Mitsubishi ElectronicsメーカーQ173HCPU/Q172HCPUの使用説明書/サービス説明書
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IB(NA)-0300115-A(0602)MEE P Q MOTION CONTROLLER Qseries (SV43) Programming Manual (Q173HCPU/Q172HCPU) MOTION CONTROLLERS Programming Manual MODEL MODEL CODE Q173H-P-SV43-E 1XB915 IB(NA)-0300115-A(0602.
A - 1 SAFETY PRECAUTIONS (Read these precautions before using.) When using this equip ment, thoroughly read this manual and t he associated manuals introduced in t his manual. Also pay careful a ttention t o safety and handle the module properly. These precautions apply only to this equipme nt.
A - 2 For Safe Oper ation s 1. Prevention of electric shocks ! DANGER Never open the front case or terminal covers while the pow er is ON or the unit is running, as this may lead to elect ric shocks. Never run the unit with the front case or term inal cover removed.
A - 3 3. For injury prevention ! CAUTION Do not apply a volt age other than that specified in the instruction manual on any terminal. Doing so may lead t o destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage.
A - 4 ! CAUTION In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo O FF or power supply OFF, use both dynamic brakes and electromagnetic bra kes. The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF.
A - 5 ! CAUTION Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with t he system application. The protectiv e functions may not function if the settin g is in correct. Set the servomotor capacity and ty pe (standard, low-inertia, flat, etc.
A - 6 ! CAUTION Do not get on or place heavy objects on the product. Always observ e the installation direction. Keep the designated clear ance between the Motion controller or servo amplifier and cont rol panel inner surface or the Motion controller and servo amplifier, Motion controller or serv o amplifier and other devices.
A - 7 (4) W iring ! CAUTION Correctly and securely wire the wires. Reconfirm the connect ions for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead t o run away of the servomotor. After wiring, install the protectiv e covers such as the terminal cov ers to the original positions.
A - 8 (6) Usge methods ! CAUTION Immediately turn OFF the power if smoke, abnor mal sounds or odors are emitted from the Motion controller, servo amplifier or serv omotor. Always execut e a test operation before star ting actual operations after the program or parameters have been changed or after maintenance and inspection.
A - 9 ! CAUTION 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 pow er failure is restored, so do not go near the machine. (Design t he machine so that personal safety can be ensured even if the machine restarts suddenly.
A - 10 (9) About processing of waste W hen you dis card Motion c ontr oller, s ervo amplif ier, a batter y (pr imar y batter y) an d oth er opt ion art icles, pleas e follo w the law of e ach c ountr y (area) .
A - 11 REVI SIONS The manual number is g iven on the bottom left of the b ack cov er. Pri nt D ate Manual Num ber Revision Feb., 2006 IB( NA)-03 00115-A First edi tion Japanese M anual Nu mber IB(N A)-0300095 This manual confer s no indust rial property rights or any right s of any oth er kind, nor d oes it confer any p atent licenses.
A - 12 INTRODUCT ION Thank you for choos ing the Q173HCPU/Q1 72HCPU M otion Co ntroller. Please r ead this manual c aref ully so that eq uipm ent is used to its optim um . CONTENT S Safet y Precaut ions ................................................
A - 13 4.2.1 Axis moni tor devices ..................................................................................................... .................... 4-64 4.2.2 Co ntrol c hange r egist ers .....................................................
A - 14 6.13 G-c ode .................................................................................................................... ................................ 6-49 6.13.1 G 00 P oint- to-po int p osition ing at the hi gh-sp eed feed rate ..
A - 15 6.16.8 3 2- bi t real n um ber and 64- bit r eal num ber d ata con versio n (DFLT , SFLT ) ............................... 6-141 6.16.9 F un ct ion s ( SQ RT , A BS , B IN , BC D , L N, E X P, R N D, F IX , F UP) ...............................
A - 16 7.5 JOG Opera tion .............................................................................................................. ........................... 7-53 7.5.1 J OG o per atio n data ....................................................
A - 17 About Ma nuals The f ollowing m anuals ar e relate d to this product. Referr ing to this lis t, pleas e request t he neces sary m anuals. Related Ma nuals (1) Motion c ontroller Manual N ame Ma.
A - 18 (2) PLC Manual N ame Manual N umber (Model Code) QCPU User's Manual (Hardw are Design, Maintenance and Inspection) This manual expl ains the s pecific ations of the QCP U modules, power supply m odules, base modules , extension c ables, mem ory card battery and ot hers.
1 - 1 1 OVERVIE W 1 1. OVERVIEW 1.1 Overv iew This program m ing m anual d escr ibes t he oper atin g s ystem sof tware pac kages "SW 5RN-SV43Q " for Motio n CPU modul e (Q17 3HCPU /Q17 2HCPU) . In th is m anual, t he fo llowin g abbre viati ons ar e us ed.
1 - 2 1 OVERVIE W REMARK For inf orm ation about t he e ach m odule, desig n meth od for program an d param eter, refer to the f ollo wing m anua ls rel evant to eac h modu le.
1 - 3 1 OVERVIE W 1.2 Features The Mo tion CPU has th e followi ng fe ature s. 1.2.1 Performance specifications (1) Basic specifications of Q172H CPU/Q172HC PU (a) Motion contro l spec if icati ons Item Q173 HCPU Q172HCPU Number of control ax es Up to 32 ax es Up to 8 axes Operation cycle (Default) 0.
1 - 4 1 OVERVIE W Motion control speci fications (continued) Item Q173 HCPU Q172HCPU Number of programs 1024 Number of simultaneous start programs Axis designation program : 32 Control program : 16 Axis designation program : 8 Control program : 16 Number of positioning points Approx.
1 - 5 1 OVERVIE W (Note-1) : Acceleration-fix ed/time-fixed accelera tion/decelerat ion method is switched as foll ow s. Acceleration-fixed acceleratio n/deceleration method Time-fixed acceleration/deceler ation method G00 ( W ithout M-code setting.) G28 G30 G53 in G100 G00 ( W ith M-code setting.
1 - 6 1 OVERVIE W 1.2.2 Di fferences between Q173HC PU /Q172H CPU and Q173C PU(N)/Q 172CPU(N) Item Q173HCP U Q172HCPU Q173CPU(N) Q172CPU(N) Number of control axes 32 axes 8 axes 32 axes 8 axes Operation cyc le (Default) (It c an be set up by parameters .
2 - 1 2 POSITIONING CONTROL BY THE MOTION CPU 2 2. POSITI ONING CONTROL BY THE MOTION CPU 2.1 Positioning Control by the M otion CPU The pos itio ning c ontrol of up to 3 2 axes in Q17 3HCP U and up t o 8 ax es in Q 172HCPU is pos sible in t he Mot ion C PU.
2 - 2 2 POSITIONING CONTROL BY THE MOTION CPU [Exec ution of the Motion program star t (S(P) .SVST instr uction) ] Posit ionin g contr ol is exec uted by st arting t he M otion progr am ( axis d esign ation program ) s pecifi ed with S(P) .SVST instr uctio n of t he PL C CPU i n the M otion C PU.
2 - 3 2 POSITIONING CONTROL BY THE MOTION CPU Servo am plifier Servomotor Motion CP U Motion program No.15 (Pro gram No. speci fied wi th th e S(P). SVST inst ructi on.
2 - 4 2 POSITIONING CONTROL BY THE MOTION CPU [Exec ution of the J OG oper ation] JOG oper ation of specif ied axis is execu ted usin g the Mot ion pro gram in the Mot ion C PU. JOG opera tion c an also be ex ecuted by c ontroll ing th e JOG dedic ated de vice of spec ifi ed axis.
2 - 5 2 POSITIONING CONTROL BY THE MOTION CPU Position ing control par ameter . . . . . Servo amplifi er Servomotor System s ettings Fixed p arameters Servo pa rameters Parame ter block Home p osition.
2 - 6 2 POSITIONING CONTROL BY THE MOTION CPU [Executi ng Manua l Pulse G enerator Operatio n] W hen the pos itio ning c ontro l is ex ecut ed b y the m anual puls e gener ator conn ected to the Q1 73PX, m anu al pu lse ge nerator oper atio n mus t be ena bled us ing the Motion program .
2 - 7 2 POSITIONING CONTROL BY THE MOTION CPU Servo am plifier Servom otor Positioni ng cont rol para meter . . . . . System setting s Fixed para meters Servo param eters Parameter block Home pos itio.
2 - 8 2 POSITIONING CONTROL BY THE MOTION CPU (1) Positi oning control parameters There ar e fo llo wing s even t ypes as pos itioni ng con trol param eters . Param eter d ata ca n be s et and corr ecte d inter acti vely u sing a peri phera l de vic e.
2 - 9 2 POSITIONING CONTROL BY THE MOTION CPU (3) PLC pr ogram The pos itio ning c ontr ol b y the Mot ion pr ogram can be exec uted usin g the M otion dedic ated PLC ins truct ion of PLC program .
2 - 10 2 POSITIONING CONTROL BY THE MOTION CPU MEM O.
3 - 1 3 MOTION DEDICA TED PLC INST RUCTION 3 3. MOTION DEDI CATED PLC INSTRUCTI ON 3.1 Motion Dedicated P LC Instruction (1) T he Mot ion dedic ated PL C instr uct ion whic h ca n be ex ecut ed t oward t he Mot ion CPU whic h instal led a SV4 3 opera ting syst em sof tware is sho wn belo w.
3 - 2 3 MOTION DEDICA TED PLC INST RUCTION Shared CPU memory address ( ) is decimal address Description Example of the reading ( W hen target is the CPU No.2) 30H(48) The lowest rank bit (30H(48)) tow ard executing instruction from CPU No.1. U3E1/G48.
3 - 3 3 MOTION DEDICA TED PLC INST RUCTION (d) Us e a fl ag in t he shar ed C PU m emor y which cor res pond wi th eac h instr uctio n not to exec ute m ultipl e ins truct ions t o the sam e shaf t of the Motion CPU of sam e CPU No. for th e inter lock conditi on.
3 - 4 3 MOTION DEDICA TED PLC INST RUCTION Program which executes directly multiple Motion dedicated PLC instructions because one contact-point turns o n. SP.SVST K104 M30 D20 H3E1 RST M2 1 M21 "J1" M100 1 SET M23 SP.SVST K105 M32 D22 H3E1 RST M23 M23 "J2" SP.
