 for buffer memory address of QD77MS16.
Fig. 13.32 Torque change operation (forward/reverse torque limit value individual setting) (Axis 1)
1: Forward/reverse torque limit value individual [Cd.22] New torque value/forward new torque value
setting [Cd.113] Reverse new torque value
13 - 59
Chapter 13 Control Sub Functions
(2) The "[Cd.22] New torque value/forward new torque value" or "[Cd.113]
Reverse new torque value" is validated when written to the Simple Motion
module.
(Note that it is not validated from the time the power supply is turned ON to
the time the PLC READY signal [Y0] is turned ON.)
(3) If the setting value of "[Cd.22] New torque value/forward new torque value"
is outside the setting range, the warning "Outside new torque value
range/outside forward new torque value range" (warning code: 113) will
occur and the torque will not be changed.
If the setting value of "[Cd.113] Reverse new torque value" is outside the
setting range, the warning "Outside reverse new torque value range"
(warning code: 115) will occur and the torque will not be changed.
(4) If the time to hold the new torque value is not more than 100ms, a torque
change may not be executed.
(5) When changing from "0: Forward/reverse torque limit value same setting" to
"1: Forward/reverse torque limit value individual setting" by the torque
change function, set "0" or same value set in "[Cd.22] New torque
value/forward new torque value" in "[Cd.113] Reverse new torque value"
before change.
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
13 - 60
Chapter 13 Control Sub Functions
(b) When the speed is changed simultaneously with changing the address:
Speed after
change
V
Speed before
change
Address after
change
Positioning address
13 - 61
Chapter 13 Control Sub Functions
POINT
When carrying out the target position change continuously, take an interval of 100
ms or longer between the times of the target position changes. Also, take an
interval of 100 ms or longer when the speed change and override is carried out
after changing the target position or the target position change is carried out after
the speed change and override.
13 - 62
Chapter 13 Control Sub Functions
[3] Method of setting target position change function from PLC CPU
The following table and chart show the example of a data setting and sequence
program used to change the target position of the axis 1 by the command from
the PLC CPU, respectively. (example in which the target position value and
command speed are changed to a new target position of "300.0 m" and a new
command speed of "10000.00 mm/min".)
(1) The following data is set.
(Referring to the target position change time chart shown in item (2) below,
carry out the setting with the sequence program shown in item (3).)
Target position
Set "1: Requests a change in the target
[Cd.29] change request 1 1538+100n 4338+100n
position".
flag
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
(2) The following shows the time chart for target position change.
Fig. 13.34 Time chart for target position change from PLC CPU
13 - 63
Chapter 13 Control Sub Functions
(3) The following sequence program is added to the control program, and written
to the PLC CPU.
[QD77MS4 program example]
X45
529 PLS M30 <Pulsate target position change command>
M30 X0C
536 SET M31 <Hold target position change command>
M31
540 DMOVP K3000 D23 <Set target position change value 300.0 m
(address)>
DMOVP K0 D25
U0\
= G1538 K0 RST M31 <Turn OFF target position change command
memory>
13 - 64
Chapter 13 Control Sub Functions
The Simple Motion module can construct an absolute position system by installing the
absolute position system and connecting it through SSCNET /H.
The following describes precautions when constructing the absolute position system.
The configuration of the absolute position system is shown below.
Battery
Servomotor
M
Simple Motion
PLC module Position command Servo amplifier
Position command
CPU Control command
Control command
Servo parameter
Servo parameter
OPR Back-up
address
Monitor data Monitor data
Encoder
n: Axis No.-1
13 - 65
Chapter 13 Control Sub Functions
[2] OPR
The absolute position system can establish the OP position, using "Data set
method", "Near-point dog method", "Count method" and "Scale origin signal
detection method" OPR method.
In the "Data set method" OPR method, the location to which the location of the
OP position is moved by manual operation (JOG operation/manual pulse
generator operation) is treated as the OP position.
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Chapter 13 Control Sub Functions
Other functions include the "step function", "skip function", "M code output function",
"teaching function", "command in-position function", "acceleration/deceleration
processing function", "pre-reading start function", "deceleration start flag function",
"stop command processing for deceleration stop function", "follow up processing
function", "speed control 10 multiplier setting for degree axis function" and
"operation setting for incompletion of OPR function". Each function is executed by
parameter setting or sequence program creation and writing.
The "step function" is used to confirm each operation of the positioning control one by
one.
It is used in debugging work for major positioning control, etc.
A positioning operation in which a "step function" is used is called a "step operation".
In step operations, the timing for stopping the control can be set. (This is called the
"step mode".) Control stopped by a step operation can be continued by setting "step
continues (to continue the control)" in the "step start information".
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Chapter 13 Control Sub Functions
The warning "Step not possible" (warning code: 511) will occur if the "[Md.26]
Axis operation status" is as shown below or the step valid flag is OFF when step
start information is set.
[Md.26] Axis operation status Step start results
Standby
Stopped
Interpolation
JOG operation
Manual pulse generator operation
Analyzing
Special start standby
OPR
Position control
Speed control Step not continued by warning
Speed control in speed-position switching control
Position control in speed-position switching control
Speed control in position-speed switching control
Position control in position-speed switching control
Synchronous control
Control mode switch
Speed control
Torque control
Continuous operation to torque control
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Chapter 13 Control Sub Functions
Start
Turn ON the step valid flag. Write "1" (carry out step operation) in " Cd.35 Step valid flag".
Start positioning.
NO
NO
NO
Turn OFF the step valid flag. Write "0" (carry out no step operation) in " Cd.35 Step valid flag".
End
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Chapter 13 Control Sub Functions
ON
Cd. 35 Step valid flag OFF
ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
ON
BUSY signal OFF
[XC, XD, XE, XF] ON
Positioning complete signal OFF
[X14, X15, X16, X17] V
Positioning
t
(2) The following drawing shows a step operation during a "data No. unit step".
Fig. 13.38 Operation during step execution positioning data No. unit step
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Chapter 13 Control Sub Functions
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
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Chapter 13 Control Sub Functions
The "skip function" is used to stop (deceleration stop) the control of the positioning
data being executed at the time of the skip signal input, and execute the next
positioning data.
A skip is executed by a skip command ([Cd.37] Skip command) or external command
signal.
The "skip function" can be used during control in which positioning data is used.
Fig. 13.39 Operation when a skip signal is input during positioning control
13 - 72
Chapter 13 Control Sub Functions
(6) The skip cannot be carried out by the speed control and position-speed
switching control.
(7) If the skip signal is turned ON with the M code signal turned ON, the
transition to the next data is not carried out until the M code signal is turned
OFF.
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
(2) Add the following sequence program to the control program, and write it to
the PLC CPU.
1) When the "skip command" is input, the value "1" (skip request) set in
"[Cd.37] Skip command" is written to the buffer memory of Simple
Motion module.
X38
454 PLS M17 <Pulsate skip command>
M17 X0C
461 SET M18 <Save skip command ON>
M18 U0\
465 MOVP PLS
K1 M11
G1547 <Write skip command>
U0\
=
G1547 K0 RST M18 <Turn OFF skip command
memory>
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Chapter 13 Control Sub Functions
n: Axis No.-1
: Refer to Section 5.2 "List of parameter" or Section 5.7 "List of control data" for details on the setting details.
(2) Add the following sequence program to the control program, and write it to
the PLC CPU.
[QD77MS4 program example]
Skip function
selection command
TOP H0 K62 K3 K1 <Select skip request>
Skip request
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Chapter 13 Control Sub Functions
The "M code output function" is used to command sub work (clamping, drill rotation,
tool replacement, etc.) related to the positioning data being executed.
When the M code ON signal is turned ON during positioning execution, a No. called
the M code is stored in "[Md.25] Valid M code". These "[Md.25] Valid M code" are read
from the PLC CPU, and used to command auxiliary work. M codes can be set for each
positioning data. (Set in setting item "[Da.10] M code/Condition data No./Number of
LOOP to LEND repetitions" of the positioning data.)
The timing for outputting (storing) the M codes can also be set in the "M code output
function".
The details shown below explain about the "M code output function".
[1] M code ON signal output timing
[2] M code OFF request
[3] Precautions during control
[4] Setting the M code output function
[5] Reading M codes
V Dwell time
Positioning
t
Da. 1 Operation pattern 01 00
1: m1 and m2 indicate set M codes.
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Chapter 13 Control Sub Functions
V
Positioning
t
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
The next positioning data will be processed as follows if the M code ON signal is
not turned OFF. (The processing differs according to the "[Da.1] Operation
pattern".)
[Da.1] Operation pattern Processing
Independent positioning control
00 The next positioning data will not be executed until the M code ON
(Positioning control)
signal is turned OFF.
01 Continuous positioning control
The next positioning data will be executed. If the M code is set to
11 Continuous path control the next positioning data, the warning "M code ON signal ON"
(warning code: 503) will occur.
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Chapter 13 Control Sub Functions
Positioning
t
Fig. 13.42 Warning due to an M code ON signal during continuous path control
POINT
If the M code output function is not required, set a "0" in setting item "[Da.10] M
code/Condition data No./Number of LOOP to LEND repetitions" of the positioning
data.
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Chapter 13 Control Sub Functions
Set the required value in the following parameter, and write it to the Simple
Motion module.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal [Y0].
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Set the timing to output the M code ON signal.
M code ON signal
[Pr.18] 0: WITH mode 27+150n
output timing
1: AFTER mode
n: Axis No.-1
: Refer to Section 5.2 "List of parameters" for setting details.
n: Axis No.-1
: Refer to Section 5.6 "List of monitor data" for information on the storage details.
The following shows a sequence program example for reading the "[Md.25] Valid
M code" to the PLC CPU data register (D110). (The read value is used to
command the sub work.)
Read M codes not as "rising edge commands", but as "ON execution
commands".
M code ON signal
FROM H0 K808 D110 K1
ON execution command
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Chapter 13 Control Sub Functions
The "teaching function" is used to set addresses aligned using the manual control
(JOG operation, inching operation manual pulse generator operation) in the positioning
data addresses ("[Da.6] Positioning address/movement amount", "[Da.7] Arc address").
Positioning data
Positions aligned by manual
control
[Da.6] Positioning address/movement
"Current feed value" A amount
13 - 79
Chapter 13 Control Sub Functions
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
13 - 80
Chapter 13 Control Sub Functions
Start
Confirm completion of the teaching. • • • • • • • • Confirm that the buffer memory address [1549] has become 0.
NO
End teaching?
YES
Confirm the completion of the writing. • • • • • • • • Confirm that the buffer memory address [1900] has become 0.
End
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Chapter 13 Control Sub Functions
(2) When teaching to the "[Da.7] Arc address", then teaching to the "[Da.6]
Positioning address/movement amount"
(Teaching example for 2-axis circular interpolation control with sub point
designation on QD77MS4 [axis 1] and [axis 2])
Start
Confirm completion of the teaching. • • • • • • • • Confirm that the buffer memory address [1549] has become 0.
Confirm completion of the teaching. • • • • • • • • Confirm that the buffer memory address [1549] has become 0.
2 1
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Chapter 13 Control Sub Functions
2 1
Teaching arc end point • • • • • • • • Entering teaching data to buffer memory address
address on axis 2. [1648] and [1649], in the same fashion as for axis 1.
NO
End teaching?
YES
Carry out a writing request to • • • • • • • • Set 1 in the buffer memory address [1900].
the flash ROM.
End
[Motion path]
(Axis 2)
Forward direction
Target position
X39
477 PLS M19 <Pulsate teaching command>
M19 X0C
488 SET M20 <Hold teaching command>
M20
492 MOVP H0 D35 <Set teaching data>
POINT
(1) Confirm the teaching function and teaching procedure before setting the positioning data.
(2) The positioning addresses that are written are absolute address (ABS) values.
(3) The positioning data written by the teaching function overwrites the data of the buffer
memory only. Therefore, read from the buffer memory and write to the flash ROM before
turning the power OFF as necessary.
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Chapter 13 Control Sub Functions
The "command in-position function" checks the remaining distance to the stop position
during the automatic deceleration of positioning control, and sets "1". This flag is called
the "command in-position flag". The command in-position flag is used as a front-
loading signal indicating beforehand the completion of the position control.
The details shown below explain about the "command in-position function".
[1] Control details
[2] Precautions during control
[3] Setting the command in-position function
[4] Confirming the command in-position flag
Command in-position
width setting value
Positioning t
ON
Command in-position flag OFF
( Md.31 Status : b2)
(2) A command in-position width check is carried out every operation cycle.
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Chapter 13 Control Sub Functions
Command in-position
V width setting value Speed to position switching
Speed-position
Positioning switching Command in-position
control start control start width setting value
Execution of the command in-position width check Execution of the command in-position
width check
(2) The command in-position flag will be turned OFF in the following cases.
("0" will be stored in "[Md.31] Status: b2".)
At the positioning control start
At the speed control start
At the speed-position switching control, position-speed switching control
start
At the OPR control start
At the JOG operation start
At the inching operation start
When the manual pulse generator operation is enabled
(3) The "[Pr.16] Command in-position width" and command in-position flag
([Md.31] Status: b2) of the reference axis are used during interpolation
control.
When the "[Pr.20] Interpolation speed designation method" is "Composite
speed", the command in-position width check is carried out in the remaining
distance on the composite axis (line/arc connecting the start point address
and end point address).
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Chapter 13 Control Sub Functions
n: Axis No.-1
: Refer to Section 5.6 "List of monitor data" for information on the storage details.
REMARK
Parameters are set for each axis.
It is recommended that the parameters be set whenever possible with GX Works2.
Execution by sequence program uses many sequence programs and devices. The
execution becomes complicated, and the scan times will increase.
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Chapter 13 Control Sub Functions
Setting Factory-set
Setting item Setting details
value initial value
[Pr.9] Acceleration time 0 1000
[Pr.25] Acceleration time 1 Set the acceleration time at a value within the range 1000
[Pr.26] Acceleration time 2 of 1 to 8388608 ms. 1000
[Pr.27] Acceleration time 3 1000
[Pr.10] Deceleration time 0 1000
[Pr.28] Deceleration time 1 Set the deceleration time at a value within the range 1000
[Pr.29] Deceleration time 2 of 1 to 8388608 ms. 1000
[Pr.30] Deceleration time 3 1000
: Refer to Section 5.2 "List of parameters" for setting details.
13 - 88
Chapter 13 Control Sub Functions
13 - 89
Chapter 13 Control Sub Functions
REMARK
Parameters are set for each axis.
It is recommended that the parameters be set whenever possible with GX Works2.
Execution by sequence program uses many sequence programs and devices. The
execution becomes complicated, and the scan times will increase.
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Chapter 13 Control Sub Functions
The "pre-reading start function" does not start servo while the execution prohibition flag
is ON if a positioning start request is given with the execution prohibition flag ON, and
starts servo within operation cycle after OFF of the execution prohibition flag is
detected. The positioning start request is given when the axis is in a standby status,
and the execution prohibition flag is turned OFF at the axis operating timing.
[1] Controls
The pre-reading start function is performed by turning ON the positioning start
signal with the execution prohibition flag ON, or by executing the dedicated
instruction (ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, and ZP.PSTRT4). However,
if positioning is started with the execution prohibition flag ON, the positioning data
is analyzed but servo start is not provided. While the execution prohibition flag is
ON, "[Md.26] Axis operation status" remains unchanged from "5: Analyzing". The
servo starts within operation cycle after the execution prohibition flag has turned
OFF, and "[Md.26] Axis operation status" changes to the status (e.g. position
control, speed control) that matches the control system. (Refer to Fig.13.48)
13 - 91
Chapter 13 Control Sub Functions
13 - 92
Chapter 13 Control Sub Functions
X4C
20 RST Y14 <Turns OFF execution prohibition flag>
Y10 X10 DX0C
23 RST Y10 <Turns OFF positioning start signal>
X8
Use the direct access input as BUSY
signal to use this program example.
31 END
X4B
0 SET Y14 <Turns ON execution prohibition flag>
37 END
13 - 93
Chapter 13 Control Sub Functions
The "deceleration start flag function" turns ON the flag when the constant speed status
or acceleration status switches to the deceleration status during position control whose
operation pattern is "Positioning complete". This function can be used as a signal to
start the operation to be performed by other equipment at each end of position control
or to perform preparatory operation, etc. for the next position control.
For the "deceleration start flag function", the following will be explained.
[1] Control details
[2] Precautions during control
[3] Deceleration start flag function setting method
[4] Checking of deceleration start flag
Time
The following table indicates the operation of the deceleration start flag in the
case of the following block start data and positioning data.
[Da.13]
Block start [Da.11] [Da.12]
Special start
data Shape Start data No.
instruction
1st point 1: Continue 1 0: Block start
2nd point 1: Continue 3 0: Block start
3rd point 0: End 4 0: Block start
13 - 94
Chapter 13 Control Sub Functions
Positioning [Da.1]
Data No. Operation pattern
1 01: Continuous positioning control
2 00: Positioning complete
3 00: Positioning complete
4 11: Continuous path control
5 00: Positioning complete
V
1st point: Continue (1) 2nd point: Continue (1) 3rd point: End (0)
Operation
pattern
Positioning complete (00)
Positioning complete (00)
Continuous
Positioning complete (00) Continuous path
positioning
control (01) control (11)
13 - 95
Chapter 13 Control Sub Functions
(6) When the movement direction is reversed by a target position change, the
deceleration start flag turns ON.
Time
: Refer to Section 5.7 "List of control data" for details on the setting details.
n: Axis No.-1
: Refer to Section 5.6 "List of monitor data" for information on the storage details.
13 - 96
Chapter 13 Control Sub Functions
The "stop command processing for deceleration stop function" is provided to set the
deceleration curve if a stop cause occurs during deceleration stop processing
(including automatic deceleration).
This function is valid for both trapezoidal and S-curve acceleration/deceleration
processing methods.
(For the stop cause, refer to Section 1.2.3 "Outline of stopping".)
The "stop command processing for deceleration stop function" performs the following
two operations:
(1) Deceleration curve re-processing
Re-processes a deceleration curve starting from the speed at stop cause
occurrence until at a stop, according to the preset deceleration time.
(2) Deceleration curve continuation
Continues the current deceleration curve after a stop cause has occurred.
This section explains the "stop command processing for deceleration stop function" as
follows:
[1] Control
[2] Precautions for control
[3] Setting method
[1] Control
The operation of "stop command processing for deceleration stop function" is
explained below.
Fig. 13.51 Deceleration curve re-processing operation (for position control or S-curve
acceleration/deceleration processing)
13 - 97
Chapter 13 Control Sub Functions
Deceleration stop
processing (automatic
deceleration) start
Fig. 13.52 Deceleration curve continuation operation (for position control or S-curve
acceleration/deceleration processing)
t t
(Sudden stop in front of the specified positioning address) (Immediate stop at the specified positioning address)
Fig. 13.53 Sudden stop operation (for position control or S-curve acceleration/deceleration processing)
13 - 98
Chapter 13 Control Sub Functions
: For details of the setting details, refer to Section 5.7 "List of control data".