3 - 5 3 MOTION DEDICA TED PLC INST RUCTION POINT Access from the PLC CPU is proces sed b efore the com m unicatio n process ing of the Mot ion C PU. T herefor e, if the Motion dedic ated P LC ins truc.
3 - 6 3 MOTION DEDICA TED PLC INST RUCTION (3) Complete status The err or c ode is store d in the c omplet e stat us a t abnor m al com pletion of th e Mult iple C PU d edicat ed i nstr uction . The error c od e whic h is s tored is s hown below. (T he error code mar ked " * " is de dicate d with the Mot ion CPU.
3 - 7 3 MOTION DEDICA TED PLC INST RUCTION (4) Self C PU oper atio n dat a area used by Mot ion de dic ated ins truc tion ( 30H to 33H ) The c omplet e stat us of t he t o self CPU hi gh sp eed in terrupt acce pt f lag from CPUn is st ored in the f ollo wing address .
3 - 8 3 MOTION DEDICA TED PLC INST RUCTION 3.2 Motion prog ram (Control program) Start Request from The PLC CPU to The Motion CPU:S(P) .SFCS (PLC instruction: S(P).S FCS ) • Moti on pro gram (Contro l progr am) start re quest instr uction f rom the PLC C PU t o the Mo tion CPU (S (P) .
3 - 9 3 MOTION DEDICA TED PLC INST RUCTION Set th e cont rol prog ram No . to sta rt in (n2 ). Usabl e range is show n below. (1) The control program No. is set The s pecif ied c ontrol pr ogr am No. is st arted . In th is cas e, contr ol pr ogra m is executed from the f irst bloc k.
3 - 10 3 MOTION DEDICA TED PLC INST RUCTION [Operation of the sel f CPU at ex ecution of S(P).SFCS instruction] To self CP U high speed interrup t accept flag from CPUn State display device(D1+1) at the instruction start accept compl etion t ON ON S(P) .
3 - 11 3 MOTION DEDICA TED PLC INST RUCTION [Errors] The ab norm al com pleti on in the cas e sh own be low, and th e error code is stor ed i n the devic e spec ifie d with t he c om plete stat us st oring devic e ( D2).
3 - 12 3 MOTION DEDICA TED PLC INST RUCTION [Progr am example] M0 X0 (1) T his pro gram sta rts t he Moti on prog ram (Cont rol pr ogram) No.10 of the Moti on CPU No. 4. SP.S FCS K10 M0 D0 H3E 3 Normal compl ete pr ogram M1 Abnormal co mplete pr ogram M1 M0 X0 SP.
3 - 13 3 MOTION DEDICA TED PLC INST RUCTION 3.3 Motion Prog ram (Axis designati on program) Star t Request from The P LC CPU to The Motion CPU:S( P).SVST (PLC instruction: S(P).SVST ) • Mot ion pro gram (Axis design atio n progr am ) start re quest instr uctio n from the P LC CP U to the Mo tion CPU (S (P) .
3 - 14 3 MOTION DEDICA TED PLC INST RUCTION [Description] (1) This ins tructi on is ded icate d instr uctio n toward th e Motion C PU in the M ultipl e CPU s ystem . Errors occurs when it was exec uted to ward t he C PU exce pt the Motion C PU. (2) Re quest to star t the Motion progr am (Ax is des ignat ion pr ogram ) specif ied with (S2).
3 - 15 3 MOTION DEDICA TED PLC INST RUCTION (2) S(P ).SVST in structio n acceptin g and nor mal/abno rmal compl etion can be confir med with t he com plete devic e(D1) or st atus d ispla y dev ice(D 2) at the comple tion.
3 - 16 3 MOTION DEDICA TED PLC INST RUCTION (b) T he se quenc e No. ( N****) / par am eter block No. in the c ontr ol pr ogram is set It can be star ted i n the m iddl e of progr am . 1) Ind irect s etting by da ta re gister D((S2) – 100 00) : T he ax is desi gnat ion pro gram No.
3 - 17 3 MOTION DEDICA TED PLC INST RUCTION [Errors] The ab norm al com pleti on in the cas e sh own be low, and th e error code is stor ed i n the devic e spec ifie d with t he c om plete stat us st oring devic e ( D2).
3 - 18 3 MOTION DEDICA TED PLC INST RUCTION [Progr am example] (1) Program which reque sts to start the Motion program (Axis designation p rogram) No.10 toward axis No.1 and No.2 of the Motion CPU No.4. from the P LC CPU No.1. SP.SVST K10 M0 D0 H3E3 RST M100 M100 To se lf CP U high s pee d interrupt accept flag f rom CPU U3E3 G48.
3 - 19 3 MOTION DEDICA TED PLC INST RUCTION 3.4 Home positi on return instructi on from The PLC CPU to The Motion CPU: S(P).CH GA (PLC i nstruction: S (P).
3 - 20 3 MOTION DEDICA TED PLC INST RUCTION [Description] (1) T his i nstruc tion is ded icate d ins truct ion to ward th e Mot ion C PU in t he Mul tiple CPU s ystem . Errors occurs when it was exec uted to ward t he CPU exce pt the Motion C PU. (2) Exec ute th e hom e pos ition retur n of ax is (s topped axis) No.
3 - 21 3 MOTION DEDICA TED PLC INST RUCTION (b) Status disp lay de vice at th e com pletio n It is t urned on/off accor ding to the s tatus of th e instr uctio n com pletio n.
3 - 22 3 MOTION DEDICA TED PLC INST RUCTION [Errors] The ab norm al com pleti on in the cas e sh own be low, and th e error code is stor ed i n the devic e spec ifie d with t he c om plete stat us st oring devic e ( D2).
3 - 23 3 MOTION DEDICA TED PLC INST RUCTION [Progr am example] SP.CHGA K10 M0 D0 H3E3 RST M100 M100 To self CPU high speed in terr upt acc ept flag from CPU U3E 3 G48.0 "J1" M0 Normal c omplete prog ram M1 Abnorm al complet e program M1 Start acce pt flag of the axis No.
3 - 24 3 MOTION DEDICA TED PLC INST RUCTION 3.5 Speed Chang e Instruction from The P LC CPU to The Motion C PU: S(P).CH GV (PLC i nstruction: S(P).CHGV ) • Speed cha nge instr ucti on (S(P) .
3 - 25 3 MOTION DEDICA TED PLC INST RUCTION [Description] (1) This i nstruc tion is de dicat ed in struct ion toward the M otio n CPU i n the Mult iple CPU system .
3 - 26 3 MOTION DEDICA TED PLC INST RUCTION [Setting rang e] (1) S ettin g of ax is to execu te th e spee d chan ge. The ax is to execut e the spe ed cha nge se t as (S 1) s ets J + axis No. in a char acter sequenc e " ". (S1) usable range Q173HCPU 1 to 32 Q172HCPU 1 to 8 The num ber of axes which can s et ar e onl y 1 ax is.
3 - 27 3 MOTION DEDICA TED PLC INST RUCTION [Errors] The ab norm al com pleti on in the cas e sh own be low, and th e error code is stor ed i n the devic e spec ifie d with t he c om plete stat us st oring devic e ( D2).
3 - 28 3 MOTION DEDICA TED PLC INST RUCTION Movi ng Ba ckward duri ng Posi tion ing W hen a speed chan ge is m ad e to a n egati ve spe ed b y the CHG V ins truct ion, t he tr avel direct ion ca n be c hanged to the direc tion o pposite to t he intend ed p osition ing d irecti on.
3 - 29 3 MOTION DEDICA TED PLC INST RUCTION (3) W hen the axis is s tandi ng b y at the r etur n positi on (a) Signal states • Start accept (M 2001 + 20n) ON (Remains unchanged from b efore executio.
3 - 30 3 MOTION DEDICA TED PLC INST RUCTION [Operation Ex ample under G01] W hen a speed chan ge is m ade t o ne gative speed d urin g posi tioning to P2 in t he N2 block as sho wn ab ove, t he ax is r eturns t o P1 alon g the track specif ied i n the pr ogr am and st ands b y at P 1.
3 - 31 3 MOTION DEDICA TED PLC INST RUCTION (4) In the abo ve exampl e, the axis returns to P2 even if the axis pass es throu gh P2 durin g a sp eed ch ange m ade t o negat ive s peed imm ediate ly bef ore P2. [Progr am example] SP. CHGV K1000 M0 D 0 H3E 3 RST M100 M100 To s elf CP U high speed interrupt a ccept flag from CPU U3E3 G48.
3 - 32 3 MOTION DEDICA TED PLC INST RUCTION 3.6 Torque Limi t Value Chang e Request Instruction from The PLC CPU to The Moti on CPU: S(P).CHGT (PL C instru ction: S(P) .CHGT ) • Torq ue lim it valu e chan ge reques t ins tructi on from the P LC CPU t o the M otion CPU (S(P).
3 - 33 3 MOTION DEDICA TED PLC INST RUCTION [Description] (1) T his i nstruc tion is ded icate d ins truct ion to ward th e Mot ion C PU in t he Mul tiple CPU s ystem .
3 - 34 3 MOTION DEDICA TED PLC INST RUCTION (2) S ettin g of th e torq ue li mit va lue to c hang e. (S2) usable range 1 to 1000 [Errors] The ab norm al com pleti on in the cas e sh own be low, and th e error code is stor ed i n the devic e spec ifie d with t he c om plete stat us st oring devic e ( D2).
3 - 35 3 MOTION DEDICA TED PLC INST RUCTION [Progr am example] Progra m which chan ges t he tor que limi t value of the axi s No.1 o f the Motion CP U (CPU No.4) from PLC CPU (CP U No.1) to 10[% ]. SP.CHGT K10 M0 D0 H3E3 RST M100 M100 To self CPU high speed interrupt ac cept fl ag fr om CPU U3E3 G48.
3 - 36 3 MOTION DEDICA TED PLC INST RUCTION 3.7 Write from The PL C CPU to The Motion C PU: S(P).DD W R (PLC i nstruction: S(P) .DD W R ) • Write inst ruct ion fro m the PLC CPU to the Moti on CPU (S(P ).
3 - 37 3 MOTION DEDICA TED PLC INST RUCTION [Controls] (1) T his i nstruc tion is ded icate d ins truct ion to ward th e Mot ion C PU in t he Mul tiple CPU s ystem .
3 - 38 3 MOTION DEDICA TED PLC INST RUCTION [Operation of the sel f CPU at ex ecution of S(P).DD W R instruction] S(P).DDWR i nstruction (First) To self CPU high speed interrupt accept f lag from CPUn (Instruc tion accept des tination buffer me mory) First S(P).
3 - 39 3 MOTION DEDICA TED PLC INST RUCTION The e rror fl ag (SM0 ) is tur ned on an operat ion e rror in the case show n below , and an error c ode is stor ed i n SD0. Error code (Not e) Error factor Corrective action 2110 T he CPU No. to be set by "(First I/O NO.
3 - 40 3 MOTION DEDICA TED PLC INST RUCTION 3.8 Read from The Devices of The Motion CPU: S(P).DDRD (PLC instruction: S(P). DDRD ) • Read instruct ion from the devic es of th e Moti on CPU : S(P).
3 - 41 3 MOTION DEDICA TED PLC INST RUCTION [Control] (1) T his i nstruc tion is ded icate d ins truct ion to ward th e Mot ion C PU in t he Mul tiple CPU s ystem .
3 - 42 3 MOTION DEDICA TED PLC INST RUCTION [Operation of the sel f CPU at ex ecution of S(P).DDR D instruction] t OFF OFF ON OFF ON ON ON OFF END END EN D END OFF OFF ON OFF ON END To self CP U high spe ed interrupt accept flag fro m CPUn (Instruc tion accept destination buffer me mory) S(P).
3 - 43 3 MOTION DEDICA TED PLC INST RUCTION The e rror fl ag (SM0 ) is tur ned on an operat ion e rror in the case show n below , and an error c ode is stor ed i n SD0. Error code (Not e) Error factor Corrective action 2110 T he CPU No. to be set by "(First I/O NO.
3 - 44 3 MOTION DEDICA TED PLC INST RUCTION MEM O.
4 - 1 4 POSITION ING SIGNALS 4. POS ITIONING SIGNALS The in tern al sign als of the Motion CPU and t he ext ernal signal s to the Motion CPU are used as positi oning sig nals. (1) Internal signals The follow ing fi ve d evices o f the Motio n CPU are used as the i nternal s ignals of the Motion C PU.
4 - 2 4 POSITION ING SIGNALS The p ositi oning ded icated device s are shown bel ow. It indic ates the de vice refres h c y c le of t he Mot ion CP U for sta tus s ignal with t he posit ioning contr ol, a nd the devic e fetc h c ycle of th e Moti on CPU f or c omm and sign al with the pos itioni ng con trol.
4 - 3 4 POSITION ING SIGNALS (2) Axis stat us list Axis No. Device No. Si gnal name 1 M 2400 to M241 9 2 M 2420 to M243 9 3 M 2440 to M245 9 Signal name Refresh c ycle Fetch cy cle Signal direction 4 .
4 - 4 4 POSITION ING SIGNALS (3) Axis command signal list Axis No. Devic e No. Signal name 1 M3200 to M3219 2 M3220 to M3239 3 M3240 to M3259 Signal nam e Refresh cyc le Fetch c ycle Signal directi on.
4 - 5 4 POSITION ING SIGNALS (4) Axis status 2 l ist Axis No. Device No. Si gnal name 1 M 4000 to M400 9 2 M 4010 to M401 9 3 M 4020 to M402 9 Signal name Refresh c ycle Fetch cy cle Signal direction .
4 - 6 4 POSITION ING SIGNALS (5) Axis command signal 2 list Axis No. Devic e No. Signal name 1 M4400 to M4409 2 M4410 to M4419 3 M4420 to M4429 Signal nam e Refresh cyc le Fetch c ycle Signal directi .
4 - 7 4 POSITION ING SIGNALS (6) Common dev ice list De vice No. Signal nam e Ref res h cycle Fetch cycle Signal direct ion Remark (Note-4) De vice No.
4 - 8 4 POSITION ING SIGNALS Common dev ice list ( Continued) De vice No. Signal nam e Ref res h cycle Fetch cycle Si gnal direct ion Remark (Note-4) De vice No.
4 - 9 4 POSITION ING SIGNALS Common dev ice list ( Continued) De vice No. Signal nam e Ref res h cycle Fetch cycle Signal direct ion Remark (Note-4) De vice No.
4 - 10 4 POSITION ING SIGNALS Expl anatio n of the reque st registe r No. Function Bit devic e Request regis ter 1 PLC ready f lag M2000 D704 2 Al l axes servo ON comm and M2042 D706 3 JOG operat ion .
4 - 11 4 POSITION ING SIGNALS (7) Special relay allocated dev ice list (Status) Device No. Signal name Refresh c ycle Fetch cyc le Si gnal directi on Remark (Note) M2320 Fuse bl own detecti on M9000 M.
4 - 12 4 POSITION ING SIGNALS (8) Common dev ice list ( Command signal ) Device No. S ignal name Refresh cycle Fetch c ycle S ignal direct ion Remark (Note-1) , (No te-2) M3072 PLC ready flag Ma in cy.
4 - 13 4 POSITION ING SIGNALS 4.1.1 Axis s tat use s (1) Positi oning start complete signal ( M2400+20n) (a) T his s ignal t urns on wit h the start com pletion for t he pos ition ing c ontro l of the ax is sp ecifi ed with the M otio n progr am ( Axis des igna tion pr ogram ).
4 - 14 4 POSITION ING SIGNALS REMARK (Note- 1): In the ab ove d escr iptions, "n" in "M32 04+20 n", etc. in di ca te s a val ue corres ponding to ax is No. s uch as th e follo wing tables . Axis N o. n Axis N o. n Axis No . n Axis No .
4 - 15 4 POSITION ING SIGNALS (2) Positi oning complete signal (M2401+20n) (a) T his si gnal t urns on wit h the com pletion for the posi tionin g contr ol of the axis s pec ified with t he Mot ion pr ogram (Axis des ignati on pro gram ). The M otion pr ogr am (Ax is d esignat ion pr ogram ) is start ed b y the fol lowing inst ructions.
4 - 16 4 POSITION ING SIGNALS (3) In-posi tion signal (M2402+20n) (a) T his s ignal t urns on when the number of dr oop pu lses i n the d eviat ion counter bec omes be low t he " in-pos ition range" set in the servo param eters. It tu rns off at th e sta rt.
4 - 17 4 POSITION ING SIGNALS (4) Command i n-position si gnal (M2403+ 20n) (a) This sign al turns on when the abs olute value of differenc e bet ween the comm and pos itio n and m achi ne va lue b ecom es bel ow t he "c omm and in- posit ion ra nge" set i n the f ixed param eters .
4 - 18 4 POSITION ING SIGNALS POINTS Exam ple 1 , 2 ar e sho wn be low ab out in- pos itio n signa l an d comm and in- pos ition signa l of the inter polat ion ax is.
4 - 19 4 POSITION ING SIGNALS POINTS [Exam ple2] G0 travel block Start accept flag (M2001+n) In-position signal (M 2402+20n) X Y Z Com man d in- pos it ion r ang e In-position range Motion program (Ax.
4 - 20 4 POSITION ING SIGNALS (5) Zero pass sig nal (M2406+20n) This si gnal turns on whe n the ze ro poin t is passed a fter the power supply on of the se rvo ampli fier. Once t he zer o po int has been pass ed, it rem ains on st ate until the CPU has been r eset.
4 - 21 4 POSITION ING SIGNALS REMARK (Note- 1): Re fer to APPENDIX 1 .4 for the error codes on errors dete cted at the se rvo am plifier side . (8) Home posi tion return r equest signal (M2409+20n) This signal tur ns on when it is neces sar y to confir m the hom e positi on address .
4 - 22 4 POSITION ING SIGNALS (9) Home posi tion return complete si gnal (M2410+20n) (a) T his s ignal t urns on wh en the home p ositi on ret urn op eratio n has been com pleted norm all y. (b) T his s ignal t urns off at the pos itio ning s tart, JOG o perat ion st art a nd man ual pulse gener ator o perat ion st art.
4 - 23 4 POSITION ING SIGNALS (11) RLS sig nal (M2412+ 20n) (a) T his si gnal is co ntrolle d b y the ON/OFF sta te for the lower st rok e lim it switc h input (FL S) of the Q 172LX /Ser vo am plifier . • Low er strok e lim it swi tch in put OFF . .
4 - 24 4 POSITION ING SIGNALS (13) DOG/C HANGE signal (M2414+ 20n) (a) T his s ignal t urns on/of f by t he prox im ity dog input ( DOG) of the Q 172LX / Serv o ampl ifier at the hom e pos ition r etur n. (b) "No rmally open con tact inpu t" and " Normally closed co ntact input" of t he system sett ing c an be s elec ted.
4 - 25 4 POSITION ING SIGNALS POINT W hen the par t of m ultip le se rvo am plif iers c onnect ed to the S SCNET becomes a servo er ror, onl y an a pplic able axis becom es the servo OFF s tate. (15) Torq ue limiting sig nal (M2416+ 20n) This signal tur ns on while to rque lim it is exec uted.
4 - 26 4 POSITION ING SIGNALS 4.1.2 Axis command signals (1) Stop comma nd (M3200+20n) (a) T his c omm and stops a s tarting ax is f rom an exter nal s ourc e and b ecom es eff ective at the t urnin g sig nal of f to on. ( An ax is f or wh ich th e stop c omm and is tur ning on can not be star ted.
4 - 27 4 POSITION ING SIGNALS (2) Rapi d stop command (M 3201+20n) (a) T his c omm and is a sign al wh ich sto p a s tart ing ax is rap idl y from an exter nal source and becom es ef fective when t he si gnal tur ns of f to on. (A n axis for which the ra pid sto p comm and turns o n can not be s tarte d.
4 - 28 4 POSITION ING SIGNALS (3) Forw ard rotation JOG start comman d (M3202+20n)/ Revers e rotation JOG start command ( M3203+20n) (a) JO G op erati on to t he a ddress increas e dir ect ion is execu ted while f orwar d rotati on JOG start c omm and (M 3202 +20n) is tur ning on.
4 - 29 4 POSITION ING SIGNALS (5) Err or reset command (M 3207+20n) (a) This c omm and is us ed to clear the m inor er ror c ode or m ajor error code stora ge reg ister of an ax is f or whic h the error detec tion signa l has turn o n (M240 7+20n: ON), a nd res et the error detect ion si gnal (M2 407+2 0n).