13 - 99
Chapter 13 Control Sub Functions
The "Speed control 10 x multiplier setting for degree axis function" is provided to
execute the positioning control by 10 x speed of the setting value in the command
speed and the speed limit value when the setting unit is "degree".
This section explains the "speed control 10 multiplier specifying function for degree
axis" as follows:
[1] Control details
[2] Setting method of "Speed control 10 x multiplier setting for degree axis function"
13 - 100
Chapter 13 Control Sub Functions
13 - 101
Chapter 13 Control Sub Functions
: Refer to Section 5.2.4 "Detailed parameters 2" for details on the setting details.
13 - 102
Chapter 13 Control Sub Functions
The "Operation setting for incompletion of OPR function" is provided to select whether
positioning control is operated or not, when OPR request flag is ON.
This section explains the "Operation setting for incompletion of OPR function" as
follows:
[1] Control details
[2] Precautions during control
[3] Setting method of "Operation setting for incompletion of OPR function"
13 - 103
Chapter 13 Control Sub Functions
(2) When OPR request flag ([Md.31] Status: b3) is ON, starting Fast OPR will
result in the error "OPR request ON" (error code: 207) despite the setting
value of "[Pr.55] Operation setting for incompletion of OPR", and Fast OPR
will not be performed.
: Refer to Section 5.2.6 "OPR detailed parameters" for details on the setting details.
13 - 104
Chapter 13 Control Sub Functions
This function executes servo ON/OFF of the servo amplifiers connected to the Simple
Motion module.
By establishing the servo ON status with the servo ON command, servo motor
operation is enabled.
A list of the "All axis servo ON [Y1]" and "[Cd.100] Servo OFF command" is given
below.
POINT
When the delay time of "Electromagnetic brake sequence output (PC02)" is used,
execute the servo ON to OFF by "[Cd.100] Servo OFF command". (When all axis
servo ON [Y1] is turned ON to OFF, execute the servo OFF and turn off [Y1] after
delay time passes.)
Refer to each servo amplifier instruction manual for details of servo ON command
OFF and ready ON command OFF from Simple Motion module.
13 - 105
Chapter 13 Control Sub Functions
POINT
If the servomotor is rotated by external force during the servo OFF status, follow
up processing is performed.
Change between servo ON or OFF status while operation is stopped (position
control mode).
The servo OFF command of during positioning in position control mode, manual
pulse control, OPR, speed control mode, torque control mode and continuous
operation to torque control mode will be ignored.
When the servo OFF is given to all axes, "All axis servo ON [Y1]" is applied even
if all axis servo ON command is turned ON to OFF with "[Cd.100] Servo OFF
command" set "0".
13 - 106
Chapter 13 Control Sub Functions
ON
All axis servo ON [Y1] OFF
POINT
The follow-up function performs the process if the "Simple Motion module and
the servo amplifier is turned ON" and "servo OFF" regardless of the presence of
the absolute position system.
13 - 107
Chapter 13 Control Sub Functions
MEMO
13 - 108
Chapter 14 Common Functions
The details and usage of the "common functions" executed according to the user's
requirements are explained in this chapter.
Common functions include functions required when using the Simple Motion module,
such as parameter initialization and execution data backup.
Read the setting and execution procedures for each common function indicated in this
chapter thoroughly, and execute the appropriate function where required.
14 - 1
Chapter 14 Common Functions
The following table shows the functions included in the "common functions".
Means
Common function Details Sequence
GX Works2
program
This function returns the parameter stored in the
buffer memory/internal memory and flash
Parameter initialization function
ROM/internal memory (nonvolatile) of Simple Motion
module to the factory-set initial value.
This function writes the "execution data", currently
Execution data backup
being used for control, to the flash ROM/internal
function
memory (nonvolatile).
This function is used to select from the following
signals when using the upper/lower limit signal, near-
point dog signal, and stop signal.
External signal selection • External input signal of QD77MS
function
• External input signal of servo amplifier
• External input signal via CPU (the buffer memory of
QD77MS)
This function switches I/O signal logic according to
the equipment connected to the Simple Motion
module.
External I/O signal logic
For the system in which with b-contact, upper limit
switching function
switch, and lower limit switch are not used, the
parameter logic setting can be controlled without
wiring if it is changed to a "positive logic".
This function monitors start history, error history,
History monitor function warning history, and current value history of all —
axes.
This function executes the positioning control of
Simple Motion module without connecting to the
Amplifier-less operation
servo amplifiers. —
function
It is used to debug the program at the start-up of the
device or simulate the positioning operation.
This function executes the operation as the axis
(virtual servo amplifier axis) that operates only
Virtual servo amplifier function
command (instruction) virtually without servo
amplifiers.
This function uses the "Master-slave operation
function" of servo amplifier. The Simple Motion
module controls the master axis and the slave axis is
Driver communication function
controlled by data communication between servo
amplifiers (driver communication) without Simple
Motion module.
This function is used to latch any data at the input
Mark detection function
timing of the mark detection signal (DI1 to DI4).
This function is used to store the data selected by
Optional data monitor function user up to 4 data per axis to buffer memory and
monitor them.
14 - 2
Chapter 14 Common Functions
Means
Common function Details Sequence
GX Works2
program
This function collects errors occurred in the Simple
Motion module in the PLC CPU.
Module error collection function Holding the error contents in the PLC CPU, this —
function enables to check the error history even after
the PLC CPU in powered off or reset.
Temporarily connect/disconnect of SSCNET
communication is executed during system's power
Connect/disconnect function of
supply ON. —
SSCNET communication
This function is used to exchange the servo
amplifiers or SSCNET cables.
This function is used to set the factory-set initial
QD75MH initial value setting value of QD75MH in the setting data set in the
—
function QD77MS buffer memory/internal memory and flash
ROM/internal memory (nonvolatile).
This function is used to execute deceleration stop
Hot line forced stop function safety for other axes when the servo alarm occurs
in the servo amplifier MR-JE-B.
14 - 3
Chapter 14 Common Functions
The "parameter initialization function" is used to return the setting data set in the buffer
memory/internal memory and flash ROM/internal memory (nonvolatile) of Simple
Motion module to their factory-set initial values.
The details shown below explain about the "parameter initialization function".
[1] Parameter initialization means
[2] Control details
[3] Precautions during control
[4] Parameter initialization method
Refer to the "Simple Motion Module Setting Tool Help" of GX Works2 for the
execution method by GX Works2.
14 - 4
Chapter 14 Common Functions
Important
Parameter initialization takes about 10 seconds. (Up to 30 seconds are sometimes
required.)
Do not turn the power ON/OFF or reset the PLC CPU during parameter
initialization. If the power is turned OFF or the PLC CPU module is reset to forcibly
end the process, the data backed up in the flash ROM/internal memory
(nonvolatile) will be lost.
(2) Parameter initialization can also be carried out by the writing of the data
shown in the table below to the buffer memory of Simple Motion module
using the TO command/intelligent function device.
The initialization of the parameter is executed at the time point the data is
written to the buffer memory of Simple Motion module.
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
Parameter
[Cd.2] initialization 1 Set "1" (parameter initialization request). 1901 5901
request
: Refer to Section 5.7 "List of control data" for details on the setting details.
14 - 5
Chapter 14 Common Functions
When the buffer memory data of Simple Motion module is rewritten from the PLC CPU,
"the data backed up in the flash ROM/internal memory (nonvolatile)" of Simple Motion
module may differ from "the execution data being used for control (buffer memory
data)".
In this case, the execution data will be lost when the PLC power is turned OFF. (Refer
to Chapter 7 "Memory Configuration and Data Process".)
The "execution data backup function" is used to back up the execution data by writing
to the flash ROM/internal memory (nonvolatile). The data backed up will be written to
the buffer memory when the power is turned ON next time.
The details shown below explain about the "execution data backup function".
[1] Execution data backup (written to flash ROM) means
[2] Control details
[3] Precautions during control
[4] Execution data backup method
Refer to the "Simple Motion Module Setting Tool Help" of GX Works2 for the
flash ROM write method by GX Works2.
Parameters ([Pr.1] to [Pr.57], [Pr.80] to [Pr.97], [Pr.114]) Parameters ([Pr.1] to [Pr.57], [Pr.80] to [Pr.97], [Pr.114])
Positioning data (No. 1 to 600) Positioning data (No. 1 to 600)
Block start data (No. 7000 to 7004) Block start data (No. 7000 to 7004)
Servo parameters Servo parameters
([Pr.100], PA, PB, PC, PD, PE, PS, PF, Po, PL) ([Pr.100], PA, PB, PC, PD, PE, PS, PF, Po, PL)
14 - 6
Chapter 14 Common Functions
Important
Do not turn the power ON/OFF or reset the PLC CPU during executing the flash
ROM writing. If the power is turned OFF or the PLC CPU module is reset to forcibly
end the process, the data backed up in the flash ROM/internal memory
(nonvolatile) will be lost.
: Refer to Section 5.7 "List of control data" for details on the setting details.
When the writing to the flash ROM/internal memory (nonvolatile) is complete, "0"
will be set in "[Cd.1] Flash ROM write request" by the Simple Motion module
automatically.
14 - 7
Chapter 14 Common Functions
The "external signal selection function" is used to select from the following signals
when using the upper/lower limit signal, near-point dog signal, and stop signal.
• External input signal of QD77MS
• External input signal of servo amplifier
• External input signal via CPU (buffer memory of QD77MS)
When the external input signal via CPU (the buffer memory of QD77MS) is used, the
external input signal status of Simple Motion module can be operated by connecting
the limit switch to input module and by operating the buffer memory of sequence
program. When the external input signal via CPU (the buffer memory of QD77MS) is
used, operation is affected by the PLC scan time.
The details shown below explain about the "External signal selection function".
[1] Parameter setting details
[2] Precautions during parameter setting
[3] Control details
[4] Program example
14 - 8
Chapter 14 Common Functions
(1) When "0: External input signal of QD77MS", "3: External input signal 1 of
QD77MS", "4: External input signal 2 of QD77MS", "5: External input signal 3
of QD77MS", or "6: External input signal 4 of QD77MS" is set, set the Pin No.
of external input signal of QD77MS shown in the following table.
Axis No. or signal No. Pin No. Signal name
1A3 DOG
Axis 1 QD77MS2 QD77MS4 1A2 RLS
External input signal 1 QD77MS16 1A1 FLS
1A4 STOP
1B3 DOG
(2) When "1: External input signal of servo amplifier" is set, set the Pin No. of
external input signal of servo amplifier shown in the following table.
: When setting at MR-JE-B use, any errors or warnings do not occur.
However, the external input signal (upper/lower limit signal, near-point dog
signal) cannot be operated.
Pin No. Signal name
CN3-19 (DI3) DOG
Servo
CN3-12 (DI2) RLS
amplifier
CN3-2 (DI1) FLS
1: Refer to the "Servo Amplifier Instruction Manual" for details on the pin No.
of servo amplifier.
2: The stop signal cannot be input from the external input signal of servo
amplifier.
14 - 9
Chapter 14 Common Functions
(3) When "2: Buffer memory of QD77MS" is set, use the following control data to
operate the external input signal (upper/lower limit signal, near-point dog
signal and stop signal).
Buffer memory address
Setting
Setting item Setting details QD77MS2
value QD77MS16
QD77MS4
External input 5928
Set the status of the upper/lower limit signal, the
[Cd.44] signal operation 1928 to
near-point dog signal and the stop signal.
device 5931
: Refer to Section 5.7 "List of control data" for details on the setting details.
(2) When the "0: External input signal of QD77MS" is set in the QD77MS16, the
error "External input signal selection error" (error code: 936) occurs at turning
the PLC READY signal [Y0] ON, and the READY signal [X0] is not turned ON.
Set "3: External input signal 1 of QD77MS", "4: External input signal 2 of
QD77MS", "5: External input signal 3 of QD77MS", or "6: External input signal
4 of QD77MS" to use the external input signal of QD77MS16.
"[Pr.80] External input signal selection" External signal that becomes valid
14 - 10
Chapter 14 Common Functions
System configuration
The following shows the system configuration that is used with the program example.
14 - 11
Chapter 14 Common Functions
Program example
14 - 12
Chapter 14 Common Functions
14 - 13
Chapter 14 Common Functions
This function switches the signal logic according to the following signals.
• External equipment connected to Simple Motion module
• [Cd.44] External input signal operation device
• External input signal of servo amplifier (upper/lower limit switch, near-point dog)
For the system in which b-contact, upper limit switch, and lower limit switch are not
used, the parameter logic setting can be controlled without wiring if it is changed to a
"positive logic".
When the upper limit switch, and lower limit switch are used, ensure to use them with
negative logic (b-contact).
The details shown below explain about the "External I/O signal logic switching
function".
[1] Parameter setting details
[2] Precautions on parameter setting
n: Axis No.-1
1: Only the value specified against the axis 1 is valid for the logic selection of manual pulse generator input (b8).
: Refer to Section 5.2 "List of parameters" for the information on detail settings.
14 - 14
Chapter 14 Common Functions
14 - 15
Chapter 14 Common Functions
This function monitors start history, error history, warning history, and current history
stored in the buffer memory of the Simple Motion module on the operation monitor of
GX Works2.
For the start history check method, refer to the "Simple Motion Module Setting
Tool Help" of GX Works2.
For the error and warning history check method, refer to the "Simple Motion
Module Setting Tool Help" of GX Works2.
POINT
Set the clock of PLC CPU. Refer to the "GX Works2 Version1 Operating Manual
(Common)" for setting method.
14 - 16
Chapter 14 Common Functions
14 - 17
Chapter 14 Common Functions
14 - 18
Chapter 14 Common Functions
14 - 19
Chapter 14 Common Functions
The positioning control of Simple Motion module without servo amplifiers connection
can be executed in the amplifier-less function. This function is used to debug of user
program or simulate of positioning operation at the start.
The details shown below explain about the "Amplifier-less operation function".
[1] Control details
[2] Restrictions
[3] Buffer memory list
[4] Operation mode switching procedure
14 - 20
Chapter 14 Common Functions
POINT
(1) Switch of the normal operation mode and amplifier-less operation mode is
executed by the batch of all axes. Switch of the operation mode for each axis
cannot be executed.
(2) Only axis that operated either the followings before switching to the amplifier-
less operation mode becomes the connection status during amplifier-less
operation.
• "[Pr.100] Servo series" is set, and then the written to flash ROM is executed.
(Turn the power supply ON or PLC CPU reset after written to flash ROM.)
• "[Pr.100] Servo series" is set, and then the PLC ready signal is turned ON.)
(Servo amplifier connection is unnecessary.)
(3) Suppose the following servo amplifier and servo motor are connected during
amplifier-less operation mode.
When "1: SSCNET /H" is set in "[Pr.97] SSCNET setting"
Servo amplifier type: MR-J4-10B
Motor type: HG-KR053 (Resolution per servo motor rotation: 4194304PLS)
When "0: SSCNET " is set in "[Pr.97] SSCNET setting"
Servo amplifier type: MR-J3-10B
Motor type: HF-KP053 (Resolution per servo motor rotation: 262144PLS)
14 - 21
Chapter 14 Common Functions
[2] Restrictions
(1) The following monitor data cannot be used during amplifier-less operation
mode.
Buffer memory address
Storage item Storage details QD77MS2
QD77MS16
QD77MS4
852+100n 2452+100n
[Md.102] Deviation counter value Always "0" during amplifier-less operation mode.
853+100n 2453+100n
864+100n 2464+100n
Servo amplifier
[Md.106] Always "0" during amplifier-less operation mode. to to
software No.
869+100n 2469+100n
[Md.107] Parameter error No. Always "0" during amplifier-less operation mode. 870+100n 2470+100n
As follows during amplifier-less operation mode.
• Zero point pass (b0) : Always ON
• Zero speed (b3) : Changed depending on the
command speed
• Speed limit (b4) : Always ON when other than "0" 876+100n 2476+100n
is set to the command torque at
torque control mode. Otherwise,
always OFF.
• PID control (b8) : Always OFF
As follows during amplifier-less operation mode.
• READY ON(b0), Servo ON(b1):
[Md.108] Servo status Changed depending on the all axis servo ON
signal[Y1] and "[Cd.100] Servo OFF command".
• Control mode (b2, b3) : Indicates control mode.
• Servo alarm(b7) : Always OFF
• In-position(b12) : Always ON
877+100n 2477+100n
• Torque limit(b13) : Changed depending on
"[Md.104] Motor current
value".
(Refer to "Restrictions (2)
and (3)" for details.)
• Absolute position lost(b14) : Always OFF
• Servo warning(b15) : Always OFF
Regenerative load ratio/
[Md.109] Optional data monitor Always "0" during amplifier-less operation mode. 878+100n 2478+100n
output 1
Effective load torque/
[Md.110] Optional data monitor Always "0" during amplifier-less operation mode. 879+100n 2479+100n
output 2
Peak torque ratio/
[Md.111] Optional data monitor Always "0" during amplifier-less operation mode. 880+100n 2480+100n
output 3
Optional data monitor
[Md.112] Always "0" during amplifier-less operation mode. 881+100n 2481+100n
output 4
n: Axis No.-1
14 - 22
Chapter 14 Common Functions
(2) The operation of following function differs from the normal operation mode
during amplifier-less operation mode.
Function Operation
When "1: External input signal of servo amplifier" is set in "[Pr.80] External input signal
selection", the status of external signal at the amplifier-less operation mode start is shown
below.
• Upper/lower limit signal (FLS, RLS): ON
• Near-point dog signal (DOG): OFF
External signal selection
function Change "[Md.30] External input signal" to change the signal status.
(Refer to "Restrictions (3)" for details.)
When "2: Buffer memory of QD77MS" is set in "[Pr.80] External input signal selection",
the upper/lower limit signal (FLS, RLS) and near-point dog signal (DOG) follow the buffer
memory status of Simple Motion module during amplifier-less operation mode.
Turns ON/OFF torque limit ("[Md.108] Servo status" high-order buffer memory address:
Torque limit function
b13) depending on "[Md.104] Motor current value". (Refer to "Restrictions (3)" for details.)
(3) The operation of following monitor data differs from the normal operation
mode during amplifier-less operation mode.
Buffer memory address
Storage item Storage details QD77MS2
QD77MS16
QD77MS4
When "1: External input signal of servo amplifier" is set in
"[Pr.80] External input signal selection", the external input
External input
[Md.30] signal status can be operated by turning ON/OFF the "b0: 816+100n 2416+100n
signal
Lower limit signal", "b1: Upper limit signal" or "b6: Near-
point dog signal" during amplifier-less operation mode.