4 - 30 4 POSITION ING SIGNALS (6) Serv o error reset comma nd (M3208+20n) (a) This comm and is used to clear the s erv o error c ode s torage regis ter of an axis f or wh ich th e serv o erro r detec tion s igna l has turn o n (M24 08+20 n: ON), an d reset the servo e rror dete ction signal (M240 8+20n).
4 - 31 4 POSITION ING SIGNALS (7) Exter nal stop input disable at star t command (M3209+ 20n) This si gnal is used to set the e xternal STOP signal input valid or invali d. • ON .......... Ext ernal stop input is s et as i nvalid, and even axes which sto p input is t urning on can be st arted.
4 - 32 4 POSITION ING SIGNALS (10) FIN sig nal (M3219+20n) W hen an M-c ode is set in a po int dur ing p osition ing, tr ans it to th e next block does n ot exec ute u ntil the FIN s ignal c hanges as f ollo ws: OFF ON OFF. Posit ioning t o the next block begins after the FI N sign al c hanges as abo ve.
4 - 33 4 POSITION ING SIGNALS 4.1.3 Axis statuses 2 (1) Automatic star t signal (M4002+ 10n) W hen the axis use d is s peci fied i n the SVST instr uctio n, this sig nal tur ns o n while t he b lock of the s pecif ied Mo tion pr ogr am is being execu ted.
4 - 34 4 POSITION ING SIGNALS (2) Temporar y stop signal (M4003+10n) (a) T his si gnal t urns on b y the tem porar y stop c omm and whe n the autom atic star t sign al (M4002+ 10n) is tu rning on. W hen the re- start c omm and (M4 404+1 0n) is tur ned on durin g a tem porar y stop, it is resum ed from the block where it had stop ped.
4 - 35 4 POSITION ING SIGNALS (3) Single bl ock processing signal (M 4009) (a) T he si ngle b lock is a vaila ble in two m odes : a m ode wher e a si ngle block is specif ied b efore a pro gram start, and a m ode where a sin gle bl ock is execu ted at an y point dur ing progr am executio n.
4 - 36 4 POSITION ING SIGNALS 4.1.4 Axis command signals 2 (1) Temporary stop command ( M4400+10n) (a) T he Mot ion pr ogram at the posi tionin g star t (G00 , G01, etc.) with t he SVST instr uctio n is s toppe d tem porari ly b y the tem porar y stop com mand.
4 - 37 4 POSITION ING SIGNALS (2) Optional program stop command ( M4401+10n) This signal is us ed to s elec t wheth er a b lock stop is m ade in a block wher e "M01" exi sts. • O N......... T he block stop is m ade as the en d of tha t block .
4 - 38 4 POSITION ING SIGNALS (3) Optional block skip command (M4402+ 10n) This signal is us ed to s elec t wheth er a b lock is exec uted or not in th e first of block where " /" exis ts. • O N.......... T he block is not exec uted and ex ecutio n shifts to the next bl ock .
4 - 39 4 POSITION ING SIGNALS (4) Singl e block command (M4403+ 10n) This single block is ; used t o set a singl e bloc k bef ore a program star t. Ref er t o the si ngle b lock mode s igna l (M440 8) for the m ode wh ich ex ecutes a si ngle block at an y poin t dur ing ex ecutio n of pr ogram .
4 - 40 4 POSITION ING SIGNALS (5) Re- start command (M 4404+10n) This comm and res um es blo ck ex ecution when i t is t urne d on durin g a bl ock s top by the M00, M01 or sing le bloc k c omm and or dur ing a tem porary s top dur ing t he tempor ar y stop com m and.
4 - 41 4 POSITION ING SIGNALS (7) Axi s interlock (Forw ard)/(Reverse) (M 4406+10n/M4407+10n) This si gnal is used to select wh ether an axis i s made decele rati on stop du ring posit ioni ng con trol.
4 - 42 4 POSITION ING SIGNALS [Motion prog ram exampl e] O0001; G90 G00 X200. ; G01 X300. F-100. ; M02; % Program No. Absolut e value comm and PTP positioning ( X200.
4 - 43 4 POSITION ING SIGNALS POINTS [The re asons for t he ser vomotor tra vels m inutel y when the axis i nterloc k s ignal t urns on at a Motion progr am start.] Sin ce the trav el di recti on is judg ed at th e positio ning cont rol in the Motio n CPU, onl y the fir st int erpolat ion pr ocess ing is exec uted.
4 - 44 4 POSITION ING SIGNALS (8) Singl e block mode signal (M 4408) (a) T his s ignal val idates a sin gle bl ock va lid i n the mode which execu tes a singl e block duri ng ex ecutio n of pr ogram . (b) T he si ngle b lock proces sing ( M4009) tur ns on by tur ning o n the single block mode.
4 - 45 4 POSITION ING SIGNALS 4.1.5 Common dev ices POINTS (1) I nterna l rela ys for posit ioni ng con trol are no t latc hed ev en wit hin the latc h rang e. In t his m anua l, in or der t o in dicate that inter nal re la ys for pos it ionin g contro l are not latc hed, the ex press ion us ed in this t ext is "M 2000 t o M2319 ".
4 - 46 4 POSITION ING SIGNALS 3) The proces sing in a bove (c) 1) is not execu ted dur ing the t est m ode. It is execut ed whe n the test m ode is canc elle d and M20 00 is ON.
4 - 47 4 POSITION ING SIGNALS The con ditio n which M2 000 is turn ed on to off . • Set " 0" to t he set ting regis ter D 704 of the PLC re ady fl ag wher e the RUN/STOP s witch is moved to RUN. (T he M otion CPU detec ts the change of the lowes t rank bit 1 0 i n D704.
4 - 48 4 POSITION ING SIGNALS (c) W hen M2 000 is OFF , the s tart ac cept f lag t urns on b y the Mot ion de dicat ed PLC ins truc tion ( S(P). SVST ), and th e st art acc ept fl ag tur ns of f by tur ning the M2 000 ON.
4 - 49 4 POSITION ING SIGNALS (5) All axes servo ON command (M2042) .................. Command sig nal This comm and is used to en able s ervo o perati on. (a) Ser vo o perat ion ena bled … M204 2 turns on while t he ser vo OFF com mand (M321 5+20n) is off and there is no servo err or.
4 - 50 4 POSITION ING SIGNALS (8) All ax es servo ON accept flag (M2049) .................... Status sig nal This flag t urns on when the Mot ion C PU acc epts t he all axes s ervo O N comm and (M2 042). Since the s ervo r ead y state of eac h ax is is n ot c hecked, conf irm it in the s ervo read y signal (M24 15+20 n).
4 - 51 4 POSITION ING SIGNALS (12) Speed chang ing flag (M2061 to M2092) .................... Stat us signal This flag t urns on duri ng sp eed ch ange b y the co ntrol chang e (CHG V) instr uctio n of t he Mot ion pr ogram or M otion dedic ated P LC ins truct ion (S(P).
4 - 52 4 POSITION ING SIGNALS (13) Automatic decel erating flag (M2128 to M2159) ......... Stat us signal This si gnal turns on whi le auto matic decel erati on p rocessin g is perfor med at the p osition ing c ontro l or p osit ion f ollo w-up c ontro l.
4 - 53 4 POSITION ING SIGNALS (14) Speed chang e "0" accepting flag (M2240 to M2271) ....………. Status signal This fl ag tu rns on whil e a speed change req uest to speed "0" or n egative speed ch ange is b eing acc epted.
4 - 54 4 POSITION ING SIGNALS REMARK (1) Ev en if it has s topp ed, when the start acce pt fla g (M20 01 to M 2032) is ON state , the stat e where the request of spe ed chang e "0" is ac cepte d is indic ated. Confirm b y this s peed chan ge "0" accept ing f lag.
4 - 55 4 POSITION ING SIGNALS (a) T he fla g turns off if a s pee d change requ est oc curs durin g dece lerat ion to a stop d ue to s peed c hange "0" .
4 - 56 4 POSITION ING SIGNALS 4.2 Data Register s (1) Data register list Device No. Appli cation D0 to Axis moni tor device (20 points 32 axes) D640 to Control chang e register (2 points 32 a xes) D70.
4 - 57 4 POSITION ING SIGNALS (2) Axis monitor device lis t Axis No. Devic e No. Signal name 1 D0 to D19 2 D20 to D39 3 D40 to D59 Signal name Refresh cycle Fetch cycle Unit Signal directi on 4 D60 to.
4 - 58 4 POSITION ING SIGNALS (3) Contr ol change register lis t Axis No. Devi ce No. Signal name 1 D640, D641 2 D642, D643 3 D644, D645 Signal name Refresh cycle Fetc h cycle Unit Signal directi on 4.
4 - 59 4 POSITION ING SIGNALS (4) Axis monitor device 2 lis t Axis No. Devic e No. Signal name 1 D800 to D819 2 D820 to D839 3 D840 to D859 Signal name Refresh cycl e Fetc h cycle Unit Signal directi on 4 D860 to D879 0 5 D880 to D899 1 Cur re nt v al ue Operat ion cycle Comm and unit 6 D900 to D919 7 D920 to D939 2 Execute s equence No.
4 - 60 4 POSITION ING SIGNALS (5) Contr ol program moni tor devi ce list Device No. Signal name D1440 to D1445 D1446 to D1451 D1452 to D1457 S ignal name Refresh cycle Fetch cycle Unit Signal directi on D1458 to D1463 0 P rogram No. D1464 to D1469 1 Sequence No.
4 - 61 4 POSITION ING SIGNALS (6) Contr ol change register 2 li st Axis No. Devi ce No. Signal name 1 D1536 to D1538 2 D1539 to D1541 3 D1542 to D1544 Si gnal name Ref resh cycl e Fetch cycle Unit Sig.
4 - 62 4 POSITION ING SIGNALS (7) Tool leng th offset data setting r egister list (Hig her rank, lower rank) Dev ice N o. Signal name D1651, D1650 Tool length of fset dat a 1 D1653, D1652 Tool length .
4 - 63 4 POSITION ING SIGNALS (8) Common dev ice list Device No. Signal name Refresh cycle Fetch cycle Signal direction Device No. Signal name Refresh cycle Fetch cycle Signal direction D704 PLC ready.