"0" is set at the amplifier-less operation mode start.
[Md.104] Motor current value The motor current value can be emulated by changing this 856+100n 2456+100n
monitor data in user side during amplifier-less operation
mode.
n: Axis No.-1
(4) When the power supply is turned OFF → ON or PLC CPU is reset during
amplifier-less operation mode, the mode is switched to the normal operation
mode.
(5) The operation of servo motor or the timing of operation cycle, etc. at the
amplifier-less operation is different from the case where the servo amplifiers
are connected at the normal operation mode. Confirm the operation finally
with a real machine.
(6) The amplifier-less operation cannot be used in the test mode. Do not
request to switch to the amplifier-less operation mode during test mode.
(7) The amplifier-less operation cannot be used in the fully closed loop system,
linear servo or direct drive motor.
14 - 23
Chapter 14 Common Functions
(8) Even if the PLC READY signal [Y0| is turned ON by changing "[Pr.100]
Servo series" from "0: Servo series is not set" to other than "0", the setting
does not become valid. (The axis connecting status remains disconnection.)
(10) The synchronous encoder via servo amplifier cannot be used during
amplifier-less operation mode.
14 - 24
Chapter 14 Common Functions
(2) Switch from the amplifier-less operation mode to the normal operation
mode
1) Stop all operating axes, and then confirm that the BUSY signal for all
axes turned OFF.
2) Turn OFF the PLC READY signal [Y0].
3) Confirm that the READY signal [X0] turned OFF.
4) Set "0000h" in "[Cd.137] Amplifier-less operation mode switching
request".
5) Confirm that "0: Normal operation mode" was set in "[Md.51] Amplifier-
less operation mode status".
14 - 25
Chapter 14 Common Functions
Each operation t
READY signal
[X0]
POINT
(1) Switch the "normal operation mode" and "amplifier-less operation mode" after
confirming the all input signals except synchronization flag [X1] OFF. When
switching the normal operation mode and amplifier-less operation mode in the
status that any one of input signals except the synchronization flag [X1] is ON,
the error "Error when switching from normal operation mode to amplifier-less
operation mode" (error code: 808) or "Error when switching from amplifier-less
operation mode to normal operation mode" (error code: 809) will occur, and the
switching of operation mode will not execute.
(2) When the operation mode is switched with the servo amplifiers connected, the
communication to the servo amplifiers is shown below.
• At switching from normal operation mode to amplifier-less operation mode:
The communication for all axes during connection is disconnected.
(The servo amplifier LED indicates "AA".)
• At switching from amplifier-less operation mode to normal operation mode:
The communication to the servo amplifiers during connection is started.
(3) Even if the servo amplifiers are not connected, the switching of operation mode
is possible.
(4) The forced stop is invalid regardless of the setting in "[Pr.82] Forced stop
valid/invalid selection" during the amplifier-less operation mode.
(5) Only "0000h" and "ABCDh" are valid for the "[Cd.137] Amplifier-less operation
mode switching request". The switching to amplifier-less operation mode can be
accepted only when "[Cd.137] Amplifier-less operation mode switching request"
is switched from "0000h" to "ABCDh". The switching to normal operation mode
can be accepted only when "[Cd.137] Amplifier-less operation mode switching
request" is switched from "ABCDh" to "0000h".
14 - 26
Chapter 14 Common Functions
This function is used to operate as virtual servo amplifier axis that generates only
command virtually by setting "4097, 4128" in servo parameter "[Pr.100] Servo series".
The synchronous control with virtually input command is possible by using the virtual
servo amplifier axis as servo input axis of synchronous control.
Also, it can be used as simulation operation for axes without servo amplifiers.
Setting value of "[Pr.97] SSCNET setting" Setting value of "[Pr.100] Servo series"
0: SSCNET 4097: Virtual servo amplifier (MR-J3)
1: SSCNET /H 4128: Virtual servo amplifier (MR-J4)
The details shown below explain about the "Virtual servo amplifier function".
[1] Control details
[2] Restrictions
(2) When "0" is set in "[Pr.100] Servo series" set in the flash ROM, it operates
as virtual servo amplifier by setting "4097, 4128" in "[Pr.100] Servo series" of
buffer memory and by turning the PLC READY signal [Y0] OFF to ON after
power supply ON.
(3) Do not connect the actual servo amplifier to axis set as virtual servo
amplifier. If the servo amplifier is connected, the LED display status remains
"Ab." and the servo amplifier is not recognized. The following servo
amplifiers cannot be connected until the end station.
(4) The current feed value and machine feed value of virtual servo amplifier are
as follows.
(a) "0: Disabled (incremental system)" is set in "Absolute position detection
system (PA03)".
The both of current feed value and machine feed value are set to "0".
(5) When the virtual servo amplifier is set in the system setting of GX Works2,
"0: Disabled (incremental system)" is set in "Absolute position detection
system (PA03)".
Set "1: Enabled (absolute position detection system)" to the buffer memory
to use as absolute position system.
14 - 27
Chapter 14 Common Functions
POINT
Do not make to operate by switching between the actual servo amplifier and virtual
servo amplifier. When a value except "0" is set in "[Pr.100] Servo series" set in the
flash ROM, the servo series is not changed even if the "[Pr.100] Servo series" of
buffer memory is changed after power supply ON and then the PLC READY signal
[Y0] is turned OFF to ON. To change the servo series, write to the flash ROM and
turn the power ON again or reset the PLC CPU.
14 - 28
Chapter 14 Common Functions
[2] Restrictions
(1) The following monitor data of virtual servo amplifier differ from the actual
servo amplifier.
Buffer memory address
Storage item Storage details QD77MS2
QD77MS16
QD77MS4
Deviation counter 852+100n 2452+100n
[Md.102] Always "0".
value 853+100n 2453+100n
864+100n 2464+100n
Servo amplifier
[Md.106] Always "0". to to
software No.
869+100n 2469+100n
[Md.107] Parameter error No. Always "0". 870+100n 2470+100n
• Zero point pass (b0) : Always ON
• Zero speed (b3) : Changed depending on the
command speed
• Speed limit (b4) : Always ON when other than "0" is 876+100n 2476+100n
set to the command torque at
torque control mode. Otherwise,
always OFF.
• PID control (b8) : Always OFF
• READY ON (b0), Servo ON (b1)
: Changed depending on the all
axis servo ON signal [Y1] and
[Md.108] Servo status
"[Cd.100] Servo OFF command"
• Control mode (b2, b3) : Indicates control mode.
• Servo alarm (b7) : Always OFF
• In-position (b12) : Always ON 877+100n 2477+100n
• Torque limit (b13) : Changed depending on
"[Md.104] Motor current
value".
(Refer to "Restrictions (2)
and (3)" for details.)
• Absolute position lost (b14): Always OFF
• Servo warning (b15) : Always OFF
Regenerative load
[Md.109] ratio/Optional data Always "0". 878+100n 2478+100n
monitor output 1
Effective load
torque/Optional
[Md.110] Always "0". 879+100n 2479+100n
data monitor output
2
Peak torque
[Md.111] ratio/Optional data Always "0". 880+100n 2480+100n
monitor output 3
Optional data
[Md.112] Always "0". 881+100n 2481+100n
monitor output 4
n: Axis No.-1
14 - 29
Chapter 14 Common Functions
(2) The operation for external signal selection function of virtual servo amplifier
differs from the actual servo amplifier.
Function Operation
When "1: External input signal of servo amplifier" is set in "[Pr.80] External input signal
selection", the external signal status immediately after power supply ON is shown
below.
External signal selection function • Upper/lower limit signal (FLS, RLS): ON
• Near-point dog signal (DOG): OFF
Change the signal status in "[Md.30] External input signal".
(Refer to "Restrictions (3)" for details.)
Turns ON/OFF torque limit ("[Md.108] Servo status" high-order buffer memory
Torque limit function address: b13) depending on "[Md.104] Motor current value". (Refer to "Restrictions
(3)" for details.)
(3) The following monitor data of virtual servo amplifier differ from the actual
servo amplifiers. The writing operation is possible in the virtual servo
amplifier.
Buffer memory address
Storage item Storage details QD77MS2
QD77MS16
QD77MS4
When "1: External input signal of servo amplifier" is set in
"[Pr.80] External input signal selection", the external input
signal status can be operated by turning ON/OFF the
[Md.30] External input signal following signals. 816+100n 2416+100n
• b0: Lower limit signal
• b1: Upper limit signal
• b6: Near-point dog signal
"0" is set after immediately power supply ON.
[Md.104] Motor current value The motor current value can be emulated by changing this 856+100n 2456+100n
monitor data in user side.
n: Axis No.-1
14 - 30
Chapter 14 Common Functions
This function uses the "Master-slave operation function" of servo amplifier. The Simple
Motion module controls master axis and the slave axis is controlled by data
communication between servo amplifiers (driver communication) without Simple
Motion module.
There are restrictions in the function that can be used by the version of servo amplifier.
Refer to each servo amplifier instruction manual for details.
The following shows the number of settable axes for the master axis and slave axis.
Combination of number of
(Note-1)
Network Servo amplifier Module settable axes Remark
Master axis Slave axis
MR-J3-_B QD77MS2 1 axis
MR-J3-_BS 1 axis or more/
SSCNET QD77MS4 1 axis to 2 axes The axes other
(Note-2) 1 master axis
MR-J3-_B-RJ006 QD77MS16 1 axis to 4 axes than the master
axis and slave
QD77MS2 1 axis axis can be used
(Note-3) 1 axis or more/
SSCNET /H MR-J4-_B QD77MS4 1 axis to 2 axes as normal axis.
1 master axis
QD77MS16 1 axis to 8 axes
—: No restriction
(Note-1): When the slave axis is not allocated for the master axis, the operation is normal operation only of
master axis.
(Note-2): The fully closed loop control servo amplifier can be set for the master axis only. It cannot be set for
the slave axis.
(Note-3): In the fully closed loop system, the servo amplifier can be set for the master axis only. It cannot be set
for the slave axis. Also, it cannot be used with the linear servo motors or direct drive motors. Refer to
each servo amplifier instruction manual for details.
The details shown below explain about the "Driver communication function".
[1] Control details
[2] Precautions during control
[3] Servo parameter
14 - 31
Chapter 14 Common Functions
Simple Motion
module
Master axis: Position command, speed command or torque command is received from Simple
Motion module.
Slave axis : Control data is received from Master axis by driver communication.
SSCNET (/H)
[Driver [Driver [Driver
communication] communication] communication]
Control data 1
Control data 2 Control data 2
Control data 3 Control data 3 Control data 3
Positioning command/
speed command/
torque command
d1 d2 d3 d4
POINT
(1) When the communication is disconnected due to a fault in the servo amplifier, it
is not possible to communicate with the axis after the faulty axis. Therefore,
when connecting the SSCNET cable, connect the master axis in the closest
position to the Simple Motion module.
(2) This function is used for the case to operate by multiple motors in one system.
Connect the master axis and slave axis without slip.
14 - 32
Chapter 14 Common Functions
CAUTION
In the operation by driver communication, the positioning control or JOG operation of the
master axis is not interrupted even if the servo error occurs in the slave axis. Be sure to stop by
user program.
14 - 33
Chapter 14 Common Functions
(f) If all axes set to driver communication are not detected at the start of
communication with the servo amplifier, all axes including independent
axes cannot be operated. (The servo amplifier's LED display remains
"Ab".) Check the operation enabled status with "[Md.52]
Communication between amplifiers axes searching flag". When all
independent axes and axes set to driver communication are
connected, "0: Search end" is set in "[Md.52] Communication between
amplifiers axes searching flag".
(2) OPR control, positioning control, manual control, expansion control, and
synchronous control
(a) Do not start the slave axis. The command to servo amplifier is invalid
even if the slave axis is started.
(b) The OPR request flag ([Md.31] Status: b3) of slave axis is always ON.
There is no influence for control of slave axis.
(c) There are some restrictions for data used as the positioning control of
slave axis. The external input signals such as FLS or RLS, and the
parameters such as software stroke limit are invalid.
Refer to this section (4) or (5) for details.
(d) For setting the slave axis as a servo input axis, set "2: Real current
value" or "4: Feedback value" in "[Pr.300] Servo input axis type".
Otherwise, the slave axis does not operate as an input axis.
(e) At the driver communication operation, only the switching to positioning
control mode, speed control mode, and torque control mode are
possible. When the mode is switched to continuous operation to torque
control mode for the master axis, the warning "Control mode switching
not possible" (warning code: 125) will occur, and the control mode is not
switched.
14 - 34
Chapter 14 Common Functions
Item Remark
[Md.23] Axis error No. Valid for only servo error detection.
Torque limit stored value/forward
[Md.35] —
torque limit stored value
[Md.102] Deviation counter value —
[Md.103] Motor rotation speed —
[Md.104] Motor current value —
[Md.107] Parameter error No. —
The following bit is valid.
• b0: Zero point pass
(Execute OPR to the master axis.)
The following bits are valid.
• b0: READY ON
• b1: Servo ON
[Md.108] Servo status
• b7: Servo alarm
(Note): The slave axis is always
controlled in torque control mode,
"control mode (high-order buffer
memory address: b2, b3)" is set
to torque control mode (0, 1).
Regenerative load ratio/Optional
[Md.109] —
data monitor output 1
Effective load torque/Optional
[Md.110] —
data monitor output 2
Peak torque ratio/Optional data
[Md.111] —
monitor output 3
[Md.112] Optional data monitor output 4 —
[Md.114] Servo alarm —
[Md.120] Reverse torque limit stored value —
14 - 35
Chapter 14 Common Functions
(b) Only the following axis control data are valid in slave axis.
Item Remark
[Cd.5] Axis error reset Only servo error detection
New torque value/forward new
[Cd.22] —
torque value
[Cd.100] Servo OFF command —
[Cd.101] Torque output setting value —
Torque change function
[Cd.112] —
switching request
[Cd.113] Reverse new torque value —
14 - 36
Chapter 14 Common Functions
PD16 30211+200n
Master transmit data selection 1 Set the transmitted data
Driver communication setting at master axis setting.
PD17 30212+200n
Master transmit data selection 2
Driver communication setting Set the axis No. of master Set with
PD20 30215+200n GX Works2
Master axis No. selection 1 for slave axis at slave axis setting.
Master-slave operation - Torque
PD30 30225+200n
command coefficient on slave
Master-slave operation - Speed limit Set the parameter at
PD31 30226+200n
coefficient on slave slave axis setting.
Master-slave operation - Speed limit
PD32 30227+200n
adjusted value on slave
n: Axis No.-1
(Note-1): When the slave axis is not allocated for the master axis, the operation is normal operation only of
master axis.
(Note-2): For QD77MS16, the above servo parameters are not allocated to the buffer memory.
Write them to Simple Motion module with GX Works2.
(Note-3): At MR-J3-_B/MR-J3-_B-RJ006 use, it is not necessary to change the setting since the initial value is
disabled. However, it is required to set disabled since the initial value is enabled at MR-J3-_BS use.
POINT
(1) The servo parameters are transmitted from Simple Motion module to servo
amplifier after power supply ON or reset of PLC CPU. Execute flash ROM
writing of Simple Motion module after writing the servo parameter to buffer
memory, and then turn the power supply ON or reset the PLC CPU.
(2) The servo parameters for driver communication setting (PD15 to PD17, PD20)
become valid by turning the servo amplifier's power supply OFF to ON. Turn
the servo amplifier's power supply OFF to ON after executing the above (1).
Then, turn the system's power supply ON again or reset the PLC CPU.
(3) In the driver communication function, the torque generation direction for slave
axis can be set in "Rotation direction selection/travel direction selection
(PA14)".
14 - 37
Chapter 14 Common Functions
[MR-J4-_B use]
Buffer memory address
Setting item Setting details QD77MS2
QD77MS16
QD77MS4
Disable deceleration stop
Forced stop deceleration function
PA04 function at the master 30104+200n 28404+100n
selection
axis and slave axis.
Set the master axis and
PD15 Driver communication setting 30210+200n
slave axis.
Driver communication setting
PD16 30211+200n
Input/output setting
POINT
(1) The servo parameters are transmitted from Simple Motion module to servo
amplifier after power supply ON or reset of PLC CPU. Execute flash ROM
writing of Simple Motion module after writing the servo parameter to buffer
memory, and then turn the power supply ON or reset the PLC CPU.
(2) The servo parameters for driver communication setting (PA04, PD15 to PD17,
PD20) become valid by turning the servo amplifier's power supply OFF to ON.
Turn the servo amplifier's power supply OFF to ON after executing the above
(1). Then, turn the system's power supply ON or reset the PLC CPU.
(3) In the driver communication function, the torque generation direction for slave
axis can be set in "Rotation direction selection/travel direction selection
(PA14)".
14 - 38
Chapter 14 Common Functions
Any data can be latched at the input timing of the mark detection signal (DI1 to DI4).
Also, only data within a specific range can be latched by specifying the data detection
range.
The following three modes are available for execution of mark detection.
Storage area 3
The 3rd detection
Storage area 4
Storage area 4
The 4th detection
14 - 39
Chapter 14 Common Functions
Performance specifications
Item
QD77MS2 QD77MS4 QD77MS16
Number of mark detection settings Up to 4 Up to 16
Axis 1 to Axis 2 Axis 1 to Axis 4 Axis 1 to Axis 16
Input signal
External input signal (DI1 to DI2) External input signal (DI1 to DI4) External input signal (DI1 to DI4)
Input signal detection direction Selectable for leading edge or trailing edge in logic setting of external input signal
Input signal compensation time Correctable within the range of -32768 to 32767µs
Detection accuracy 10µs
11 types + Optional buffer memory data (2 word)
(Current feed value, Machine feed value, Real current value, Servo input axis current value,
Synchronous encoder axis current value, Synchronous encoder axis current value per cycle,
Latch data
Current value after composite main shaft gear, Current value per cycle after main shaft gear,
Current value per cycle after auxiliary shaft gear, Cam axis current value per cycle,
Cam axis current value per cycle (real position) )
Number of continuous latch data
Up to 32
storage
Latched data range Settable in the range of -2147483648 to 2147483647
The details shown below explain about the "Mark detection function".
[1] Operation for mark detection function
[2] How to use mark detection function
[3] List of buffer memory
[4] Precautions
14 - 40
Chapter 14 Common Functions
Md.801 Mark detection data storage Detection real current value (1st)
area (1st area)
Md.801 Mark detection data storage Detection real current value (2nd)
area (2nd area)
14 - 41
Chapter 14 Common Functions
(1) Allocate the input signal (DI2) to the external command signal of axis 2, and
set the "high speed input request" for mark detection.
Buffer memory address
Setting
Storage item Storage details/storage value QD77MS2
value QD77MS16
QD77MS4
External command 219
[Pr.95] 2 Set "2: DI2" to the external command signal of axis 2. —
signal selection (69+150n)
External command Set "4: High speed input request" as the function used in
[Pr.42] 4 212 (62+150n)
function selection the external command signal of axis 2.
n: Axis No.-1
(2) Set the following mark detection setting parameters. The optional mark
detection setting No. can be set.
Buffer memory address
Setting
Storage item Storage details/storage value QD77MS2
value QD77MS16
QD77MS4
Mark detection Set "2: Axis 2" to the external input signal for mark
[Pr.800] 2 54000+20k
signal setting detection.
Mark detection
Set "0: (No compensation)" to the compensation time
[Pr.801] signal 0 54001+20k
such as delay of sensor.
compensation time
Mark detection data Set "2: Real current value" to the target data for mark
[Pr.802] 2 54002+20k
type detection.
Mark detection data Set "1: Axis 1" to the axis No. of target data for mark
[Pr.803] 1 54003+20k
axis No. detection.
Set "0" to the valid upper limit value for latch data at 54006+20k
Latch data range
[Pr.805] 0 mark detection. (Mark detection for all range is executed
upper limit value 54007+20k
by setting the same value as lower limit value.)
Set "0" to the valid lower limit value for latch data at mark 54008+20k
Latch data range
[Pr.806] 0 detection. (Mark detection for all range is executed by
lower limit value 54009+20k
setting the same value as upper limit value.)
Mark detection Set "0: Continuous detection mode" to the mark
[Pr.807] 0 54010+20k
mode setting detection mode.
(3) Turn the power supply OFF or reset of PLC CPU to validate the setting
parameters.
(4) The mark detection starts by setting "1: Validates an external command." in
"[Cd.8] External command valid" of axis 2 with the sequence program.
Refer to "[Md.800] Number of mark detection" or "[Md.801] Mark detection
data storage area" of mark detection setting No. set in this section (2) for the
number of mark detections and mark detection data.
14 - 42
Chapter 14 Common Functions
POINT
When "1: Valid" is set in "[Pr.114] External command signal compensation
valid/invalid setting", the response time of the high-speed input signal is
compensated and the latch accuracy will be enhanced.
(For details of "[Pr.114] External command signal compensation valid/invalid
setting", refer to Section 5.2.7 "Expansion parameters".)
14 - 43
Chapter 14 Common Functions
(Note): Calculate as follows for the buffer memory address corresponding to each mark detection
setting No.
(Example) For mark detection setting 16
54002+20k ([Pr.802] Mark detection data type)=54002+20 15=54302
(Note): The range from mark detection setting No.1 to 4 (k=0 to 3) is valid in the
QD77MS2/QD77MS4.
14 - 44
Chapter 14 Common Functions
The following shows the buffer memory used in the mark detection function.
14 - 45
Chapter 14 Common Functions
POINT
The above parameters are valid with the value set in the flash ROM of the Simple
Motion module when the power ON or the CPU module reset. Except for a part,
the value is not fetched by turning the PLC READY signal ON from OFF.
Therefore, write to the flash ROM after setting the value in the buffer memory to
change.
14 - 46
Chapter 14 Common Functions
If a value other than the above is set, the warning "Outside mark detection data
axis No. setting range" (warning code: 132) occurs and the target mark detection
is not available.
14 - 47
Chapter 14 Common Functions
14 - 48
Chapter 14 Common Functions
14 - 49
Chapter 14 Common Functions
14 - 50
Chapter 14 Common Functions
[4] Precautions
When the data of "[Pr.802] Mark detection data type" or "[Pr.803] Mark detection
data axis No." is selected incorrectly, the incorrect latch data is stored.
For the data of "[Pr.802] Mark detection data type", set the item No. instead of
specifying the buffer memory No. directly.
14 - 51
Chapter 14 Common Functions
This function is used to store the data (refer to following table) up to four points per
axis to the buffer memory and monitor them.
The details shown below explain about the "Optional data monitor function".
[1] Data that can be set
[2] List of buffer memory
14 - 52
Chapter 14 Common Functions
2 words (Note-4)
25 Load side encoder information 2 — (Note-4), (Note-5)
(Note-3)
26 Z-phase counter [PLS] —
Servomotor-side /load-side (Note-4)
27 [PLS] —
position deviation
Servomotor-side/load-side speed (Note-4)
28 [ 0.01r/min] —
deviation
29 Encoder counter [PLS] — —
Refer to each servo amplifier instruction manual for details of the data monitored.
14 - 53
Chapter 14 Common Functions
n: Axis No.-1
POINT
(1) The monitor address of optional data monitor is registered to servo amplifier with
initialized communication after power supply ON or PLC CPU reset.
(2) Set the data type of "used point: 2 words" in "[Pr.91] Optional data monitor: Data
type setting 1" or "[Pr.93] Optional data monitor: Data type setting 3". If it is set
in "[Pr.92] Optional data monitor: Data type setting 2" or "[Pr.94] Optional data
monitor: Data type setting 4", the warning "Optional data monitor data type
setting error" (warning code: 116) will occur with initialized communication to
servo amplifier, and "0" is set in [Md.109] to [Md.112].
(3) Set "0" in "[Pr.92] Optional data monitor: Data type setting 2" when the data type
of "used point: 2 words" is set in "[Pr.91] Optional data monitor: Data type
setting 1", and set "0" in "[Pr.94] Optional data monitor: Data type setting 4"
when the data type of "used point: 2 words" is set in "[Pr.93] Optional data
monitor: Data type setting 3". When other than "0" is set, the warning "Optional
data monitor data type setting error" (warning code: 116) will occur with
initialized communication to servo amplifier, and "0" is set in [Md.109] to
[Md.112].
(4) When the data type of "used point: 2 words" is set, the monitor data of low-order
is "[Md.109] Regenerative load ratio/Optional data monitor output 1" or
"[Md.111] Peak torque ratio/Optional data monitor output 3".
(5) Refer to this Section "[1] Data that can be set" for the data type that can be
monitored on each servo amplifier. When the data type that cannot be
monitored is set, "0" is stored to the monitor output.
14 - 54
Chapter 14 Common Functions
n: Axis No.-1
POINT
When the communication interrupted by the servo amplifier's power supply OFF or
disconnection of communication cable with servo amplifiers during optional data
monitor, "0" is stored in [Md.109] to [Md.112].
14 - 55
Chapter 14 Common Functions
This function collects errors occurred in the Simple Motion module in the PLC CPU.
Those errors are stored in a memory (latch area) of the PLC CPU as module error logs.
The stored error logs are retained even when the PLC CPU is powered off or reset.
3) GX Works2
Error history display
Time Module in error Error code 2)
19:29 QD77MS Error A1 Error history
Module error log
19:33 CPU Error C1 (CPU module)
19:34 Module B Error B1 Time Module in error Error code
19:36 QD77MS Error A2 19:33 Error C1 19:29 QD77MS Error A1
19:34 Module B Error B1
19:36 QD77MS Error A2
<Operation>
1) The error occurs in the PLC CPU or Intelligent function module.
2) The PLC CPU collects and stores the error in each intelligent function
module as "Module error history".
3) The list of error in PLC CPU or each intelligent function module error is
displayed with GX Works2.
For details on the module error collection function, refer to Section 16.1 "Checking
errors using GX Works2".
14 - 56
Chapter 14 Common Functions
The details shown below explain about the "Connect/disconnect function of SSCNET
communication".
[1] Control details
[2] Precautions during control
[3] Buffer memory list
[4] Procedure to connect/disconnect
[5] Program
(2) The "[Md.53] SSCNET control status" only changes into the "-1: Execute
waiting" even if the "Axis No.: Disconnect command of SSCNET
communication" or "-10: Connect command of SSCNET communication" is
set in "[Cd.102] SSCNET control command". The actual processing is not
executed. Set "-2: Execute command" in "[Cd.102] SSCNET control
command" to execute.
(4) Operation failure may occur in some axes if the servo amplifier's power
supply is turned OFF without using the disconnect function. Be sure to turn
OFF the servo amplifier's power supply by the disconnect function.
14 - 57
Chapter 14 Common Functions
14 - 58
Chapter 14 Common Functions
14 - 59
Chapter 14 Common Functions
POINT
When "-1: Execute waiting" is set in "[Md.53] SSCNET control status", the
command of execute waiting can be canceled if "0: No command" is set in
"[Cd.102] SSCNET control command".
[5] Program
The sequence program example to connect/disconnect the servo amplifiers after
Axis 5 connected to the QD77MS16 is shown next page.
Disconnect procedure : Turn OFF the servo amplifier's power supply after
checking the LED display "AA" of servo amplifier
by turning X50 from OFF to ON.
Connect procedure : Resume operation of servo amplifier after
checking the "[Md.26] Axis operation status" of the
connected servo amplifier by turning X51 from
OFF to ON.
System configuration
QD77MS16
14 - 60
Chapter 14 Common Functions
14 - 61
Chapter 14 Common Functions
RST M110
Connect
request
SET M111
Connect
executio
n reques
t
<Set the execute command >
M111
U0\ U0\
73 = K-1 MOV K-2
G4233 G5932
Connect SSCNET c SSCNET c
executio ontrol s ontrol c
n reques tatus ommand
t
RST M111
Connect
executio
n reques
t
SET M112
Connect
completi
on check
14 - 62
Chapter 14 Common Functions
The "QD75MH initial value setting function" is used to set the factory-set initial value of
QD75MH in the setting data set in the QD77MS buffer memory/internal memory and
flash ROM/internal memory (nonvolatile).
Because some initial values of parameter between QD77MS and QD75MH are
different, when switching to QD77MS from QD75MH without using Simple Motion
Module Setting Tool of GX Works2, set the parameter value to factory-set initial value
of QD75MH by this function before using. (This function does not need to be executed
in case the parameter setting of QD77MS is executed using the Simple Motion Module
Setting Tool of GX Works2.)
The details shown below explain about the "QD75MH initial value setting function".
[1] QD75MH initial value setting means
[2] Control details
[3] Precautions during control
[4] QD75MH initial value setting method
Refer to the "Type QD75MH Positioning Module Use’s Manual (Details)" for set
initial value. However, "0" is set in the data of QD77MS only.
14 - 63
Chapter 14 Common Functions
Important
Parameter initialization takes about 10 seconds. (Up to 30 seconds are sometimes
required.)
Do not turn the power ON/OFF or reset the PLC CPU during parameter
initialization. If the power is turned OFF or the PLC CPU module is reset to forcibly
end the process, the data backed up in the flash ROM/internal memory
(nonvolatile) will be lost.
: Refer to Section 5.7.1 "System control data" for details on the setting details.
When the initialization is complete, "0" will be set in "[Cd.47] QD75MH initial
value setting request" automatically.
14 - 64
Chapter 14 Common Functions
This function is used to execute deceleration stop safety for other axes when the
servo alarm occurs in the servo amplifier MR-JE-B.
The details shown below explain about the "Hot line forced stop function".
[1] Control details
[2] Precautions during control
The following shows the setting value of the servo parameter (PA27) and the
operation of servo amplifier.
[MR-JE-B]
Setting value of " Hot line forced stop function Deceleration stop when receiving
Output hot line
Hot line forced stop function selection (PA27)" the hot line signal
0: Enabled (Initial value) Enabled Enabled
1: Disabled Disabled Disabled
[MR-J4-B]
Setting value of "Hot line forced stop function Deceleration stop when receiving
Output hot line
Deceleration to stop selection (PA27)" the hot line signal
0: Disabled (Initial value) Disabled Disabled
2: Enabled Disabled Enabled
Use the software version that supports the hot line forced stop function for the
servo amplifier to use the hot line forced stop function.
The following table shows the software version of servo amplifier that supports
the hot line forced stop function.
Servo amplifier type Software version
MR-J4(W)-B B7 or later
MR-JE-B B6 or later
Note): The servo amplifier except above does not support the hot line forced stop function.
Therefore, it does not output the hot line or execute deceleration stop by receiving the hot line
signal.
14 - 65
Chapter 14 Common Functions
(2) To clear the servo warning "Controller forced stop warning" (warning No.:
E7) occurred by the hot line forced stop function, set "1" in "[Cd.5] Axis
error reset" for each axis after the factor is removed in the axis where the
servo alarm occurred. Even if "1" is set in "[Cd.5] Axis error reset" before
the factor is not removed, the servo warning "Controller forced stop
warning" (warning No.: E7) is not cleared.
Positioning control
Axis in which the
servo alarm occurred
(axis 2)
Positioning control 2)
1) The servo alarm occurs in axis 2 and the servomotor stops with
dynamic brake.
2) The notification from the alarm occurrence axis is received in axis 1.
The servo warning ("[Md.108] Servo status": b15) is turned ON and the
deceleration stop is executed.
3) The servo alarm ("[Md.108] Servo status": b7) is turned OFF by
removing the servo alarm factor of axis 2.
4) The warning ("[Md.108] Servo status": b15) is turned OFF by "[Cd.5]
Axis error reset" of axis 1.
14 - 66
Chapter 15 Dedicated Instructions
The dedicated instructions of Simple Motion module are explained in this chapter.
These instructions are used to facilitate the programming for the use of the functions
of the intelligent function module.
Using the dedicated instructions, the programming can be carried out without being
aware of the buffer memory address of Simple Motion module and interlock signal.
15
15 - 1
Chapter 15 Dedicated Instructions
The dedicated instructions explained in this Chapter are listed in Table 15.1.
POINT
The dedicated instructions of QD77MS16 can be used for only axis 1 to 4. They
cannot be used for axis 5 to 16. If the ZP.PSTRT5 to ZP.PSTRT16 or ZP.TEACH5
to ZP.TEACH16 is executed, the error "Program code error" (error code: 4002) for
PLC CPU and the error "PLC CPU error" (error code: 803) for QD77MS16 will
occur and positioning cannot be started.
Refer to "QCPU User's Manual (Hardware Design, Maintenance and Inspection) for
error of PLC CPU".
ON
ZP.PSTRT instruction ON OFF
ON
Interlock provided by PLC CPU OFF
ON
BUSY signal OFF
ON
Positioning completed signal OFF
15- 2
Chapter 15 Dedicated Instructions
These dedicated instructions are used to start the positioning of the designated axis.
Usable device
Internal device Link direct device J \ Intelligent Constant
Setting Index
File function
data register Others
Bit Word register Bit Word module K, H
Zn
U \G
(S) – – – –
(D) – – – –
ZP.PSTRT1
ZP.PSTRT1 "Un" (S) (D)
ZP.PSTRT2
ZP.PSTRT2 "Un" (S) (D)
ZP.PSTRT3
ZP.PSTRT3 "Un" (S) (D)
ZP.PSTRT4
ZP.PSTRT4 "Un" (S) (D)
Note) When ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, and ZP.PSTRT4 are common to each other, they are designated as
"ZP.PSTRT ".
[Setting data]
Setting side
Setting data Setting details (Note-1) Data type
15- 3
Chapter 15 Dedicated Instructions
[Control data]
Setting side
Device Item Setting data Setting range (Note-1)
[Functions]
(1) The positioning start of the axes to be processed (See below) is carried out.
• ZP.PSTRT1: Axis 1
• ZP.PSTRT2: Axis 2
• ZP.PSTRT3: Axis 3
• ZP.PSTRT4: Axis 4
(2) The block start, OPR start, current value changing, and multiple axes
simultaneous start can be carried out by the setting of "start number" 7000 to
7004/9001 to 9004 in ((S)+2).
(3) The ZP.PSTRT instruction completion can be confirmed using the complete
devices ((D)+0) and ((D)+1).
15- 4
Chapter 15 Dedicated Instructions
[Errors]
(1) When a ZP.PSTRT instruction is completed abnormally, the error complete
signal ((D)+1) is turned ON, and the error code is stored in the complete status
((S)+1).
Check and take a measure against the error referring to Section 16.4 "List of
errors".
[Precautions]
(1) If the positioning is started by the ZP.PSTRT instruction, the start complete
signals turn ON. However, since the ON time is short, the ON status may not to be
detected in the program.
Confirm the operation during the positioning control using the ZP.PSTRT start
instruction and BUSY signals.
(2) If the stop instruction is input before completion of the positioning which has been
started by the ZP.PSTRT instruction, the completion device (D) turns the 1-scan
ON to complete execution of the ZP.PSTRT instruction.
(3) The following dedicated instructions cannot be executed simultaneously for the
same axis.
(The instructions can be executed simultaneously for different axes.)
• Positioning start instructions (ZP.PSTRT1 to ZP.PSTRT4)
• Teaching instructions (ZP.TEACH1 to ZP.TEACH4)
(4) The ZP.PSTRT instruction can only be executed when the READY signal [X0] is
turned ON.
Even if the ZP.PSTRT instruction execution request is given when the READY
signal [X0] is turned OFF, the ZP.PSTRT instruction will not be executed. (Not
processed.)
Before executing the ZP.PSTRT instruction, turn ON the PLC READY signal
[Y0], and turn ON the READY signal [X0].
15- 5
Chapter 15 Dedicated Instructions
(6) When the multiple axes simultaneous start is executed by ZP.PSTRT instruction,
the completion device (D) will turn ON when the positioning of the axes executed
by ZP.PSTRT instructions (when the instructions is ZP.PSTRT1, the axis will be
1.) is completed.
(7) When "[Cd.3] Positioning start No." is changed from ZP.PSTRT instruction is
executed until the positioning start is completed, the changed positioning is started.
When starting the positioning using ZP.PSTRT instruction, do not change
"[Cd.3] Positioning start No." until the start complete signal is turned ON.
[Program examples]
• The following program executes the positioning start of positioning data No. 1 when
X100 turns ON in QD77MS4.
Use D30 to D32 as the control data devices of positioning data No. 1, and M32 and
M33 as the completion devices.
M150
7 MOVP K1 D32 <Positioning start No. 1 setting>
M200
13 ZP.PSTRT1 "U0" D30 M32 <Positioning start execution>
M150 U0\
9 MOV K1 G1500 <Positioning start No. 1 setting>
X8
15- 6
Chapter 15 Dedicated Instructions
ZP.TEACH1
ZP.TEACH1 "Un" (S) (D)
ZP.TEACH2
ZP.TEACH2 "Un" (S) (D)
ZP.TEACH3
ZP.TEACH3 "Un" (S) (D)
ZP.TEACH4
ZP.TEACH4 "Un" (S) (D)
Note) When ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, and ZP.TEACH4 are common to each other, they are designated as
"ZP.TEACH ".
[Setting data]
Setting side
Setting data Setting details (Note-1) Data type
15- 7
Chapter 15 Dedicated Instructions
[Control data]
Setting side
Device Item Setting data Setting range (Note-1)
[Functions]
(1) The "current feed value" of the axes to be set (See below) is set in the positioning
address or arc address.
The positioning data other than the positioning addresses and arc addresses are
set by GX Works2 or using a sequence program.