4 - 64 4 POSITION ING SIGNALS 4.2.1 Axis monitor devices The m onitoring data area is used b y the Motion CPU to s tore data such as the mac hine va lue d uring p ositi oning c ontr ol, the real m achi ne val ue and the number of droop pulses in t he de viatio n coun ter.
4 - 65 4 POSITION ING SIGNALS (6) Serv o error code storag e register (D8 + 20n) …......... Monitor device (a) This regi ster stores the corre sponding er ror code (Refer to APPEN DIX 1.
4 - 66 4 POSITION ING SIGNALS (10) M-code storage register (D13+20n) ..........……….. Monitor de vice (a) T his re gister stores the M-cod e set to the Motion program at the bl ock execu te start . If M-c ode is not s et in the M otion pr ogr am, the valu e "0 " is st ored.
4 - 67 4 POSITION ING SIGNALS 4.2.2 Control chang e registers This area stores th e JOG oper ation sp eed data. C ontrol change regi ster list (Higher ra nk, lo wer r ank) Nam e Ax is 1 Axi s 2 Ax is .
4 - 68 4 POSITION ING SIGNALS 4.2.3 Axis monitor devices 2 (1) Current value (D800+20n, D801+20n) ....………….. Monitor device (a) T his re gister stores the addres s in the work coor din ate syst em ( G54 to G 59) specif ied with t he Mot ion pr ogram .
4 - 69 4 POSITION ING SIGNALS (2) Execute seq uence No. (main) storag e register (D802+ 20n) ....………... Monitor device This regist er stor es th e N N o. (sequ ence No.) of the ex ecut ing m ain se quenc e. This number cha nges to "0" usi ng the Moti on dedic ated PLC instr uct ion (S(P).
4 - 70 4 POSITION ING SIGNALS (5) Execute seq uence No. (sub) stor age register (D805+ 20n) .....…..…….. Monitor dev ice (a) T his re gister sotres the N No. of the s ubprogr am starte d by "M 98" (subpr ogram call) . (b) W hen a subpr ogram is cal led fr om a s ubpro gram , this number cha nges t o the N No .
4 - 71 4 POSITION ING SIGNALS (9) Tool leng th offset data storag e register (D810+ 20n, D811+20n) ...…….…….. Monitor device (a) T his r egis ter stor es th e of fset va lue s pecif ied in the too l len gth of fset d ata No.. Tool length off set dat a stor age r egist er is s hown bello w.
4 - 72 4 POSITION ING SIGNALS 4.2.4 Control pr ogram monitor devic es Up to 16 contr ol pr ogram s can be ex ecut ed sim ultan eous ly. W hen ne w contr ol progr am is execut ed in t his m onitor are a, th e vacan t are a is secur ed su itabl y and t he monitor inf orm ation on t he e xecuted progr am.
4 - 73 4 POSITION ING SIGNALS (6) CLEAR request status storage r egister (D1445) ... Monitor dev ice (a) W hen the co ntrol progr am s pecifie d in the CL EAR r equest c ontro l pro gram No. sett ing regist er (D 707) is c leared n orm all y, "1" is se t.
4 - 74 4 POSITION ING SIGNALS 4.2.5 Control chang e registers 2 This area stores th e overrid e ratio sett ing data. Table 4.1 Contr ol change r egister 2 list Nam e Ax is 1 Axis 2 Ax is 3 Ax is 4 Ax .
4 - 75 4 POSITION ING SIGNALS 4.2.6 Tool leng th offset data setting reg isters (1) Tool leng th offset data setting r egisters (D1650+2n) ....…….. Command device (a) T his r egis ter is used t o set t he to ol le ngth of fs et values . (b) T he too l leng th off set data No.
4 - 76 4 POSITION ING SIGNALS 4.2.7 Common dev ices (1) CLEAR request status storage (D 1445) ..…….….. Monitor devi ce (a) 0 No. of the c onrol progr am whic h exec utes the CL EAR ins truct ion or equiv alent of Moti on pro gram for the posi tionin g contr ol is exec uted.
4 - 77 4 POSITION ING SIGNALS (3) Manual pulse generator axis No. setti ng registers (D 714 to D719) ....…….. Command device (a) These re gist ers st ores th e a xis N o.
4 - 78 4 POSITION ING SIGNALS (b) R efer to Sect ion 7. 6 for deta ils of the m anua l puls e genera tor o perat ion. (5) Manual pulse generator smoothing magnification setti ng registers (D752 to D754) ................................................
4 - 79 4 POSITION ING SIGNALS 4.3 Motion Reg isters (#) There ar e m otion r egist ers ( #0 to # 8191) in the Motio n CPU . #800 0 to #8 063 are us ed as SV 43 ded icated de vice a nd #8 064 to #8191 are us ed as the s ervo monit or de vice . (1) SV43 dedicated d evice (#8000 to #80 63) Thes e devic es ar e reser ved b y the s ystem .
4 - 80 4 POSITION ING SIGNALS 4.4 S pecial Re lays (SP. M) There ar e 25 6 spec ial re la y poin ts of M 9000 t o M925 5 in t he M otion C PU. Of thes e, 7 p oints of the M907 3 to M9 079 ar e use d for t he pos ition ing co ntrol , and their ap plicat ions are indic ated in T able 4.
4 - 81 4 POSITION ING SIGNALS (3) TEST mode ON flag (M9075) ........……...................... Status signal (a) T his f lag is used as jud gem ent of dur ing th e test mod e or n ot using a perip heral . Use it f or an interl ock, etc. at the star ting of the Motion program usi ng the SVST instruc tion of t he PLC progr am.
4 - 82 4 POSITION ING SIGNALS (7) Motion pr ogram setting error flag (M9079) ...........…... Status signal This flag is used as ju dgem ent of n orm al or a bnorm al for the M otion pr ogr am posit ioning data . • OFF .... .. Norm al • ON . ....
4 - 83 4 POSITION ING SIGNALS 4.5 Special Reg isters (SP.D) There ar e 25 6 spec ial re gist er points of D9 000 to D925 5 in t he Mot ion CPU . Of thes e, 23 points of th e D9112 and D9180 t o D920 1 are used f or the posi tionin g contr ol. The spe cial regi sters used for positio ning are show n below .
4 - 84 4 POSITION ING SIGNALS (1) Connect/disconnect ( D9112) ..................................... Comm and devi ce/Monitor device This funct ion is used to co nnect /discon nect t he S SCNE T comm u.
4 - 85 4 POSITION ING SIGNALS (3) Motion C PU WDT error cause ( D9184) ………........ Monitor device This regist er is us ed as judg ement of the error conte nts in t he M otion C PU. Error code Error caus e Operation when error occur s Action to take 1 S/W falut 1 2 Operation cyc le tim e over • R eset w ith the re set ke y.
4 - 86 4 POSITION ING SIGNALS (4) Manual pulse generator axis setti ng error information (D9185 to D9187) ....... .....................................
4 - 87 4 POSITION ING SIGNALS (8) Serv o amplifier l oading information ( D9191 to D9192) ........... Monitor dev ice The i nstal lation state of the serv o ampl ifier is chec ked at the power s upp ly on or resett ing of the Mo tion CPU and its resu lts are stored in th is devic e.
4 - 88 4 POSITION ING SIGNALS (10) Operation cycle of the Motion CPU setting (D9197) ........... Monitor dev ice The s etting opera tion c ycle i s store d in [ µs ] unit. W hen the "Au tom atic sett ing" is s et in t he s ystem settin g, the o perat ion c ycle corres ponding to t he num ber of setting axes.
5 - 1 5 PARAMETERS FOR POSITIONING C ONTROL 5 5. PARAMETERS FOR PO SITIONING CONTROL 5.1 System Setting s In th e Mult iple C PU s ystem , the com m on s y stem par ameters and indi vidual param eters are s et for each CPU and written to e ach CPU.
5 - 2 5 PARAMETERS FOR POSITIONING C ONTROL 5.2 Fixed Par ameters (1) Th e fixed pa ramet ers are set for each axis and their d ata is fixed based on the mec hanical system , etc. (2) T he f ixed par ameter s a re set usin g a per ipher al de vice. (3) Th e fixed pa ramet ers to be set are shown in Ta ble 5 .
5 - 3 5 PARAMETERS FOR POSITIONING C ONTROL 5.2.1 Number of pulses/trav el value per rotation The " Electr onic gear f unctio n" adj usts t he pu lse c alculat ed an d outp ut b y the par ameter set in the Q 173HCP U/Q172 HCPU an d the real tr avel valu e of m achine .
5 - 4 5 PARAMETERS FOR POSITIONING C ONTROL Theref ore, A P/AL is set so t hat t he fol lowing expres sion of re lations m a y be mater ialized in ord er to c onv ert the trave l valu e of [m m] / [i nch] u nit s et in t he progr am into a pu lse.
5 - 5 5 PARAMETERS FOR POSITIONING C ONTROL The tra vel v alue p er m otor rota tion i n this exam ple is 0. 000076 [mm ]. For ex ample, whe n order ing the tra vel va lue of 19 [m m], it becom es 249036.
5 - 6 5 PARAMETERS FOR POSITIONING C ONTROL (1) Stroke limit range ch eck The s troke l imit ra nge is che ck ed at the f ollo wing st art or durin g op eratio n.
5 - 7 5 PARAMETERS FOR POSITIONING C ONTROL 5.2.4 Command in-posi tion range The com mand in- posit ion is the diff erence bet ween th e posit ioning addres s (comm and posit ion) a nd c urrent va lue.
5 - 8 5 PARAMETERS FOR POSITIONING C ONTROL 5.2.5 High- speed feed rate setting The hi gh-sp eed fe ed rate i s the po sitio ning sp eed used to perfo rm posi tioni ng with G00 or to m ak e a hom e pos ition retur n with G 28, a nd t his da ta is neede d to execu te G0 0 or G28.
5 - 9 5 PARAMETERS FOR POSITIONING C ONTROL 5.2.6 Speed control 10 multip lier settin g for degre e axis The s etting r ange of com mand s peed is 0. 001 to 2147 483.
5 - 10 5 PARAMETERS FOR POSITIONING C ONTROL An ex ample f or p ositi oning contr ol is s hown belo w when t he f ixed par ameter and param eter block are se t as fol lows. • Fi xed para mete r Sett ing ax is Unit High-sp eed f eed r ate Spee d contr ol 1 0 m ultipli er sett ing f or de gree axis Axis 1(X ) de gree 21 47483.