• ZP.TEACH1: Axis 1
• ZP.TEACH2: Axis 2
• ZP.TEACH3: Axis 3
• ZP.TEACH4: Axis 4
(2) Teaching can be carried out for the positioning data No. 1 to 600.
(3) The movement of the machine to the address (position) set in the positioning
address/arc address of the positioning data is carried out by the JOG operation,
inching operation, or manual pulse generator operation.
(4) The ZP.TEACH instruction completion can be confirmed using the complete
devices ((D)+0) and ((D)+1).
15- 8
Chapter 15 Dedicated Instructions
OFF When
Complete device completed
ON abnormally
When
Complete state display OFF completed normally
device 1 scan
[Errors]
(1) When a ZP.TEACH instruction is completed abnormally, the error complete
signal ((D)+1) is turned ON, and the error code is stored in the complete status
(S)+1.
Check and take a measure against the error referring to Section 16.4 "List of
errors".
[Precautions]
(1) The following dedicated instructions cannot be executed simultaneously for the
same axis.
(The instructions can be executed simultaneously for different axes.)
• Positioning start instructions (ZP.PSTRT1 to ZP.PSTRT4)
• Teaching instructions (ZP.TEACH1 to ZP.TEACH4)
(2) The ZP.TEACH instruction can only be executed when the BUSY signal is
turned OFF.
When the BUSY signal is turned ON, the ZP.TEACH instruction will not be
executed. (Not processed.)
Before executing the ZP.TEACH instruction, make sure that the BUSY signal for
the axis to be processed is turned OFF.
(3) If the ZP.TEACH instruction is executed in any of the following cases, an error
"Dedicated instruction error" (error code: 804) will occur and teaching cannot be
performed.
• Any value other than 0 and 1 is set to "Teaching selection" (device: (S)+2) of
the control data.
• Any value other than 1 to 600 is set to "Positioning No." (device: (S)+3) of the
control data.
15- 9
Chapter 15 Dedicated Instructions
[Program example]
Program to execute the teaching of the positioning data No. 3 of the axis 1 when
X39 is turned ON in QD77MS4.
M19 X0C
633 SET M20 <Teaching command hold>
M20
637 MOVP H0 D35 <Teaching data setting>
M34 M35
RST M20 <Teaching command storage OFF>
M19 X0C
11 SET M20 <Teaching command hold>
M20 U0\
15 MOVP K0 G1548 <Teaching positioning address>
U0\
MOVP K1 G1549 <Sets teaching positioning data No. to 1>
U0\
= G1549 K0 RST M20 <Turns OFF teaching command storage>
15- 10
Chapter 15 Dedicated Instructions
15.5 ZP.PFWRT
These dedicated instructions are used to write the parameters, positioning data, and
block start data of Simple Motion module to the flash ROM.
Usable device
Internal device Link direct device J \ Intelligent Constant
Setting Index
File function
data register Others
Bit Word register Bit Word module K, H
Zn
U \G
(S) – – – –
(D) – – – –
ZP.PFWRT
ZP.PFWRT "Un" (S) (D)
[Setting data]
Setting side
Setting data Setting details (Note-1) Data type
[Control data]
Setting Setting side
Device Item Setting data (Note-1)
Range
(S)+0 System area – – –
The state at the time of completion is stored.
(S)+1 Complete status 0 : Normal completion – System
(Note-2)
Other than 0 : Abnormal completion (error code)
(Note-1): The data on the setting side is as follows.
• User : Data before the execution of dedicated instructions is stored by user.
• System: Data after the execution of dedicated instruction is stored by PLC CPU.
(Note-2): Refer to Section 16.4 for error codes at abnormal completion.
15- 11
Chapter 15 Dedicated Instructions
[Functions]
(1) The ZP.PFWRT instruction completion can be confirmed using the complete
devices ((D)+0) and ((D)+1).
OFF When
Complete device completed
ON abnormally
When
Complete state display OFF completed normally
device 1 scan
[Errors]
(1) When a dedicated instruction is completed abnormally, the error complete signal
((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1).
Check and take measures against the error referring to Section 16.4 "List of errors".
15- 12
Chapter 15 Dedicated Instructions
[Precautions]
(1) Do not turn ON the power and reset the PLC CPU while parameters, positioning
data and block start data are written to the flash ROM using the ZP.PFWRT
instruction.
A parameter error will occur or normal positioning start will become impossible
because the parameters, positioning data and block start data are not written
normally to the flash ROM.
If this occurs, restart the operation by the method shown below.
• For GX Works2, write the parameters, positioning data and block start data
again to the flash ROM.
• For a sequence program, write the parameters, positioning data and block start
data to the Simple Motion module after initializing the parameters (ZP.PINIT
instruction execution and others).
Then execute the ZP.PFWRT instruction again.
(3) After the power ON and PLC CPU reset operation, writing to the flash ROM using
a sequence program is limited to up to 25 times. (Not limited to up to 25 times
when writing to the flash ROM is carried out by GX Works2.)
If the 26th or more writing is requested after the power ON/PLC CPU reset
operation, the error "Flash ROM write number error" (error code: 805) will occur,
and the writing will be disabled. If a flash ROM write error occurs by one writing to
the flash ROM, check and correct the flash ROM writing program. Then reset the
error or turn ON the power and reset the PLC CPU again.
(4) The ZP.PFWRT instruction can only be executed when the READY signal [X0] is
turned OFF.
When the READY signal [X0] is turned ON, the ZP.PFWRT instruction cannot be
executed.
Before executing the ZP.PFWRT instruction, turn OFF the PLC READY signal [Y0]
and then turn OFF the READY signal [X0].
(5) When the PLC READY signal [Y0] is turned ON, the error "SSCNET
communication error" (error code: 1205) occurs, "Rotation direction selection/travel
direction selection (PA14)" is changed by sequence program or the GX Works2
after the servo parameter is transmitted to servo amplifier (LED of the servo
amplifier is indicated b, C, or d).
When "Rotation direction selection/travel direction selection (PA14)" is changed,
transmit the servo parameter to servo amplifier.
15- 13
Chapter 15 Dedicated Instructions
[Program example]
Program used to write the parameters and positioning data stored in the buffer
memory to the flash ROM when X3D is turned ON in QD77MS4.
M26 X0C
836 SET M27 <Flash ROM write command hold>
M27 Y0 K2
840 T1 <PLC READY output to QD77 standby>
T1
847 ZP.PFWRT "U0" D39 M38 <Flash ROM write execution>
M38 M39
RST M27 <Flash ROM write command storage OFF>
(2) Flash ROM write program (when dedicated instruction is not used)
X3D
0 PLS M26 <Flash ROM write command pulse>
M26 X0C
7 SET M27 <Flash ROM write command hold>
M27 Y0 K2
11 T1 <PLC READY output to QD77 standby>
T1 U0\
18 MOVP K1 G1900 <Flash ROM write execution>
U0\
= G1900 K0 RST M27 <Flash ROM write command storage OFF>
15- 14
Chapter 15 Dedicated Instructions
15.6 ZP.PINIT
This dedicated instruction is used to initialize the setting data of the Simple Motion
module.
Usable device
Internal device Link direct device J \ Intelligent Constant
Setting Index
File function
data register Others
Bit Word register Bit Word module K, H
Zn
U \G
(S) – – – –
(D) – – – –
ZP.PINIT
ZP.PINIT "Un" (S) (D)
[Setting data]
Setting side
Setting data Setting details (Note-1) Data type
[Control data]
Setting side
Device Item Setting data Setting range (Note-1)
15- 15
Chapter 15 Dedicated Instructions
[Functions]
(1) This dedicated instruction is used to return the setting data set in the buffer
memory of Simple Motion module and flash ROM to their factory-set data (initial
values).
Refer to Section 14.2 for initialized setting data.
(2) The ZP.PINIT instruction completion can be confirmed using the complete devices
((D)+0) and ((D)+1).
(a) Complete device ((D)+0)
This device is turned ON by the END processing of the scan for which
ZP.PINIT instruction is completed, and turned OFF by the next END
processing.
(b) Complete state display device ((D)+1)
This device is turned ON and OFF according to the state in which ZP.PINIT
instruction is completed.
• When completed normally : Kept unchanged at OFF.
• When completed abnormally : This device is turned ON by the END
processing of the scan for which ZP.PINIT
instruction is completed, and turned OFF by
the next END processing. (Same ON/OFF
operation as the complete device.)
OFF When
Complete device completed
ON abnormally
When
Complete state display OFF completed normally
device 1 scan
[Errors]
(1) When a dedicated instruction is completed abnormally, the error complete signal
((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1).
Check and take measures against the error referring to Section 16.4 "List of errors".
[Precautions]
(1) The ZP.PINIT instruction can only be executed when the READY signal [X0] is
turned OFF.
When the READY signal [X0] is turned ON, the ZP.PINIT instruction cannot be
executed.
Before executing the ZP.PINIT instruction, turn OFF the PLC READY signal [Y0]
and then turn OFF the READY signal [X0].
15- 16
Chapter 15 Dedicated Instructions
(3) After the power ON and PLC CPU reset operation, writing to the flash ROM using
a sequence program is limited to up to 25 times. (Not limited to up to 25 times
when writing to the flash ROM is carried out by GX Works2.)
If the 26th or more writing is requested after the power ON/PLC CPU reset
operation, the error "Flash ROM write number error" (error code: 805) will occur,
and the writing will be disabled. If a flash ROM write error occurs by one writing to
the flash ROM, check and correct the flash ROM writing program. Then reset the
error or turn ON the power and reset the PLC CPU again.
[Program example]
The following program initializes the parameters in buffer memory and flash ROM
when X3C turns ON in QD77MS4.
X3C
796 PLS M24 <Parameter initialization command pulse>
M24 X0C
803 SET M25 <Parameter initialization command hold>
M25 Y0 K2
807 T0 <PLC READY output to QD77 standby>
T0
814 ZP.PINIT "U0" D37 M36 <Parameter initialization execution>
M36 M37
RST M25 <Parameter initialization command storage OFF>
X3C
0 PLS M24 <Parameter initialization command pulse>
M24 X0C
7 SET M25 <Parameter initialization command hold>
M25 Y0 K2
11 T0 <PLC READY output to QD77 standby>
T0 U0\
18 MOVP K1 G1901 <Parameter initialization execution>
U0\
= G1901 K0 RST M25 <Parameter initialization command storage OFF>
15- 17
Chapter 15 Dedicated Instructions
MEMO
15- 18
Chapter 16 Troubleshooting
Chapter 16 Troubleshooting
The "errors" and "warnings" detected by the Simple Motion module are explained in this
chapter.
Errors can be confirmed with the LED display of Simple Motion module and GX Works2.
When an error or warning is detected, confirm the detection details and carry out the
required measures.
16
16 - 1
Chapter 16 Troubleshooting
Error codes corresponding to the errors occurred in the Simple Motion module can be
checked either on the following screen of GX Works2.
Select the screen according to the purpose and usage.
• "Module's Detailed Information" screen
• "Error History" screen
POINT
The PLC CPU and GX Works2 that support the module error collection function are
required to confirm errors on the "Error History" screen. Refer to each PLC CPU
manual for the version of the PLC CPU or GX Works2 that supports the module
error collection function.
On the "Error History" screen, the error logs of the QD77MS are displayed in a
list together with the error logs of other modules. The logs can be output to a
CSV format file. The error codes and the time of error occurrence can be
checked even after the PLC CPU is powered off and then on or reset.
Select [Diagnostics] [System Monitor] [System Error History] button on
GX Works2.
16 - 2
Chapter 16 Troubleshooting
The current feed value of the axis in which the error occurred (at error occurrence) is
Current feed value
stored.
State of the input signal [X0 to XF] The status of input signals [X0 to XF] (at error occurrence) is stored (in binary).
State of the input signal [X10 to X1F] The status of input signals [X10 to X1F] (at error occurrence) is stored (in binary).
State of the output signal [Y0 to YF] The status of output signals [Y0 to YF] (at error occurrence) is stored (in binary).
State of the output signal [Y10 to Y1F] The status of output signals [Y10 to Y1F] (at error occurrence) is stored (in binary).
• Axis 1 upper limit signal
• Axis 1 lower limit signal
• Axis 1 stop signal
The status of axis 1 external input signals (at error occurrence) is stored.
• Axis 1 external command signal/
switching signal
• Axis 1 near-point signal
• Axis 2 upper limit signal
• Axis 2 lower limit signal
• Axis 2 stop signal
The status of axis 2 external input signals (at error occurrence) is stored.
• Axis 2 external command signal/
switching signal
QD77MS4 • Axis 2 near-point signal
display • Axis 3 upper limit signal
• Axis 3 lower limit signal
• Axis 3 stop signal
The status of axis 3 external input signals (at error occurrence) is stored.
• Axis 3 external command signal/
switching signal
• Axis 3 near-point signal
• Axis 4 upper limit signal
• Axis 4 lower limit signal
• Axis 4 stop signal
The status of axis 4 external input signals (at error occurrence) is stored.
• Axis 4 external command signal/
switching signal
• Axis 4 near-point signal
16 - 3
Chapter 16 Troubleshooting
Item Description
• Axis in which the error occurred
(Upper limit signal)
• Axis in which the error occurred
(Lower limit signal)
• Axis in which the error occurred
QD77MS16 The status of external input signals of the axis in which the error occurred (at error
(Stop signal)
display occurrence) is stored.
• Axis in which the error occurred
(External command signal/
switching signal)
• Axis in which the error occurred
(Near-point signal)
(Note-1)
Servo alarm The alarm code detected by servo amplifier is stored.
(Note-2)
Driver operation alarm The driver operation alarm detected by servo amplifier is stored.
POINT
(1) If errors frequently occur in the Simple Motion module, "*HST.LOSS*" (instead
of an actual error code) may be displayed in the Error Code column.
(Display example)
(2) If the error occurred at the simultaneous start, the axis No. in which the error is
detected is stored in the "Starting axis" in Error History.
16 - 4
Chapter 16 Troubleshooting
16.2 Troubleshooting
If there is no problem on the above check items, a watchdog timer error may
have occurred. Reset the PLC CPU and check that the RUN LED turns on.
If not, the possible cause is a hardware failure. Please consult your local
Mitsubishi representative, explaining a detailed description of the problem.
16 - 5
Chapter 16 Troubleshooting
POINT
The following signals must be ON for the Simple Motion module to operate
(excluding when the "positioning test function" of GX Works2 is used).
• READY signal [X0]
• Servo READY signal
• Upper limit signal and Lower limit signal
The ON status of signals can be checked by the following monitor data.
• Servo READY signal: "[Md.108] Servo status (high-order buffer memory address)"
(b0, b1).
• Upper limit signal and Lower limit signal: "[Md.30] External input signal" (b0, b1).
If a motor does not rotate even after the above items are checked, the possible
cause is a hardware failure.
Please consult your local Mitsubishi representative, explaining a detailed
description of the problem.
16 - 6
Chapter 16 Troubleshooting
(Note): Speed control mode and continuous operation to torque control mode: "[Md.122] Speed
during command"
16 - 7
Chapter 16 Troubleshooting
16 - 8
Chapter 16 Troubleshooting
[1] Errors
Types of errors
Errors detected by the Simple Motion module include parameter setting range
errors, errors at the operation start or during operation and errors detected by
servo amplifier.
(1) Errors detected by the Simple Motion module include parameter setting range
errors
The parameters are checked when the power is turned ON and at the rising
edge (OFF ON) of the PLC READY signal [Y0]. An error will occur if there
is a mistake in the parameter setting details at that time.
When this kind of error occurs, the READY signal [X0] does not turn ON.
To cancel this kind of error, set the correct value in the parameter for which
the error occurred, and then turn ON the PLC READY signal [Y0].
POINT
Re-set the parameters after parameter initialization (refer to Section 14.2) if errors
(error code: 900 to 999) frequently occur and the Simple Motion module does not
start.
(2) Errors at the operation start or during operation (Simple Motion module
detection errors)
These are errors that occur at the operation start or during operation when the
positioning control, JOG operation, or inching operation is used. If an axis
error occurs during interpolation operation, the error code will be stored in both
the reference axis and the interpolation axis.
Note that, in the following cases (a) and (b), the axis error No. will be stored
only in the reference axis during analysis of the positioning data set in each
point of the positioning start data table.
(a) When the interpolation axis is BUSY.
(b) When the error occurs in positioning data or parameters unrelated to
interpolation control.
If the error occurs at the simultaneous start of a positioning operation, the axis
error storage details will differ depending on whether the error occurred before
or after the simultaneous start.
If the error (illegal axis No., other axis BUSY, etc.) occurs before the
simultaneous start, the error "Error before simultaneous start" (error code:
501) will occur for the start axis.
If the error (positioning data error, software stroke limit error, etc.) occurs
after the simultaneous start, an error code corresponding to the axis in which
the error occurred will be stored. Because a simultaneous start cannot be
carried out due to this, the error "Simultaneous start not possible" (error
code: 532) will be stored in all axes in which an error has not occurred.
The axis operation status will be displayed as "error occurring" for axes in
which an error occurred.
If an error occurs during operation, any moving axes will deceleration stop,
and their operation status will be displayed as "error occurring".
All axes will decelerate to a stop during interpolation operations, even if the
error occurs in only one axis.
16 - 9
Chapter 16 Troubleshooting
Error storage
When an error occurs, the error detection signal turns ON, and the error code
corresponding to the error details is stored in the following buffer memory address
([Md.23] Axis error No.) for axis error No. storage. Note that there is a delay of up
to operation cycle after the error detection signal turns ON until the error code is
stored.
QD77MS2 QD77MS4 QD77MS16
Axis No. Error detection Buffer memory Error detection Buffer memory Error detection Buffer memory
signal address signal address signal address
1 X8 806 X8 806 2406
2 X9 906 X9 906 2506
3 XA 1006 2606
[Md.31]
4 XB 1106 2706
Status: b13
5 2806
to to
16 3906
16 - 10
Chapter 16 Troubleshooting
A new error code is stored in the buffer memory address ([Md.23] Axis error No.)
for axis error storage every time an error occurs.
POINT
When any of the following errors that are independent of an axis is detected, it is
stored in the axis error No. of axis 1. (These errors are stored in the axis error No.
of axis 1 for the system which does not use the axis 1.)
Error code: 001, 002, 107, 190, 800, 802, 805, 999
When an alarm occurs on servo amplifier, the alarm No. displayed in LED of servo
amplifier is stored in the following buffer memory address ([Md.114] Servo alarm).
Check the error details and remedies by this servo alarm details.
Buffer memory address
Axis No.
QD77MS2 QD77MS4 QD77MS16
1 888 888 2488
2 988 988 2588
3 1088 2688
4 1188 2788
5 2888
to to
16 3988
16 - 11
Chapter 16 Troubleshooting
[2] Warnings
Types of warnings
Warnings detected by the Simple Motion module include system warnings, axis
warnings and warnings detected by servo amplifier.
16 - 12
Chapter 16 Troubleshooting
Warning storage
(1) When an axis warning occurs, the warning code corresponding to the warning
details is stored in the following buffer memory ([Md.24] Axis warning No.) for
axis warning No. storage.
Buffer memory address
Axis No. QD77MS2 QD77MS4 QD77MS16
1 807 807 2407
2 907 907 2507
3 1007 2607
4 1107 2707
5 2807
to to
16 3907
(2) When an axis warning occurs in a positioning operation, etc., "axis warning
detection ([Md.31] Status: b9)" of the following buffer memory for axis status
storage turns ON.
Buffer memory address
Axis No. QD77MS2 QD77MS4 QD77MS16
1 817 817 2417
2 917 917 2517
3 1017 2617
4 1117 2717
5 2817
to to
16 3917
When a warning occurs on servo amplifier, the warning No. displayed in LED of
servo amplifier is stored in the following buffer memory address ([Md.114] Servo
alarm). Check the warning details and remedies by this servo alarm details.
Buffer memory address
Axis No.
QD77MS2 QD77MS4 QD77MS16
1 888 888 2488
2 988 988 2588
3 1088 2688
4 1188 2788
5 2888
to to
16 3988
16 - 13
Chapter 16 Troubleshooting
POINT
When servo amplifier errors cannot be reset even if error reset is requested, "0" is
not stored in "[Cd.5] Axis error reset" by Simple Motion module. It remains "1". Set
"0" in "[Cd.5] Axis error reset" and then set "1" to execute the error reset again by
user side.
16 - 14
Chapter 16 Troubleshooting
MEMO
16 - 15
Chapter 16 Troubleshooting
The following table shows the error details and remedies to be taken when an error
occurs.
16.4.1 QD77MS detection error
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 16
Chapter 16 Troubleshooting
16 - 17
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 18
Chapter 16 Troubleshooting
<Servo series> Match the set series of the servo parameter "[Pr.100] Servo
30100+200n 28400+100n
0, 1, 3, 4, 6, 7, 32, 48, 64, 96 series" to the series of connected servo amplifier.
<Positioning start No.> Execute the machine OPR (positioning start No. 9001). (Refer
1500+100n 4300+100n
1 to 600, 7000 to 7004, 9001 to 9004 to Section 8.2)
<Positioning start No.> Start the machine OPR (positioning start No. 9001) again.
1500+100n 4300+100n
1 to 600, 7000 to 7004, 9001 to 9004 (Refer to Section 8.2)
n: Axis No.-1
16 - 19
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
ABS reference point The data is not loaded from the servo
212 The OPR does not complete.
read error amplifier properly upon the OPR.
16 - 20
Chapter 16 Troubleshooting
Set "0: Need to pass servo motor Z-phase after power on" in
30180+200n 28480+100n —
the servo parameter "Function selection C-4 (PC17)".
<JOG speed>
1518+100n 4318+100n Bring the JOG speed into the setting range.
1 to 1000000000 [PLS/s]
1519+100n 4319+100n -2 (Refer to Section 11.2)
1 to 2000000000 [ 10 mm/min or others]
Refer to Section 5.4 <Condition data No.> Review the condition data No.
"List of block start data" 1 to 10 (Refer to Section 5.4 [Da.14])
n: Axis No.-1
16 - 21
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 22
Chapter 16 Troubleshooting
1 to 600
n: Axis No.-1
16 - 23
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 24
Chapter 16 Troubleshooting
n: Axis No.-1
16 - 25
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
At operation start:
• The positioning is executed at a position
The system does not operate.
exceeding the upper limit of the software
In the analysis of new current value:
stroke limit.
Current value is not changed.
• The positioning address and the new
During operation:
current value exceed the upper limit of the
• The system stops immediately
software stroke limit.
when the positioning address during
• In the circular interpolation with sub points
507 Software stroke limit+ position control (including position
designated, the sub point exceeds the
control in speed-position switching
upper limit of the software stroke limit.
control or position-speed switching
• During the speed control mode/the torque
control) is switched to the data
control mode/the continuous operation to
outside the software stroke limit
torque control mode, the current feed
range.
value exceeded the upper limit of the
• During speed control (including
software stroke limit.
Positioning speed control in speed-position
operation switching control or position-speed
errors • The positioning is executed at a position switching control), the system stops
exceeding the lower limit of the software at the setting (normal deceleration
stroke limit. stop only) of sudden stop selection
• The positioning address and the new (stop group 3) in the detailed
current value exceed the lower limit of the parameter 2 when the current feed
software stroke limit. value or machine feed value during
• In the circular interpolation with sub points manual control is outside the
508 Software stroke limit–
designated, the sub point exceeds the software stroke limit range.
lower limit of the software stroke limit. At speed control mode/torque control mode/
• During the speed control mode/the torque continuous operation to torque control mode:
control mode/the continuous operation to The system switches to the position
torque control mode, the current feed control mode and stops immediately
value exceeded the lower limit of the when the current feed value is
software stroke limit. outside the software stroke limit
range.
16 - 26
Chapter 16 Troubleshooting
1506+100n 4306+100n
At operation start : • Set the current feed value within the
1507+100n 4307+100n
software stroke limit by the manual
control operation.
(Refer to Chapter 11)
• Correct the positioning address. (At
Software stroke limit circular interpolation with sub points
upper limit <New current value> designated, also check the arc address.)
<Software stroke upper and lower limits> New current value : Set the new current value within the
• [mm] [inch] [PLS] software stroke limit. (Refer to Section
–2147483648 to 2147483647 9.2.19)
18+150n • [degree] During operation : Correct the positioning address.
19+150n 0 to 35999999 (For the positioning and arc addresses,
refer to [Da.6] and [Da.7] in Section 5.3)
At speed control mode/torque control mode/continuous
operation to torque control mode:
Software stroke limit Review the operation so that the current
lower limit feed value does not exceed the software
stroke limit.
20+150n
21+150n
n: Axis No.-1
16 - 27
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 28
Chapter 16 Troubleshooting
1506+100n 4306+100n <New current value> Bring the new current value into the setting range.
1507+100n 4307+100n [degree] 0 to 35999999 (Refer to Section 9.2.19)
n: Axis No.-1
16 - 29
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 30
Chapter 16 Troubleshooting
n: Axis No.-1
16 - 31
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 32
Chapter 16 Troubleshooting
<Special start instruction> Correct the instruction code of the special start.
00H to 06H (Refer to Section 5.4 [Da.13])
Refer to Section 5.3 Correct the control system.
—
"List of positioning data" (Refer to Section 5.3 [Da.2])
<M code OFF request> After turning OFF the M code ON signal, start the system.
1504+100n 4304+100n
1: M code ON signal is turned OFF (Refer to Section 13.7.3)
Check the program which turns ON/OFF the PLC READY
— — — signal [Y0], and turn ON the PLC READY signal. Then start
the system.
n: Axis No.-1
16 - 33
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 34
Chapter 16 Troubleshooting
n: Axis No.-1
16 - 35
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 36
Chapter 16 Troubleshooting
— — —
— — —
0+150n 0, 1, 2, 3
2+150n
1 to 200000000 With the setting brought into the setting range, turn the PLC
3+150n
READY signal [Y0] from OFF to ON.
4+150n
1 to 200000000
5+150n
n: Axis No.-1
16 - 37
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 38
Chapter 16 Troubleshooting
• Set the bias speed to not more than the speed limit value.
6+150n 0 [PLS/s]
-2 • With the setting brought into the setting range, turn the PLC
7+150n 0 [ 10 mm/min or others]
READY signal [Y0] from OFF to ON.
Unit magnification
1+150n
"[Pr.2] Number of pulses per rotation (AP)",
Number of pulses per rotation 0.001 ≤ Electronic gear ≤ 320000 "[Pr.3] Movement amount per rotation (AL)",
2+150n Pr.2
"[Pr.4] Unit magnification (AM)"
3+150n Electronic gear =
Pr.3 × Pr.4 Review these parameters.
Movement amount per rotation
(Refer to Section 5.2.1)
4+150n
5+150n
<Speed limit value> • Set a value which is not less than the OPR speed.
10+150n
1 to 1000000000 [PLS/s] • With the setting brought into the setting range, turn the PLC
11+150n -2
1 to 2000000000 [ 10 mm/min or others] READY signal [Y0] from OFF to ON.
12+150n
1 to 8388608
13+150n
With the setting brought into the setting range, turn the PLC
READY signal [Y0] from OFF to ON.
14+150n
1 to 8388608
15+150n
n: Axis No.-1
16 - 39
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 40
Chapter 16 Troubleshooting
With the setting brought into the setting range, turn the PLC
23+150n 0, 1
READY signal [Y0] from OFF to ON.
24+150n
1 to 2147483647
25+150n
26+150n 1 to 1000
27+150n 0, 1
28+150n 0, 1 With the setting brought into the setting range, turn the PLC
READY signal [Y0] from OFF to ON.
29+150n 0, 1
30+150n 0, 1, 2
33 0, 1, 2, 3
32+150n 0, 1, 2, 3, 4, 5, 6
With the setting brought into the setting range, turn the PLC
READY signal [Y0] from OFF to ON.
35 0, 1
With the setting of the axis is matched, turn the PLC READY
31+150n 0, 1
signal [Y0] from OFF to ON.
n: Axis No.-1
16 - 41
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 42
Chapter 16 Troubleshooting
36+150n
1 to 8388608
37+150n
38+150n
1 to 8388608
39+150n
40+150n
1 to 8388608
41+150n
With the setting brought into the setting range, turn the PLC
READY signal [Y0] from OFF to ON.
42+150n
1 to 8388608
43+150n
44+150n
1 to 8388608
45+150n
46+150n
1 to 8388608
47+150n
<JOG speed limit value> • With the setting brought into the setting range, turn the PLC
48+150n
1 to 1000000000 [PLS/s] READY signal [Y0] from OFF to ON.
49+150n -2
1 to 2000000000 [ 10 mm/min or others] • Bring the setting into the speed limit value or below.
n: Axis No.-1
16 - 43
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 44
Chapter 16 Troubleshooting
50+150n 0, 1, 2, 3
51+150n 0, 1, 2, 3
52+150n 0, 1
53+150n 1 to 100
54+150n
1 to 8388608
55+150n
56+150n 0, 1
With the setting brought into the setting range, turn the PLC
READY signal [Y0] from OFF to ON.
57+150n 0, 1
58+150n 0, 1
60+150n
0 to 100000
61+150n
62+150n 0, 1, 2, 3, 4
64+150n
0 to 327680
65+150n
63+150n 0, 1
Set with Set the number of master axis not more than the number can
30210+200n —
GX Works2 be set in servo parameter "PD15".
30215+200n
30216+200n Set with Review the master axis No. of servo parameters "PD20 to
—
30217+200n GX Works2 PD23".
30218+200n
n: Axis No.-1
16 - 45
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
Manual pulse
The set value of the detailed parameter 2
generator/Incremental
"Manual pulse generator/Incremental
976 synchronous encoder
synchronous encoder input type selection"
input type selection
is outside the setting range.
error
16 - 46
Chapter 16 Troubleshooting
67 0, 1
69+150n 0, 1, 2, 3, 4
With the setting brought into the setting range, switch the
30100+200n 28400+100n 32
power on again or reset the PLC.
70+150n 0, 4, 5, 6, 7
71+150n 0, 1 With the setting brought into the setting range, turn the PLC
READY signal [Y0] from OFF to ON.
• [mm] [inch] [PLS]
72+150n
–2147483648 to 2147483647
73+150n
• [degree] 0 to 35999999
n: Axis No.-1
16 - 47
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 48
Chapter 16 Troubleshooting
With the setting brought into the setting range, turn the PLC
78+150n 0, 1
READY signal [Y0] from OFF to ON.
80+150n
0 to 2147483647
81+150n
82+150n 0, 1, 2, 3
83+150n 0, 1, 2, 3
With the setting brought into the setting range, turn the PLC
READY signal [Y0] from OFF to ON.
86+150n 1 to 1000
88+150n 0, 1
87+150n 0, 1
With the setting brought into the setting range, write to the
147 105 0, 1
flash ROM and switch the power on again or reset the PLC.
<SSCNET setting>
With "SSCNET setting" and "Servo series" set by a correct
0, 1
106 combination, write to the flash ROM and switch the power on
<Servo series>
again or reset the PLC.
0, 1, 3, 4, 6, 7, 32, 48,64,96, 4097, 4128
n: Axis No.-1
16 - 49
Chapter 16 Troubleshooting
Classification Error
Error name Error Operation status at error occurrence
of errors code
16 - 50
Chapter 16 Troubleshooting
— — — Execute OPR.
16 - 51
Chapter 16 Troubleshooting
(1) MR-J4(W)-B/MR-JE-B/MR-J3(W)-_B(-RJ_)/MR-J3-_BS
Classification of errors Error code Servo amplifier LED display
2010 10_
(Note-1)
2011 11_
2012 12_
2013 13_
2014 14_
2015 15_
2016 16_
2017 17_
2019 19_
2020 20_
2021 21_
2024 24_
2025 25_
2027 27_
2028 28_
2030 30_
2031 31_
2032 32_
2033 33_
Servo amplifier errors 2034 34_
2035 35_
2036 36_
2037 37_
2042 42_
2045 45_
2046 46_
2047 47_
2050 50_
2051 51_
2052 52_
2054 54_
2056 56_
2060 1A_
2061 2A_
63_
2063
1E_
(Note-2)
64_
2064
1F_
(Note-2)
2065 65_
16 - 52
Chapter 16 Troubleshooting
16 - 53
Chapter 16 Troubleshooting
The following table shows the warning details and remedies to be taken when a
warning occurs.
16.5.1 QD77MS detection warning
Classification Warning
Warning name Warning Operation status at warning occurrence
of warnings code
16 - 54
Chapter 16 Troubleshooting
n: Axis No.-1
16 - 55
Chapter 16 Troubleshooting
Classification Warning
Warning name Warning Operation status at warning occurrence
of warnings code
16 - 56
Chapter 16 Troubleshooting
<Control mode setting> Switch the control mode after setting a value within the
1575+100n 4375+100n
0, 10, 20, 30 range for "[Cd.139] Control mode setting".
n: Axis No.-1
k: Mark detection setting No.-1
16 - 57
Chapter 16 Troubleshooting
Classification Warning
Warning name Warning Operation status at warning occurrence
of warnings code
16 - 58
Chapter 16 Troubleshooting
54004+20k <Mark detection data buffer memory No.> Set a value with an even number within the setting
54005+20k 0 to 65534 range.
n: Axis No.-1
k: Mark detection setting No.-1
16 - 59
Chapter 16 Troubleshooting
Classification Warning
Warning name Warning Operation status at warning occurrence
of warnings code
(Note-2)
• Setting speeds exceed the speed
limit value when starting/restarting the
positioning or when changing the speed
(Note-1)
at the positioning . (At the
interpolation control, either of reference
axes or interpolation axes exceeds the
speed limit value.)
• "[Cd.140] Command speed at speed
control mode" exceeds "[Pr.8] Speed
limit value" during the speed control
mode. [Position control mode]
• "[Cd.146] Speed limit value at torque • The speed is controlled with the speed
control mode" exceeds "[Pr.8] Speed limit value.
limit value" during the torque control • The "[Md.39] In speed limit flag" is turned
mode. ON.
501 Speed limit value over • "[Cd.147] Speed limit value at continuous [Speed control mode/Torque control
operation to torque control mode" mode/Continuous operation to torque
exceeds "[Pr.8] Speed limit value" during control]
Positioning the continuous operation to torque • The speed is controlled with the speed
operation control mode. limit value. (The "[Md.39] In speed limit
warnings flag" is not turned ON.)
(Note-1): The speed change by position-
speed switching control, target
position change function, or
override function is contained.
(Note-2): This speed is a value in which
override value is considered
when override function is used.
("[Cd.13] Positioning operation
speed override" is set other than
100[%].)
16 - 60
Chapter 16 Troubleshooting
n: Axis No.-1
16 - 61
Chapter 16 Troubleshooting
Classification Warning
Warning name Warning Operation status at warning occurrence
of warnings code
Positioning
• The speed change value is outside the
operation
setting range when changing the speed
warnings (Note-1)
during operation.
• "[Cd.140] Command speed at speed
control mode" is outside the setting • The speed change value is controlled as
range during the speed control mode. the "maximum value within the setting
Outside command
514 • "[Cd.146] Speed limit value at torque range".
speed range
control mode" is outside the setting • The "[Md.39] In speed limit flag" is turned
range during the torque control mode. ON.
(Note-1): The speed change by position-
speed switching control or target
position change function is
contained.
16 - 62
Chapter 16 Troubleshooting
<External command function selection> Set the detailed parameter 2 "External command
62+150n
0, 1, 2, 3, 4 function selection" to within the setting range.
<Teaching data selection> Set the teaching data selection set value to within the
1548+100n 4348+100n
0, 1 setting range.
n: Axis No.-1
16 - 63
Chapter 16 Troubleshooting
Classification Warning
Warning name Warning Operation status at warning occurrence
of warnings code
• A target position change request was The target position change is not carried
given for the control system other than out.
ABS1 and INC1.
• A target position change request is
turned ON during continuous path
control.
• A new target position address is outside
the software stroke limit range.
Target position change
518 • A target position change request was
not possible
given during deceleration to a stop.
• A target position change request was
issued when speed change 0 flag
([Md.31] Status: b10) was ON.
• A target position change request was
given during speed control mode, torque
Positioning control mode or continuous operation to
operation torque control mode.
warnings
• A value exceeding "[Pr.17] Torque limit
setting value" is set to "[Cd.143]
Command torque at torque control
mode" at torque control mode.
The torque is controlled with the torque
520 Torque limit value over • A value exceeding "[Pr.17] Torque limit
limit setting value.
setting value" is set to "[Cd.150] Target
torque at continuous operation to torque
control mode" at continuous operation to
torque control mode.
16 - 64
Chapter 16 Troubleshooting
Operation setting for speed-torque • Use a servo amplifier which supports the servo
<Torque initial value selection (b4 to b7)>
control mode parameter "Function selection C-B POL reflection
0, 1
68+150n selection at torque control (PC29)" and set (PC29) to
"1: Disabled".
POL reflection setting at torque control <POL reflection setting at torque control>
• Set the torque initial value selection to command
0, 1
30192+200n 28492+100n torque.
n: Axis No.-1
16 - 65
Chapter 16 Troubleshooting
(1) MR-J4(W)-B/MR-JE-B//MR-J3(W)-_B(-RJ_)/MR-J3-_BS
Classification of warnings Warning code Servo amplifier LED display
2095 95_
2101 91_
2102 92_
2106 96_
2116 9F_
2140 E0_
2141 E1_
2142 E2_
2143 E3_
2144 E4_
2146 E6_
Servo amplifier warnings
2147 E7_
2148 E8_
2149 E9_
(Note-1)
2151 EB_
2152 EC_
2153 ED_
2160 F0_
2162 F2_
2163 F3_
2955 9B_
(Note-2)
2956 9C_
16 - 66
Appendices
APP.