5 - 11 5 PARAMETERS FOR POSITIONING C ONTROL POINTS (1) Ax is se t to "spee d contr ol 10 m ultipl ier sett ing for de gree axis is inv alid ".
5 - 12 5 PARAMETERS FOR POSITIONING C ONTROL • An exa mple fo r positi oning co ntrol i s shown bel ow when the fixe d para meter and paramete r bloc k are set as fol lows. • Fi xed para mete r Sett ing ax is Unit High-spee d fe ed rat e Sp eed co ntrol 10 m ultip lier s ettin g for degre e ax is Axis 1(X ) degr ee 20 0.
5 - 13 5 PARAMETERS FOR POSITIONING C ONTROL 5.3 Parameter Bl ock (1) The pa ramet er bloc ks serve to make setti ng change s easy b y allowing data such as the acce lerat ion/dec elera tion c ontro l to be s et for eac h positi oning proc essing. (2) A m axim um 64 block s can be set as par am eter bl ock s.
5 - 14 5 PARAMETERS FOR POSITIONING C ONTROL Table 5.2 Paramet er Block li st Setting ra nge mm inch degree No. Item Setting range Units Setti ng range Units Setti ng r ange Units Init ial value U nits Remarks Secti on 1 I nterpolation con tro l un it 0 1 2 0 • Set the u nits for comp ensatio n control .
5 - 15 5 PARAMETERS FOR POSITIONING C ONTROL POINTS The da ta set in the param et er block is used in the posit ion ing co ntrol, hom e posit ion r eturn and JO G op eration. (1) T he par ameter block No. used in th e pos itioni ng co ntrol is s et ind irect ly in the fo llow ing case.
5 - 16 5 PARAMETERS FOR POSITIONING C ONTROL 5.3.1 Relationships bet ween the speed l imit value, acceler ation time, decel eration time and rapid stop deceler ation time Accord ing to the G- cod e in.
5 - 17 5 PARAMETERS FOR POSITIONING C ONTROL (1) Acc elera tion-f ixed accel eratio n/dec elera tion s ystem (a) G0 1, G02 , G03, G12, G 13 or G 32 dur ing G 101 ex ecution Speed 1) Real ac cele- rati.
5 - 18 5 PARAMETERS FOR POSITIONING C ONTROL 5.3.2 S-curv e ratio S-cur ve rat io ca n be s et as t he acce lerat ion an d dece lerat ion pr ocess ing m ethod f or S- patter n proces sin g.
5 - 19 5 PARAMETERS FOR POSITIONING C ONTROL 5.3.3 Allow able error range for ci rcular i nterpolation The l ocus of the arc ca lculat ed from the s tart po int a ddres s and c entra l poi nt addres s ma y not coinc ide with th e set end po int a ddress for t he c entral-s pec ified c ontr ol.
5 - 20 5 PARAMETERS FOR POSITIONING C ONTROL 5.4 W ork Coo rdina te Dat a (1) Th e work coo rdina te data is used to set the w ork coordi nat es and six di ffere nt work coordin ates ca n be s et (G 54 to G 59) f or ever y axis . (Ref er to Sect ion 6.
6 - 1 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6. MOTION PROGRAMS FO R POSITIONING CONTROL Motion progr am in the E IA lan guag e form at is used as a pr ogram ming lang uage i n the Motion c ont roller (SV4 3).
6 - 2 6 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Block A bloc k is a coll ectio n of se vera l words . It i nclud es inf orm ation nec ess ary to perfor m a s ingle specif ic op eratio n of a mac hine a nd ac ts as a com plete comm and on a block bas is.
6 - 3 6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) Motio n pro gram A ma chine operat ion is com m anded b y sever al c ollec tion of bloc ks in the M otio n program . <Mot ion pro gram com positi on> 00001 O 100; 1) Motio n progr am No. 00002 N 10 G 91 G00; 00003 G 28 X0.
6 - 4 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.2 Type of The Moti on Prog ram There ar e fo llo wing t wo t ypes in the Mo tion pr ogr am. T y pe of Mot ion progr am is set f or e very pro gram by the m otion param eter. Type of the Moti on prog ram Name Description Control program This program is described by the control instructions only.
6 - 5 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.3 G-code List G-codes used in the Motion program are sho wn belo w. G-code List Type Instruction (Group) Description Control program Ax is designation.
6 - 6 6 MOTION PROGRAMS FOR POSITIONING CONTROL Class a nd gro up of G -code are s hown be low. Class Description Modal G-codes (Groups 01, 02, 03, 08, 12, 13, 20, 21) Once any G -code is commanded, it is v alid until another G-co de in the same group is commanded.
6 - 7 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.4 M-code Li st M-cod es used in th e Moti on pro gram are sho wn be low. M-code List Type Instruction Description Control program Ax is designation pr.
6 - 8 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.5 Control Instructi on List Contro l instr uct ions us ed i n the M otio n prog ram ar e sho wn be low.
6 - 9 6 MOTION PROGRAMS FOR POSITIONING CONTROL Control i nstruction list (Conti nued) Type Instruction Instruction description Control program Ax is designation program MULT W Write device data to sh.
6 - 10 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.6 Start/End Metho d Start/ end m ethods of th e Mot ion pr ogram are sh own be low. Type Start/end method Start method (1) Start by the SFCS instruction from the PLC CP U. (2) Start by the CALL instruction (start) or the G OSUB/GOSUBE instruction (call) in the control program.
6 - 11 6 MOTION PROGRAMS FOR POSITIONING CONTROL Example for str ucture of program star t/end O10; CALL P20; GOSUB P21; M02; % End O11; CALL P22; GOSUB P23; M02; % Return O12; G0 X10.Y10.; G1 X 20.Y 20. F100 ; M98 P24; M02; % End O13; G0 V10.Z10.; G1 V20.
6 - 12 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.7 Number o f Maximum N esting for Prog ram Cal l and Multi Startable Progr am (1) T he n umber of m axim um nes ting of the G OSU B/GO SUBE is 8 l evels in th e contr ol progr am . (2) T he n umber of m axim um nesting of M98 is 8 leve ls i n the d esign atio n program .
6 - 13 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.8 Motion paramet er Set the fol lowing p aram eters for ever y Mo tion pr ogram . No. Item Setting range Initial value Remark 1 Program type 1. Control program 2. Axis designation program Control program 2 Start setting Select the automatic start.
6 - 14 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.9 Caution at The Axis Desi gnation Progr am Creation (1) A sub program cal l from another sub program (nes ting) is m axim um 8 l evels . (2) In one block , one G-c ode c an be s elect ed from ea ch modal grou p.
6 - 15 6 MOTION PROGRAMS FOR POSITIONING CONTROL IMPOR TANT The M otion pr ogram whic h an axis o verlap ped ca nnot be st arted s imulta neous ly. If it is execu ted, we cannot gu arante e their op erations . (3) T he M-c odes ex cept the M00 , M01, M02, M 30, M 98, M9 9 and M100 c an be specif ied i n the s ame b lock with an other c omm and.
6 - 16 6 MOTION PROGRAMS FOR POSITIONING CONTROL (b) Co nstant- spe ed opera tion 100. 200 . FIN signal (M3219+20n) M- code ou tpu tti ng (M2419+20n) M-code 10 OFF OFF ON ON W hen the FIN s igna l (M3.
6 - 17 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) Acceler atio n/dec elera tion proc ess ing for G 01 G91 G0 1 X100 . Y1 00. F10 0. ; Y100. ; X100. ; Consta nt-sp eed posit ioni ng of X, Y... ......B lock 1 Consta nt-spee d posit ioning of Y ......
6 - 18 6 MOTION PROGRAMS FOR POSITIONING CONTROL (11) Varia ble prer ead Varia bles in up t o eight bloc k s including the one cur rent ly execu ted are prer ead.
6 - 19 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.10 Instruction Sy mbols/Char acters List Inst ructio n symbols an d chara cter s used in Moti on p rograms are shown below .
6 - 20 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.1 Instructi on Symbol /Character Li st (Continued) Symbol/character Function Description G Preparatory function (G-code) Refer to Section "6.3 G-code List". L Subprogram repeat cou nt Used in M98 M Auxiliary function (M-code) Refer to Section "6.
6 - 21 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.1 Instructi on Symbol /Characters List (C ontinued) Symbol/character Function Description SIN Trigonometric function (sine) COS Tr igonometric .
6 - 22 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.1 Instructi on Symbol /Characters List (C ontinued) Symbol/character Function Description Subprogram call sequence N o. U sed in M98. Tool length offset data No. Used in G43, G44. H Indicates hex adecimal number constant.
6 - 23 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11 Setting M ethod for Comman d Data This sectio n desc ribes the s ettin g meth od for comm and data ( address es, s peeds , operat ional expr essions ) us ed in t he M otion program s. There ar e fo llo wing t wo set ting m ethod f or com mand data.
6 - 24 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.2 Indirect setting (1) Vari able representation The 16- bit in teger t ype, 32-b it inte ger t ype an d 64-b it do uble pr ecis ion re al number can be use d as vari ables.
6 - 25 6 MOTION PROGRAMS FOR POSITIONING CONTROL POINT (1) T he data r egis ter is sho wn as "#D" or "#" in th e Mot ion pro gram . Descri be it as "# @" to i ndicate a m otion re gister . (2) T he mar k of the I/O m odul es is X and Y in the Mot ion pr ogr am regar dles s of in stallati on/n on-in stallat ion.
6 - 26 6 MOTION PROGRAMS FOR POSITIONING CONTROL Conversion format Description 64 bit to 32 bit The 64-bit double precision rea l number is converted to 32-bit i nteger type. Note that any value other than -2147483648 to 21 47483647 results in a n error.
6 - 27 6 MOTION PROGRAMS FOR POSITIONING CONTROL (c) H ow to hand le var iable as 64- bit do uble prec ision r eal n umber By han dling a vari able as a 64-bit doub le prec ision real num ber, ar ithm etic operat ion s pann ing m ultipl e bloc ks c an be per form ed wit hout r educt ion in precis ion.
6 - 28 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Exam ple] <Com mand a ddres s 1> G91; #@10:L =1.; G0 X# @10:L ; The tra vel v alue of X is an y of th e foll owing values . mm inch degree 1 mm 0.1 inch 0.1 degree <Com mand a ddres s 2> G91; #@10:F =1.
6 - 29 6 MOTION PROGRAMS FOR POSITIONING CONTROL (6) Device setting (#Xx : Xx is device) The wor d device (D , W , #) and bit de vice (X, Y, M, B, F) can be ref erred to b y device set ting. Becaus e the word device ( D, W , #) is han dled as 32 bits (2 word dat a), on ly an even n umber can b e used.
6 - 30 6 MOTION PROGRAMS FOR POSITIONING CONTROL POINTS (1) T he Moti on progr am No . (O ) canno t be s et ind irectl y. (2) W hen th e Moti on pro gram is exec uted i n the M otio n CPU, t he d ata of s pecif ied devices (2-wor d or 4-wor d) are inpu t in the var iabl e setting or de vice sett ing using wor d devices .
6 - 31 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.3 Operation al data (1) Four fundamental operations ( +, -, *, /, MOD) The da ta t ype com binations and c onvers ion m ethods for four f undam ental operat ions (+, -, *, /, MOD) are sho wn bel ow.
6 - 32 6 MOTION PROGRAMS FOR POSITIONING CONTROL No. Operat ion resul t Data 1 Data 2 10 #n (16 bit) 16-bit data i s converted int o 32-bit dat a. 11 #nL, #n:L (32 bi t) No conversion 12 #n (16 bit) 16-bit data i s converted int o 32-bit data. #nF, #n:F (64 bit) 64-bit data i s converted int o 32-bit dat a.
6 - 33 6 MOTION PROGRAMS FOR POSITIONING CONTROL • For MOD No. Operat ion resul t Data 1 Data 2 28 #n (16 bit) 16-bit data i s converted int o 32-bit dat a. 29 #nL, #n:L (32 bi t) No conversion 30 #n (16 bit) 16-bit data i s converted int o 32-bit data.
6 - 34 6 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Logi cal operations (AND , OR, XOR, NOT), shift operators ( <<, >>) • For AND, OR, XOR, <<, >> The da ta t ype com binati ons an d con versio n meth ods f or log ical operat ions (AND, OR , XOR) and s hift opera tors ( <<, > >) are sho wn bel ow.
6 - 35 6 MOTION PROGRAMS FOR POSITIONING CONTROL • For NOT The f ollowi ng tab le ind icates the data t ype com bin ations and c onvers ion m ethods for N OT. Opera tion res ult = oper ator [Dat a 1] Oper ator deno tes NO T. For logic al and s hift opera tions , oper ation incl uding t he 6 4-bit f loati ng-po int t ype cannot be per form ed.
6 - 36 6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) Trig onometric functions (SIN, COS, TAN, ASIN, AC OS, ATAN) The da ta t ype com binations and c onvers ion m ethods for tr igonom etric f unct ions (SIN, CO S, T AN, ASI N, AC OS, AT AN) ar e sho wn belo w.
6 - 37 6 MOTION PROGRAMS FOR POSITIONING CONTROL (4) Floating- point type real number pr ocessing instr uctions (INT, FLT) The d ata type combinat ion and conv ersi on meth od for floa ting -poin t type real number proces sin g instr ucti ons (I NT, FLT )are s hown below.
6 - 38 6 MOTION PROGRAMS FOR POSITIONING CONTROL (5) Functions (SQR T, ABS, LN, EXP) The da ta t ype com binations and c onvers ion m ethods f or f unctions (SQR T, AB S, LN, EX P) ar e sho wn be low.
6 - 39 6 MOTION PROGRAMS FOR POSITIONING CONTROL • For ABS No. Operation r esult Data 1 1 #n (16 bit) No conversion 2 #nL, #n:L (32 bit ) 32-bit data i s converted int o 16-bit dat a. 3 #n (16 bit) No conversion #nF, #n:F (64 bit) 64-bit data i s converted int o 16-bit dat a.
6 - 40 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) Functions (round-off (RND), r ound-do wn (FIX), round-up (FUP)) The da ta t ype combina tions and con version m ethods for rou nd-off (RND), rou nd- down (F IX) a nd round- up ( FUP) are sho wn b elow.
6 - 41 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.4 Setting rang e of instruction sy mbols list Sett ing range of instruc tion s ymbols us ed in the Mot ion progr am s are shown be low.
6 - 42 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.2 Setting Range of Instruction Sy mbol List (C ontinued) Setting range Symbol Function Motion program description Indirect settin g value by variable Address R Radius of R point specified circular arc 0 to 214748.
6 - 43 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) Com m and unit A dec im al point can b e ent ered in the Mot ion progr am input infor matio n whic h defines the c omm and addr ess or spee d, etc. [Exam ple] 1234 56.789 0 A dec im al point ma y also b e om itted.
6 - 44 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.6 Control uni ts for interpolati on control (1) T he int erpol atio n contr ol units s pecif ied with t he par am eter bloc k an d the c ontr ol units of the fixed par am eter are check ed.
6 - 45 6 MOTION PROGRAMS FOR POSITIONING CONTROL (b) Unit m ismatch ( 2 ) ) • T he tr ave l valu e and posit ionin g spee d are calc ulated for each axis. a) The trav el va lue is con verte d into the [ PLS] unit us ing t he elec tron ic gear of its own axis .
6 - 46 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.11.7 Control i n the control unit "deg ree" If the contro l un its are "degr ee", the f ollo wing it em s diff er fr om other contr ol uni ts. (1) Curr ent value address The c urrent address es i n the c ontro l units "de gree" ar e rin g addr esses f rom 0° to 360°.
6 - 47 6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) Positi oning control Posit ionin g contr ol m ethod i n the contr ol un it "de gree" is s hown be low. (a) A bsolut e data m eth od Posit ionin g in a near dir ectio n to the sp ecifi ed address is perf orm ed based on the curr ent va lue.
6 - 48 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.12 About Coordi nate Sy stems This sect ion des cribes coor dinate s yst ems . There ar e tw o coor dinate system s : bas ic m echan ical c oord inate s ystem and work coord inate s ystem . (1) Basic mechanical coordinate sy stem .
6 - 49 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13 G-code This sectio n desc ribes instr ucti on co des to use in t he M otion pr ogram . Each ins truc tion is descr ibed in th e foll owing f orm at. 1) 2) The method of the input and description are shown.
6 - 50 6 MOTION PROGRAMS FOR POSITIONING CONTROL The arg um ents of G-code are sh own in T abl e 6.3. Table 6.3 G-code ar guments Axis co mmand (Note-2) Radius co mman d (R) Cent ral poi nt com mand (.
6 - 51 6 MOTION PROGRAMS FOR POSITIONING CONTROL Table 6.3 G-code ar guments (Conti nued) Axis co mmand (Note-2) Radius co mman d (R) Cent ral point c omm and (I ,J) Skip com mand ( SKIP) Cancel co mm.
6 - 52 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.1 G00 Point-to- point positi oning at the hig h-speed feed rate Code G00 Function Point-to-point positioning at the high-speed feed rate The positions of the specifie d axes are ex ecuted.
6 - 53 6 MOTION PROGRAMS FOR POSITIONING CONTROL Trave l with G 01 Trave l with G 00 [Related Parameter s] High-sp eed f eed r ate: The m aximum feed ra te of each axis is set. (Refer to Sec tion 5.2.5 f or th e high- spee d feed r ate s etti ng of th e fixed par am eter.
6 - 54 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.2 G01 Constant-s peed positioning at the speed specified in F Code G01 Function Consta nt-spee d position ing at the s peed speci fied in F Linear interpolation is ex ecuted from the current position to the specified end point at t he specified feed rate.
6 - 55 6 MOTION PROGRAMS FOR POSITIONING CONTROL Consta nt-spee d contr ol is execu ted in this area. (8) If the G 02 or G 03 c omm and is ex ecute d dur ing th e G01 c omm and (Co nstant- speed pos itio nin g), a decele ration stop is not made. [Exam ple] G 01 X 100.
6 - 56 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 3. 3 G 02 Circul ar inter polation C W (Central coordinates-speci fied) Code G02 Function Circular interpolation (C W ) Circular ar c cent ra l coo.
6 - 57 6 MOTION PROGRAMS FOR POSITIONING CONTROL (5) W hen this com m and is execut ed co ntinuo usl y, the ac celera tion or dec elera tion is not m ade at the st art or e nd point of a bl ock because t he stat us is not th e exac t stop c heck m ode.
6 - 58 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) The en d poin t and circ ular ar c central coo rdina tes cann ot be omit ted. Alwa ys spec ify th em f or two ax es. (2) Circul ar in terpo lation i nclu des th e [degr ee] ax is whose str ok e limit is set to be inval id ca nnot be exec uted.
6 - 59 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 3. 4 G 03 Circul ar inter polation CC W (Central coor dinates-specified) Code G03 Function Circular interpolation (CC W ) Circular ar c cent ra l c.
6 - 60 6 MOTION PROGRAMS FOR POSITIONING CONTROL (5) W hen this com m and is execut ed co ntinuo usl y, the ac celera tion or dec elera tion is not m ade at the st art or e nd point of a bl ock because t he stat us is not th e exac t stop c heck m ode.
6 - 61 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) The en d poin t and circ ular ar c central coo rdina tes cann ot be omit ted. Alwa ys spec ify th em f or two ax es. (2) Circul ar in terpo lation i nclu des th e [degr ee] ax is whose str ok e limit is set to be inval id ca nnot be exec uted.
6 - 62 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.5 G02 Circu lar inte rpola tion CW (Radius -speci fied) Code G02 Function Circular interpolation (C W ) Radius-specified cir cular interpolation T.
6 - 63 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Related Parameter s] Speed lim it valu e : The m axim um f eed rate of each ax is is se t. (Refer to Sec tion 5.3. 1 f or the s peed lim it valu e of the param eter b lock.) Circu lar int erpol ation arc er ror : T he a llowa ble er ror r ange f or circ ular inter polat ion is set.
6 - 64 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.6 G03 Circu lar interp ola tion CCW (Radi us-specified) Code G03 Function Circular interpolation (CC W ) Radius specified cir cular interpolation .