Appendices
Appendix - 1
Appendices
The following shows the relation between the buffer memory addresses and the
various items.
(Note-1): Do not use the buffer memory address that not been described here for a
"Maker setting".
(Note-2): For the list of buffer memory addresses for positioning data, refer to the
"Simple Motion Module Setting Tool Help" of GX Works2.
(Note-3): For the list of buffer memory addresses used in synchronous control, refer to
the "MELSEC-Q/L QD77MS/QD77GF/LD77MS/LD77MH Simple Motion
Module User's Manual (Synchronous Control)".
(Note-4): Guide to buffer memory address
•In the buffer memory address, "n" in "1+150n", etc. indicates a value
corresponding to axis No.
Calculate as follows for the buffer memory address corresponding to each
axis.
(Example) For axis No. 16
1+150n ([Pr.4] Unit magnification (AM))=1+150 15=2251
•In the buffer memory address, "p" in "4012+5p", etc. indicates a pointer No.
Calculate as follows for the buffer memory address corresponding to each
pointer No.
(Example) For pointer No. 15
4012+5p ([Md.3] Start information)=4012+5 15=4087
12+150n
13+150n [Pr.9] Acceleration time 0
14+150n
15+150n [Pr.10] Deceleration time 0
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 2
Appendices
Positioning parameters
Detailed parameters 1
25+150n [Pr.16] Command in-position width
26+150n [Pr.17] Torque limit setting value
27+150n [Pr.18] M code ON signal output timing
28+150n [Pr.19] Speed switching mode
29+150n [Pr.20] Interpolation speed designation method
30+150n [Pr.21] Current feed value during speed control
31+150n [Pr.22] Input signal logic selection
32+150n [Pr.80] External input signal selection
[Pr.24] Manual pulse generator/Incremental synchronous
33
encoder input selection
34+150n [Pr.81] Speed-position function selection
35 [Pr.82] Forced stop valid/invalid selection
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 3
Appendices
Positioning parameters
Detailed parameters 2
51+150n [Pr.33] JOG operation deceleration time selection
52+150n [Pr.34] Acceleration/deceleration process selection
53+150n [Pr.35] S-curve ratio
54+150n
55+150n [Pr.36] Sudden stop deceleration time
56+150n [Pr.37] Stop group 1 sudden stop selection
57+150n [Pr.38] Stop group 2 sudden stop selection
58+150n [Pr.39] Stop group 3 sudden stop selection
59+150n [Pr.40] Positioning complete signal output time
60+150n
61+150n [Pr.41] Allowable circular interpolation error width
62+150n [Pr.42] External command function selection
63+150n [Pr.83] Speed control 10 x multiplier setting for degree axis
64+150n
65+150n [Pr.84] Restart allowable range when servo OFF to ON
[Pr.89] Manual pulse generator/incremental synchronous
67
encoder input type selection
68+150n [Pr.90] Operation setting for speed-torque control mode
69+150n [Pr.95] External command signal selection
70+150n [Pr.43] OPR method
OPR basic parameters
72+150n
73+150n [Pr.45] OP address
74+150n
75+150n [Pr.46] OPR speed
76+150n
77+150n [Pr.47] Creep speed
78+150n [Pr.48] OPR retry
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 4
Appendices
OPR parameters
83+150n [Pr.52] OPR deceleration time selection
84+150n
85+150n [Pr.53] OP shift amount
86+150n [Pr.54] OPR torque limit value
87+150n [Pr.55] Operation setting for incompletion of OPR
88+150n [Pr.56] Speed designation during OP shift
89+150n [Pr.57] Dwell time during OPR retry
100+150n [Pr.91] Optional data monitor: Data type setting 1
101+150n [Pr.92] Optional data monitor: Data type setting 2
102+150n [Pr.93] Optional data monitor: Data type setting 3
Expansion
parameter
103+150n [Pr.94] Optional data monitor: Data type setting 4
147 105 [Pr.96] Operation cycle setting
106 [Pr.97] SSCNET setting
[Pr.114] External command signal compensation
114
valid/invalid setting
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 5
Appendices
Start history
1440+p 4240+p [Md.54] Start Year: month
1214+5p 4014+5p [Md.5] Start Day: hour
1215+5p 4015+5p [Md.6] Start Minute: second
1216+5p 4016+5p [Md.7] Error judgment
1292 4092 [Md.8] Start history pointer
1293+4p 4093+4p [Md.9] Axis in which the error occurred
1294+4p 4094+4p [Md.10] Axis error No.
31300+p [Md.57] Servo alarm
Error history
Monitor data
1456+p 4256+p [Md.55] Axis error occurrence (Year: month)
129 5+4p 4095+4p [Md.11] Axis error occurrence (Day: hour)
1296+4p 4096+4p [Md.12] Axis error occurrence (Minute: second)
1357 4157 [Md.13] Error history pointer
1358+4p 4158+4p [Md.14] Axis in which the warning occurred
1359+4p 4159+4p [Md.15] Axis warning No.
Warning history
p: Pointer No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 6
Appendices
Monitor data
818+100n 2418+100n
819+100n 2419+100n [Md.32] Target value
820+100n 2420+100n
821+100n 2421+100n [Md.33] Target speed
824+100n 2424+100n
825+100n 2425+100n [Md.34] Movement amount after near-point dog ON
[Md.35] Torque limit stored value/forward torque limit stored
826+100n 2426+100n
value
827+100n 2427+100n [Md.36] Special start data instruction code setting value
[Md.37] Special start data instruction parameter setting
828+100n 2428+100n
value
829+100n 2429+100n [Md.38] Start positioning data No. setting value.
830+100n 2430+100n [Md.39] In speed limit flag
831+100n 2431+100n [Md.40] In speed change processing flag
832+100n 2432+100n [Md.41] Special start repetition counter
833+100n 2433+100n [Md.42] Control system repetition counter
834+100n 2434+100n [Md.43] Start data pointer being executed
835+100n 2435+100n [Md.44] Positioning data No. being executed
836+100n 2436+100n [Md.45] Block No. being executed
837+100n 2437+100n [Md.46] Last executed positioning data No.
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 7
Appendices
Monitor data
867+100n 2467+100n [Md.106] Servo amplifier software No.
868+100n 2468+100n
869+100n 2469+100n
870+100n 2470+100n [Md.107] Parameter error No.
876+100n 2476+100n
877+100n 2477+100n [Md.108] Servo status
[Md.109] Regenerative load ratio/Optional data monitor
878+100n 2478+100n
output 1
[Md.110] Effective load torque/Optional data monitor output
879+100n 2479+100n
2
880+100n 2480+100n [Md.111] Peak torque ratio/Optional data monitor output 3
881+100n 2481+100n [Md.112] Optional data monitor output 4
887+100n 2487+100n [Md.113] Semi/Fully closed loop status
888+100n 2488+100n [Md.114] Servo alarm
890+100n 2490+100n [Md.116] Encoder option information
891+100n 2491+100n [Md.120] Reverse torque limit stored value
892+100n 2492+100n
[Md.122] Speed during command
893+100n 2493+100n
894+100n 2494+100n [Md.123] Torque during command
895+100n 2495+100n [Md.124] Control mode switching status
899+100n 2499+100n [Md.48] Deceleration start flag
59300+100n [Md.500] Servo status7
59302+100n [Md.502] Driver operation alarm number
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 8
Appendices
Control data
1517+100n 4317+100n [Cd.16] Inching movement amount
1518+100n 4318+100n
1519+100n 4319+100n [Cd.17] JOG speed
1520+100n 4320+100n [Cd.18] Interrupt request during continuous operation
1521+100n 4321+100n [Cd.19] OPR request flag OFF request
1522+100n 4322+100n
1523+100n 4323+100n [Cd.20] Manual pulse generator 1 pulse input magnification
1524+100n 4324+100n [Cd.21] Manual pulse generator enable flag
1525+100n 4325+100n [Cd.22] New torque value/forward new torque value
1526+100n 4326+100n [Cd.23] Speed-position switching control movement amount
1527+100n 4327+100n change register
1528+100n 4328+100n [Cd.24] Speed-position switching enable flag
1530+100n 4330+100n [Cd.25] Position-speed switching control speed change
1531+100n 4331+100n register
1532+100n 4332+100n [Cd.26] Position-speed switching enable flag
1534+100n 4334+100n
1535+100n 4335+100n [Cd.27] Target position change value (New address)
1536+100n 4336+100n
1537+100n 4337+100n [Cd.28] Target position change value (New speed)
1538+100n 4338+100n [Cd.29] Target position change request flag
4339+100n [Cd.43] Simultaneous starting axis
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 9
Appendices
Control data
1549+100n 4349+100n [Cd.39] Teaching positioning data No.
1550+100n 4350+100n [Cd.40] ABS direction in degrees
1551+100n 4351+100n [Cd.100] Servo OFF command
1552+100n 4352+100n [Cd.101] Torque output setting value
1554+100n 4354+100n [Cd.130] Parameter write request
1555+100n 4355+100n [Cd.131] Parameter No.
1556+100n 4356+100n
[Cd.132] Change data
1557+100n 4357+100n
1558+100n 4358+100n [Cd.133] Semi/Fully closed loop switching request
1559+100n 4359+100n [Cd.108] Gain changing command
1563+100n 4363+100n [Cd.112] Torque change function switching request
1564+100n 4364+100n [Cd.113] Reverse new torque value
1565+100n 4365+100n [Cd.136] PI-PID switching request
1566+100n 4366+100n [Cd.45] Speed-position switching device selection
1567+100n 4367+100n [Cd.46] Speed-position switching command
1574+100n 4374+100n [Cd.138] Control mode switching request
1575+100n 4375+100n [Cd.139] Control mode setting
1576+100n 4376+100n
[Cd.140] Command speed at speed control mode
1577+100n 4377+100n
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 10
Appendices
Control data
control mode
[Cd.151] Torque time constant at continuous operation to
1591+100n 4391+100n
torque control mode (Forward direction)
[Cd.152] Torque time constant at continuous operation to
1592+100n 4392+100n
torque control mode (Negative direction)
1593+100n 4393+100n [Cd.153] Control mode auto-shift selection
1594+100n 4394+100n
[Cd.154] Control mode auto-shift parameter
1595+100n 4395+100n
1900 5900 [Cd.1] Flash ROM write request
1901 5901 [Cd.2] Parameter initialization request
1905 5905 [Cd.41] Deceleration start flag valid
System control data
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 11
Appendices
Expansion axis
Control data
control data
30101+10n [Cd.181] Forward run JOG start
30102+10n [Cd.182] Reverse run JOG start
30103+10n [Cd.183] Execution prohibition flag
[Da.1] Operation pattern
[Da.2] Control system
6000+1000n Positioning
2000+6000n [Da.3] Acceleration time No.
identifier
[Da.4] Deceleration time No.
[Da.5] Axis to be interpolated
[Da.10] M code/condition data No. /Number of LOOP to
2001+6000n 6001+1000n
LEND repetitions
2002+6000n 6002+1000n [Da.9] Dwell time/JUMP destination positioning data No.
No.1
[Da.20] Axis to be interpolated No.1
Axis to be
6003+1000n [Da.21] Axis to be interpolated No.2
interpolated
[Da.22] Axis to be interpolated No.3
2004+6000n 6004+1000n
[Da.8] Command speed
2005+6000n 6005+1000n
Positioning data
Positioning data
2006+6000n 6006+1000n
[Da.6] Positioning address/movement amount
2007+6000n 6007+1000n
2008+6000n 6008+1000n
[Da.7] Arc address
2009+6000n 6009+1000n
2010+6000n 6010+1000n
to to No.2
2019+6000n 6019+1000n
2020+6000n 6020+1000n
to to No.3
2029+6000n 6029+1000n
to to to to
2990+6000n 6990+1000n
to to No.100
2999+6000n 6999+1000n
3000+6000n
to No.101
3009+6000n
Set with
to to to
GX Works2
7990+6000n
to No.600
7999+6000n
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 12
Appendices
1st point
1000n 400n
[Da.12] Start data No.
26050+ 22050+ [Da.13] Special start instruction
Starting block 0
22101+400n
[Da.25] Simultaneously starting axis No.2
[Da.26] Simultaneously starting axis No.3 No.1
26102+1000n 22102+400n
[Da.17] Address
26103+1000n 22103+400n
Condition data
26104+1000n 22104+400n
[Da.18] Parameter 1
26105+1000n 22105+400n
26106+1000n 22106+400n
[Da.19] Parameter 2
26107+1000n 22107+400n
26110+1000n 22110+400n
to to No.2
26119+1000n 22119+400n
26120+1000n 22120+400n
to to No.3
26129+1000n 22129+400n
to to to to
26190+1000n 22190+400n
to to No.10
26199+1000n 22199+400n
26200+1000n 22200+400n
Starting block 1
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 13
Appendices
Starting block 2
to Block start data
26499+1000n
Starting block 3
to Block start data
26699+1000n Set with
26700+1000n GX Works2
to Condition data
26799+1000n
26800+1000n
Starting block 4
to Block start data
26899+1000n
26900+1000n
to Condition data
26999+1000n
Positioning data
30000
memo area
PLC CPU
to Condition judgement target data of the condition data
30099
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 14
Appendices
The following shows the relation between the buffer memory addresses of servo
parameter and the various items.
(Note): The setting range is different depending on the servo amplifier model. Refer to
each servo amplifier instruction manual for details.
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 15
Appendices
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 16
Appendices
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 17
Appendices
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 18
Appendices
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 19
Appendices
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 20
Appendices
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 21
Appendices
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 22
Appendices
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 23
Appendices
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 24
Appendices
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 25
Appendices
n: Axis No.-1
: Compatible : Partly compatible : Not compatible
Appendix - 26
Appendices
The following shows the relation between the buffer memory addresses for mark
detection function and the various items.
(Note): Do not use the buffer memory address that not been described here for a
"Maker setting".
Buffer memory address Compatibility
of setting value
Memory
QD77MS2 of QD77MS2/ Item
QD77MS16 area
QD77MS4 QD77MS4 and
QD77MS16
54000+20k [Pr.800] Mark detection signal setting
Appendix - 27
Appendices
SSCNET cables are used to connect between Simple Motion module and servo
amplifier or between servo amplifiers.
Install the battery to servo amplifier to execute absolute position detection control.
Refer to each servo amplifier instruction manual for details.
QD77MS
SSCNET Cable length
When MR-J3BUS _ M is used
1) 3m (9.84ft.)
When MR-J3BUS _ M-A is used
1) 20m (65.62ft.)
When MR-J3BUS _ M-B is used
1) 50m (164.04ft.)
SSCNET connector
1) CN1A CN1A
1)
Cap
CN1B CN1B
(Note): It cannot communicate with that the connection of CN1A and CN1B is mistaken.
CAUTION
Be sure to connect SSCNET cable with the above connector. If the connection is mistaken, between
the Simple Motion module and servo amplifier cannot be communicated.
SSCNET connector to connect the SSCNET cable is put a cap to protect light device inside
connector from dust. For this reason, do not remove a cap until just before connecting SSCNET
cable. Then, when removing SSCNET cable, make sure to put a cap.
Keep the cap and the tube for protecting light cord end of SSCNET cable in a plastic bag with a
zipper of SSCNET cable to prevent them from becoming dirty.
Do not remove the SSCNET cable while turning on the power supply of Simple Motion module and
servo amplifier. Do not see directly the light generated from SSCNET connector of Simple Motion
module or servo amplifier and the end of SSCNET cable. When the light gets into eye, may feel
something is wrong for eye. (The light source of SSCNET cable complies with class1 defined in
JISC6802 or IEC60825-1.)
When exchanging the Simple Motion module or servo amplifier, make sure to put a cap on SSCNET
connector. When asking repair of Simple Motion module or servo amplifier for some troubles, make also
sure to put a cap on SSCNET connector. When the connector is not put a cap, the light device may
be damaged at the transit. In this case, exchange and repair of light device is required.
Appendix - 28
Appendices
(Note-1): For the cable of less than 30m (98.43ft.), contact your nearest Mitsubishi sales representative.
(2) Specification
(0.17 0.016)
2.2 0.07
4.4 0.1
Optical cable
(0.09 0.003)
2.2 0.07
(0.17 0.004)
(Cord)
2.2 0.07
(0.09 0.003)
External appearance
[mm(inch)]
10.16(Note-2)
4.4 0.1
(0.40)
(0.17 0.004) 6 0.2
7.6 0.5
(0.24 0.008)
(0.30 0.02)
(Note-1): This temperature range for use is the value for optical cable (cord) only.
(Note-2): Dimension of connector fiber insert location. The distance of two cords is changed by how to bend it.
Appendix - 29
Appendices
CAUTION
Please use the processing method and the processing treatment device that exists in the connector
when you fix the cord part of the SSCNET cable to the connector.
It must not cut squarely when you cut the cord part of the SSCNET cable, the cutting edge side must
not be made smooth, and garbage etc. must not adhere.
The damage etc. must not adhere to the optical cord part when you peel off the film of the cable of the
SSCNET cable.
If the end face of cord tip for the SSCNET cable is dirty, optical transmission is interrupted and it may
cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as
alcohol.
Do not add impossible power to the connector of the SSCNET cable.
When incinerating the SSCNET cable (optical fiber), hydrogen fluoride gas or hydrogen chloride gas
which is corrosive and harmful may be generated. For disposal of the SSCNET cable (optical fiber),
request for specialized industrial waste disposal services who has incineration facility for disposing
hydrogen fluoride gas or hydrogen chloride gas.
Appendix - 30
Appendices
(a) MR-J3BUS_M
1) Model explanation
Type: MR-J3BUS _ M -
Symbol Cable type
None Standard cord for inside panel
A Standard cable for outside panel
B Long distance cable
2) Exterior dimensions
• MR-J3BUS015M
[Unit: mm(inch)]
15 13.4 37.65
6.7(0.26) (0.59) (0.53) (1.48)
Protective tube
20.9(0.82)
150 +50
-0
(5.91)
(0.31)
8+0
2.3(0.09)
1.7(0.07)
• MR-J3BUS03M to MR-J3BUS3M
Refer to the table of this section (1) for cable length (L).
[Unit: mm(inch)]
100 100
(3.94) L (3.94)
Appendix - 31
Appendices
• MR-J3BUS5M-A to MR-J3BUS20M-A
• MR-J3BUS30M-B to MR-J3BUS50M-B
Refer to the table of this section (1) for cable length (L).
Variation [mm(inch)]
SSCNET Cable
A B
MR-J3BUS5M-A to MR-J3BUS20M-A 100(3.94) 30(1.18)
MR-J3BUS30M-B to MR-J3BUS50M-B 150(5.91) 50(1.97)
[Unit: mm(inch)]
Protective tube
(Note)
POINT
Keep the cap and the tube for protecting light cord end of SSCNET cable in a
plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty.
4.8(0.19)
(0.53)
13.4
1.7
(0.07)
(0.59)
15
2.3
9.3(0.37)
(0.26)
(0.09)
6.7
17.6 0.2 8
(0.69 0.01) (0.31)
20.9 0.2
(0.82 0.01)
Appendix - 32
Appendices
Generally use the serial absolute synchronous encoder cables available as our
products. If the required length is not found in our products, fabricate the cable on the
customer side.
(1) Selection
The following table indicates the serial absolute synchronous encoder cables
used with the serial absolute synchronous encoder.
Connector sets (MR-J3CN2) are also available for your fabrication.
Use the following or equivalent twisted pair cables as the serial absolute
synchronous encoder cables.
Insulation sheath
Conductor
CAUTION
When fabricating the encoder cable, do not make incorrect connection. Wrong connection will
cause runaway or explosion.
Appendix - 33
Appendices
(a) Q170ENCCBL_M-A
1) Model explanation
Type: Q170ENCCBL _ M - A
2) Connection diagram
When fabricating a cable, use the recommended wire and connector
set MR-J3CN2 for encoder cable given on this section (1), and make
the cable as show in the following connection diagram. Maximum
cable length is 50m(164.04ft.).
MR-J4-_B-RJ Encoder connector Encoder connector
CN2L connector
Pin arrangement Pin Signal Pin Signal
Pin arrangement
Q171ENC-W8 A K MR
Synchronous encoder cable M B L MRR
2 6 10 L A
LG
4 8 C M
CN2L K U N B
MRR2 MDR2 Synchro- D N SHD
nous J T V P C
1 5 9 E BAT P
3 7 BAT
encoder H S R D
P5 F R LG
MR2 MD2 G F E
A B G S P5
50m(164.04ft.) or less View B H MD T
View A : Pin provided J MDR
: Pin not provided
P5 1 S P5
LG 2 R LG
BAT 9 E BAT
Appendix - 34
Appendices
14(0.55)
40(1.57)
4)
3 .9 A
0(
75(2.95) -0.020
8.72
10
0
(0.34)
123.25(4.85)
(0.34)
9.52 -0.008
8.72
A'
58.5(2.30)
(0.37)
Cross-section
diagram AA'
4- 5.5(0.22)
(0.88)
22.25
42(1.65) 37.5(1.48)
Appendix - 35
Appendices
POINT
For the details of the SSCNET cables, contact your local sales office.
Do not look directly at the light generated from CN1A/CN1B connector of servo
amplifier or the end of SSCNET cable. The light can be a discomfort when it
enters the eye.
The cable is available per 1[m] up to 100[m]. The number of the length (1 to 100) will
be in the "_" part in the cable model.
Appendix - 36
Appendices
Mounted onto an external input connection connector of the QD77MS and used for
wiring an external device. The "external device connector" includes the following 4
types.
(1) Appearance
A6CON1 A6CON2 A6CON3 A6CON4
(Note): The external input wiring connector has been prepared. Please purchase them by customer.
Specialized tool
• Pressure-bonding tool for A6CON2
Model name: FCN-363T-T005/H
• Pressure welding tool for A6CON3
Model name: FCN-367T-T012/H (locator plate)
: FCN-707T-T001/H (cable cutter)
: FCN-707T-T101/H (hand press)
• Contact for the specialized tool:
Fujitsu component LTD. http://www.fcl.fujitsu.com/en/
Appendix - 37
Appendices
(0.33)
8.25
72.72(2.87) 14(0.55) or less
71.8(2.82)
46(1.81)
(0.89)
22.5
(0.39)
10
47(1.85)
50.8(2.00)
Appendix - 38
Appendices
The external input signal cable is not prepared as an option. Fabricate the cable on the
customer side.
Make the cable as shown in the following connection diagram.
Solderless terminal
FG wire
(AX3, AX4)
FG wire
Appendix - 39
Appendices
5V 1B15 5V
SG 1B14 SG
5V 1A15
SG 1A14
FG (Note-1)
: Twisted pair cable (Note-1): Ground FG terminal on the used equipment side.
Also, connect it to the shell of connector side.
HBL 1B18
HBH 1A18
HAL 1B17
HAH 1A17
HB 1B20 HB
5V 1A20
HA 1B19 HA Voltage-output/open-collector type
5V 1A19 Manual pulse generator/
incremental synchronous encoder side
5V 1B15 5V
SG 1B14 SG
5V 1A15
SG 1A14
FG (Note-1)
: Twisted pair cable (Note-1): Ground FG terminal on the used equipment side.
Also, connect it to the shell of connector side.
Appendix - 40
Appendices
FG (Note-1)
: Twisted pair cable (Note-1): Ground FG terminal on the used equipment side.
Also, connect it to the shell of connector side.
Appendix - 41
Appendices
FG (Note-1)
: Twisted pair cable (Note-1): Ground FG terminal on the used equipment side.
Also, connect it to the shell of connector side.
Appendix - 42
Appendices
1) The following table indicates the external input wiring cables. Make
selection according to your operating conditions.
Insulation sheath
Conductor
CAUTION
When fabricating the cable, do not make incorrect connection. Wrong connection will cause runaway or
explosion.
Appendix - 43
Appendices
0
90
10
0.5
1
70(2.76)
50(1.97)
80
20
80(3.15)
60(2.36)
+5to
12V 0V A B
70
30
60
40
50
M3 6
16 20 8.89 7.6
Packing t=2.0
3- 4.8(0.19) (0.63) (0.79) (0.35) (0.30)
equi-spaced
Space
(2. -0 2
62 +
72 0.2
)
44
(2.8
3)
Appendix - 44
Appendices
Appendix - 45
Appendices
Appendix - 46
Appendices
Appendix - 47
Appendices
Appendix - 48
Appendices
Appendix - 49
Appendices
Appendix - 50
Appendices
Appendix - 51
Appendices
Appendix - 52
Appendices
Appendix - 53
Appendices
Appendix - 54
Appendices
Appendix - 55
Appendices
Appendix - 56
Appendices
Appendix - 57
Appendices
(Note-1): GX Configurator-QP does not support with a part of LD77MH4 function and LD77MH16.
(Note-2): The value varies depending on the product information as follows.
Before 150410000000000 : 20000,
150410000000000 or later: 320000
Appendix - 58
Appendices
Appendix - 59
Appendices
Appendix - 60
Appendices
Appendix - 61
Appendices
Appendix - 62
Appendices
Use the "Simple Motion Module Setting Tool" for Simple Motion module various setting.
The following shows the procedure for positioning operation when GX Works2 is used.
START For details on the operation method of GX Works2, refer to the "GX Works2
Version1 Operating Manual (Common)" or " GX Works2 Version1 Operating
Manual (Intelligent Function Module)".
For details on the operation method of Simple Motion Module Setting Tool,
Starting GX Works2
Start GX Works2. refer to the "Simple Motion Module Setting Tool Help" of GX Works2 (Note-1)
(Simple Motion Module Setting Tool).
(Note-1): GX Works2 version 1.77F or later.
Creating a new project
Create a new project with GX Works2.
Adding a module
Add a module for the project of GX Works2.
Configure parameters NO
and positioning data with
GX Works2 ?
YES
Parameter setting Creating programs for parameters and data Refer to "Chapter 6".
Configure each setting with GX Works2. Create programs to set parameters and data.
Positioning test
Execute a test operation such as positioning
data etc.
Starting operation
END
Appendix - 63
Appendices
Appendix 6.1 Servo driver VCII series manufactured by Nikki Denso Co., Ltd.
The details shown below explain about the "Connection with VCII series".
[1] Connecting method
[2] Comparisons of specifications with MR-J4(W)-B/MR-J3(W)-B
[3] Precautions during control
[4] VCII series detection error/warning
Appendix - 64
Appendices
QD77MS2 : Up to 2 axes
QD77MS4 : Up to 4 axes
* MR-JE-_B can be connected via SSCNET /H. QD77MS16: Up to 16 axes
POINT
Parameters set in VCII series are not controlled by Simple Motion module.
However, match the servo parameter "Absolute position detection system (PA03)"
with the setting of VCII series. Otherwise, it does not operate correctly.
Appendix - 65
Appendices
Appendix - 66
Appendices
(Note-1)
Item VCII series MR-J4(W)-B MR-J3(W)-B
The following items can be The following items can be
monitored. monitored.
1: Effective load ratio 1: Effective load ratio
2: Regenerative load ratio 2: Regenerative load ratio
3: Peak load factor 3: Peak load factor
5: Position loop gain 4: Load inertia moment ratio
8: Encoder multiple revolution 5: Model loop gain
counter 6: Bus voltage
20: Position feedback 7: Servo motor rotation
21: Encoder single revolution speed
The following items can be
position 8: Encoder multiple revolution
monitored.
counter
1: Effective load ratio
9: Module power
2: Regenerative load ratio
consumption
3: Peak load factor
10: Instantaneous torque
4: Load inertia moment ratio
12: Servomotor thermistor
5: Model loop gain
temperature
6: Bus voltage
13: Equivalent disturbance
7: Servo motor rotation speed
[Pr.91] to [Pr.94] torque
8: Encoder multiple revolution
Expansion Optional data 14: Overload alarm margin
counter
parameter monitor: Data type 15: Error excessive alarm
12: Servomotor thermistor
setting margin
temperature
16: Settling time
20: Position feedback
17: Overshoot amount
21: Encoder single revolution
20: Position feedback
position
21: Encoder single revolution
22: Selection droop pulse
position
24: Load side encoder
22: Selection droop pulse
information 1
23: Module integral power
25: Load side encoder
consumption
information 2
24: Load side encoder
information 1
25: Load side encoder
information 2
26: Z-phase counter
27: Servomotor-side/load-side
position deviation
28: Servomotor-side/load-side
speed deviation
29: Encoder counter
(Note-3)
Absolute position system Possible Possible
(Note-4)
Unlimited length feed Possible Possible
Near-point dog method, Count method 1), 2), Data set method,
OPR method
Scale origin signal detection method
Position control mode, Speed Position control mode, Speed control mode, Torque control mode,
Positioning control,
control mode, Torque control mode Continuous operation to torque control mode
Expansion control (Note-5)
Possible Possible
Torque limit value change (Separate setting: Restrictions
(Note-6)
)
Gain changing command Valid Valid
PI-PID switching command Valid Valid
Control loop (semi/fully) Invalid Valid when using servo amplifier for fully closed loop control
switching command
Appendix - 67
Appendices
(Note-1)
Item VCII series MR-J4(W)-B MR-J3(W)-B
Possible
(Operates artificially as one of the followings during amplifier-less operation.
• Servo amplifier type: MR-J4-10B,
Amplifier-less operation function
Motor type: HG-KR053 (resolution per servomotor rotation: 4194304 pulses)
• Servo amplifier type: MR-J3-10B,
Motor type: HF-KP053 (resolution per servomotor rotation: 262144 pulses))
Servo parameter change request Possible (2 words write) Possible (1 word write)
(Note-7)
Driver communication Not possible Possible
Monitoring of servo parameter
Not possible Possible
error No.
Alarm codes/warning codes Alarm codes/warning codes detected by servo amplifier are stored
Servo alarm/warning
detected by VCII series are stored in "Servo alarm/warning".
(Error history/warning history)
in "Servo alarm/warning".
Test mode is available. Test mode is available.
Programming tool MR Configurator2 is not available. MR Configurator2 is available.
Use VCII data editing software.
Appendix - 68
Appendices
(2) OPR
When "1" is set in the first digit of the parameter of VCII series "Select
function for SSCNET on communicate mode", it is possible to carry out
the home position return (OPR) without passing the zero point. (Return to
origin after power is supplied will be executed when passing of Motor Z
phase is not necessary.) When "0" is set, the error "OPR zero point not
passed" (error code: 210) occurs because the OPR is executed without
passing the motor Z phase (Motor reference position signal).
Appendix - 69
Appendices
(6) Gain changing command, PI-PID switching request, Semi/Fully closed loop
switching request
Gain changing command and PI-PID switching request are available.
Semi/fully closed loop switching request becomes invalid.
Appendix - 70
Appendices
Appendix - 71
Appendices
Appendix - 72
Appendices
Appendix - 73
Appendices
(2) Warning
When a warning occurs on VCII series, the warning code (61440 to 61695)
is stored in "[Md.24] Axis warning No.".
The servo warning No. of VCII series is stored in "[Md.58] Servo warning" in
warning history.
Appendix - 74
Appendices
FR-A700 series can be connected via SSCNET by using built-in option FR-A7AP
and FR-A7NS.
The details shown below explain about the "Connection with FR-A700 series".
[1] Connecting method
[2] Comparisons of specifications with MR-J3(W)-B
[3] Precautions during control
[4] FR-A700 series detection error/warning
Appendix - 75
Appendices
SSCNET
SSCNET cable
MR-J3BUS_M(-A/-B)
QD77MS2 : Up to 2 axes
QD77MS4 : Up to 4 axes
QD77MS16: Up to 16 axes
POINT
In the state of connecting between FR-A700 series and Simple Motion module, only
a part of parameters can be set if the parameter of the inverter "[Pr.77] Parameter
write selection" is in the initial state. Set "2: Write parameters during operation" to
rewrite the parameters of FR-A700 series.
Appendix - 76
Appendices
Default Setting
Setting item Details
value value
• Reset input is always enabled.
0 • If the PU is disconnected, operation will be continued.
• PU stop is disabled at SSCNET connection.
• A reset can be input only when the protective function is activated.
1 • If the PU is disconnected, operation will be continued.
• PU stop is disabled at SSCNET connection.
• Reset input is always enabled.
2 • When the PU is disconnected, the inverter trips.
• PU stop is disabled at SSCNET connection.
• A reset can be input only when the protective function is activated.
Reset selection/ 3 • When the PU is disconnected, the inverter trips.
disconnected PU • PU stop is disabled at SSCNET connection.
[Pr.75] 14
detection/ • Reset input is always enabled.
PU stop selection 14 • If the PU is disconnected, operation will be continued.
• Deceleration stop by PU stop in any operation mode.
• A reset can be input only when the protective function is activated.
15 • If the PU is disconnected, operation will be continued.
• Deceleration stop by PU stop in any operation mode.
• Reset input is always enabled.
16 • When the PU is disconnected, the inverter trips.
• Deceleration stop by PU stop in any operation mode.
• A reset can be input only when the protective function is activated.
17 • When the PU is disconnected, the inverter trips.
• Deceleration stop by PU stop in any operation mode.
(Note): Note that the default value is set to "14". (Change the value to "1 to 3".)
Default
Setting item Setting range Details
value
When droop pulses have fallen
In-position 100 0 to 32767
[Pr.426] below the setting value, the in-
width (PLS) (PLS)
position signal turns ON.
Appendix - 77
Appendices
POINT
When FR-A700 series is used, each data is delayed for "update delay time +
communication cycle" because of the update cycle of the inverter. The following
table shows the update delay time of each data.
Data type Update delay time of FR-A700 series
Effective load factor 12.5ms
Load inertia moment ratio 56ms or more (up to 2500ms)
Model loop gain 56ms or more (up to 2500ms)
Bus voltage 9.888ms
Encoder multiple revolution counter 222µs
Position feedback 222µs
Encoder single revolution position 222µs
Appendix - 78
Appendices
• Set the servo parameter of Simple Motion module "Input filter setting
(PD11)" to be the same value as the parameter of the inverter "[Pr.449]
SSCNET input filter setting".
Default Setting
Setting item Details
value value
0: None
1: 0.88ms
Input filter Set the input filter setting value at
PD11 4 2: 1.77ms
setting reading an external signal.
3: 2.66ms
4: 3.55ms
Appendix - 79
Appendices
Setting
Setting item Details
value
Rotation direction Positioning address increase: CCW or positive direction
PA14 selection/travel direction 0
selection Positioning address decrease: CW of negative direction
(Note-3): Refer to each servo amplifier instruction manual for the servo amplifiers that can be used.
Appendix - 80
Appendices
Appendix - 81
Appendices
Appendix - 82
Appendices
Appendix - 83
Appendices
(2) Warning
When a warning occurs on FR-A700 series, the warning code (61696 to
61951) is stored in "[Md.24] Axis warning No.".
The warning No. of FR-A700 series is stored in "[Md.58] Servo warning" in
warning history.
Appendix - 84
Appendices
The details shown below explain about the "Connection with MR-JE-B".
[1] Comparisons of specifications with MR-J4(W)-B
(Note-1): When "1: External input signal of servo amplifier" is set in "[Pr.80] External input signal selection"
at MR-JE-B use, the axis error or warning does not occur and the external signal (upper/lower
limit switch, near-point dog) cannot be operated. Refer to Section 14.4 "External signal selection
function" for the program example and system configuration when "2: Buffer memory of
QD77MS" is set.
(Note-2): Operates artificially as the following servo amplifier and servo motor during amplifier-less
operation mode.
Servo amplifier type: MR-J4-10B
Motor type: HG-KR053 (Resolution per servo motor rotation: 4194304 pulses)
Important
The servo amplifier MR-JE-B is integrated with the main circuit power supply and
the control power supply.
Therefore, when the power of the servo amplifier is turned OFF, the controller
cannot communicate with the axes after the axis whose power is turned OFF.
Appendix - 85
Appendices
[1] QD77MS2
[Unit: mm(inch)]
QD77MS2
RUN AX1
AX2
ERR.
AX1
AX2
98(3.86)
QD77MS2
23(0.91)
4(0.16)
90(3.54) 27.4(1.08)
[2] QD77MS4
[Unit: mm(inch)]
QD77MS4
RUN AX1
AX2
AX3
ERR. AX4
QD77MS4
AX3 AX1
AX4 AX2
98(3.86)
23(0.91)
4(0.16)
90(3.54) 27.4(1.08)
Appendix - 86
Appendices
[3] QD77MS16
[Unit: mm(inch)]
QD77MS16
RUN AX
ERR.
QD77MS16
AX3 AX1
AX4 AX2
98(3.86)
23(0.91)
4(0.16)
90(3.54) 27.4(1.08)
Appendix - 87
Appendices
MEMO
Appendix - 88
WARRANTY
Please confirm the following product warranty details before using this product.
IB(NA)-0300185-C
MELSEC-Q QD77MS Simple Motion Module
User's Manual
Positioning Control
MODEL QD77MS-U-S-E
MODEL 1XB947
CODE
IB(NA)-0300185-C(1411)MEE
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.