6 - 65 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Related Parameter s] Speed lim it valu e : The m axim um f eed rate of each ax is is se t. (Refer to Sec tion 5.3. 1 f or the s peed lim it valu e of the param eter b lock.) Circu lar int erpol ation arc er ror : T he a llowa ble er ror r ange f or circ ular inter polat ion is set.
6 - 66 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.7 G04 Dwell Code G04 Function Dwell Execution of nex t block is w aited for the spe cified peri od of ti me. Format 0 Dwell ti me (1 to 65535) 4Pp G; [Explanati on] (1) T he tim e fr om af ter dec elerati on sto p of the prec eding travel c omm and unt il t he next b lock start is spec if ied.
6 - 67 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] The pro gram in which dwe ll tim e is place d betwe en posi tionin g operat ion ins tructi ons. 1) G01 X 100. F10. ; ( Posit ioning) 2) G04 P2000 ; ( Dwell time set to 2[s ]) 3) G01 X 200.
6 - 68 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 3.8 G 09 Exact stop check Code G09 Function E xact stop check The ax es travel in the specifie d block poi nt-to-poi nt position ing.
6 - 69 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] The pro gram whic h uses the ex act st op ch eck for posit ionin g. 1) G09 G 01 X 100. F 500. ; (Pos itio ning b y an exact st op chec k) 2) X2 00. ; (Pos itio ning) 3) X3 00. ; (Pos itio ning) 4) G09 G 01 X 400.
6 - 70 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 3. 9 G 12 Hel ical int erpolatio n C W (H elical c entral coor dinates-specified) Code G12 Function Helical interpolation (C W ) Hel ica l central .
6 - 71 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) T he tra vel sp eed is the spec ified com bined-s peed f or 2 axes circu lar int erpol ation axis.
6 - 72 6 MOTION PROGRAMS FOR POSITIONING CONTROL The ex ampl e of the direc tio n of the no zzle of contr ollin g th e norm al for c ircu lar ar c curve. 0 270 90 180 Z-axis (Rota tion ang le) Start po int 50. 0 R=5 0 0.0 50.0 100. 0 100.0 150.0 X, Y-axi s Y X R=100 100.
6 - 73 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 3. 10 G13 Helical i nterpolati on CCW (H elica l central coordi nates-specified) Code G13 Function Helical interpolation (CC W ) Hel ica l central .
6 - 74 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) T he tra vel sp eed is the spec ified com bined-s peed f or 2 axes circu lar int erpol ation axis.
6 - 75 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.11 G12 Helical interpo lat ion C W (Helic al radius-specified) Code G12 Function Helical interpolation (C W ) Radius-specified helical interpolati.
6 - 76 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) W hen this com m and is execut ed co ntinuo usl y, the ac celera tion or dec elera tion is not m ade at the st art or e nd point of a bl ock because t he stat us is not th e exac t stop c heck m ode.
6 - 77 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 3. 12 G13 Helical i nterpolati on CCW (Helic al rad iu s- sp ec ifi ed ) Code G13 Function Helical interpolation (CC W ) Radius-specified helical i.
6 - 78 6 MOTION PROGRAMS FOR POSITIONING CONTROL (6) If a com plet e round c om m and (the star ting point is the s ame as the end p oint) is specif ied in R-s pecif ied he lical i nterpo latio n, a minor error will ( error co de : 108) occur a nd n o oper ation is p erfor med.
6 - 79 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 3. 13 G23 C ancel, c ancel star t invali d Code G23 Function Cancel, cancel start invalid G24 (cancel function, can cel star t function) w hich has already been made valid is invalidat ed. Valid until G24 (cancel functi on, canc el start function) is ex ecuted.
6 - 80 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 3. 14 G24 C ancel, c ancel star t Code G24 Function Cancel, cancel start The executing program is can cel and the specified start program automatically starts. This function is valid unti l cancel or cancel start function inv alid (G23) is executed.
6 - 81 6 MOTION PROGRAMS FOR POSITIONING CONTROL (9) W hen G24 exis ts a t any p oint between conti nuous cons tant-s peed positi oning block s, a dec eler ation st op i s made o nce. N1 G24 CAN #X100 ; N2 G0 1 X200 . F2 000. ; N3 X300. Y200. ; N4 G24 CAN #X101 ; N5 G0 1 X50.
6 - 82 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] The pro gram which canc els pr ogram operat ion dur ing ex ecutio n of "O001 0" pro gram and st arts "O010 0" progr am. ( Comm and u nit is [m m ].) O0010 ; 1) G2 4 CAN #X100 P100 PB1 ; Execut ion of canc el star t func tion 2) G90 G 01 X 200.
6 - 83 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 3.1 5 G25 High-speed oscillation Code G25 Function High-speed oscillatio n The specifi ed axis o scilla tes in a Sine curve.
6 - 84 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] The pro gram in which t he X- axis oscill ates in the Sine c urv e of 10 [mm ] am plitude , 90 [degre e] starti ng angle an d 30[CPM] freque ncy. (Comm and un it is [m m ].) G25 X ST ART 90.
6 - 85 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 3.1 6 G 26 High-speed oscillation st op Code G26 Function High-speed oscillation stop function The high- speed osc illation of t he axis w hich is per forming hi gh-speed oscillatio n is st opped.
6 - 86 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.17 G28 Home posit ion re turn Code G28 Function Home position return When the h ome posit ion retur n request is O N, the mid point designation is ign ored and a prox imity dog, count, data set, dog cradle, stopper or limit sw itch combine d type home position r eturn.
6 - 87 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) W hen the contr ol un it is [degr ee], operat ion from th e mid p oint t o the h om e posit ion d iffer s bet ween t he abs olute valu e com m and (G90) and inc rem ental value c omm and (G 91).
6 - 88 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6. 13. 18 G30 Second h ome positi on ret urn Code G30 Function Second home position return The ax is returns from the current po sition to t he second home positi on through the sp ecified m id point at the high-spee d feed rat e.
6 - 89 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] The pro gram whic h exec ute s the s econ d hom e posit ion r eturn f rom the cur rent pos it ion throug h the A po int (m id point) .
6 - 90 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.19 G32 Skip Code G32 Function Skip The axis trav els at the specified feed rate, the remaining co mmand is suspended at the input of an ex ternal signal, and the nex t block is executed. Dwell is skipped for the dw ell command.
6 - 91 6 MOTION PROGRAMS FOR POSITIONING CONTROL (9) Th e absolut e circul ar inte rpola tion or the absol ute heli cal int erpol ation o f the next block cannot be exec uted. (10) The F comm and is hand led lik e G 01. (11) T he c oastin g value A betwe en sk ip sign al de tect ion and a sto p is r epres ented by the fol lowing ex press ion.
6 - 92 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] (1) T he pr ogram design ed to m ak e multip le sk ips u nder the co ntrol of exter nal s kip signa ls spec ified from the pr ogram mid way throug h pos ition ing. (Under increm enta l value co mm and) • G91 ; • G32 X 100.
6 - 93 6 MOTION PROGRAMS FOR POSITIONING CONTROL CAUTION The following operation assumes that a skip (G32) is specified during constant-speed cont rol (G01) and the [degree] axis without a stroke range is included.
6 - 94 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.20 G43 Tool l ength offset (+ ) Code G43 Function Tool length offset (+) The axis trav els with the preset offset value added to the travel command.
6 - 95 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] The pro gram for which exec utes th e pos itioni ng add ed t he off set va lue t o the c omman d posit ion.
6 - 96 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.21 G44 To ol len gth of fse t (-) Code G44 Function Tool length offset (-) The axis trav els with the preset offs et value subtracted from th e travel command.
6 - 97 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] The pro gram for which ex ecutes the posit ioning subtr act ed the off set value from the comm and pos itio n.
6 - 98 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 3. 22 G 49 Tool length offset canc el Code G49 Fun ct ion Tool length of fset canc el The preset tool length offset v alue (G43, G44) is cance l.
6 - 99 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.23 G53 Mechanical coordinate sy stem selection Code G53 Function Mechanical coordinate system selection The axis trav els to the command position of b asic mechanical coordinate system at the high speed feed rate.
6 - 10 0 6 MOTION PROGRAMS FOR POSITIONING CONTROL (7) Under the incr ement al va lue c omm and (G9 1), th e axes travel at the incr ement al value of th e mec hanic al co ordinat e s ystem , and un der t he abs olute value comm and (G 90), the axes trav el at t he abs olute value of th e m echanic al coord inate s ystem .
6 - 10 1 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 3. 24 G 54 to G59 Work coordinate system selecti on Code G54, G 55, G56, G57, G58, G59 Function W ork coordinate system 1 to 6 selection The work.
6 - 10 2 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Related Parameter s] W ork coordina tes s ystem off set value : Spec if y the off set in t he work c oordinat es system using the distanc e fr om the basic mec hanical coord inates . (Ref er to S ectio n 5.
6 - 10 3 6 MOTION PROGRAMS FOR POSITIONING CONTROL <W ork coor dinates s yst em c hange> The pro gram for which s et the off set of th e work coor dinates syst em 1 to X500, Y500 in the param eter s ettin g of wor k c oordinat es dat a, then chang e the work coordin ates system to new work coordi nates system 1.
6 - 10 4 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 3.2 5 G61 Ex act stop check mode Code G61 Function E xact stop check mode It travels in the point-to- point p ositioning (PT P). Format 61 ; G [Explanati on] (1) T his c omm and is us ed with the int erpo lation c omm and.
6 - 10 5 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] The pro gram for which ex ecutes the posit ioning in th e exac t stop c heck m ode. 1) G6 1 G01 X 100. F 500. ; ( Posit ioning in th e exac t stop c heck mode) 2) X2 00. ; (Pos ition ing in t he exac t st op check m ode) 3) X3 00.
6 - 10 6 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.26 G64 Cut ting m ode Code G64 Function Cut tin g mod e The next block continuous ly executes w ithout deceleration stop between cutting feed bloc ks.
6 - 10 7 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] The pro gram for which executes the posit ioni ng in the c utting m ode . 1) G64 G01 X100. F50 0. ; ( Positi oning in the cutting m ode) 2) X 200. ; ( Positi oning in the c uttin g m ode) 3) X 300.
6 - 10 8 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.27 G90 Ab solut e value co mman d Code G90 Function Abs olut e va lue c omm and The coordinates command i s set as an absolute v alue command.
6 - 10 9 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] Exam ple of com parison bet ween the abs olute valu e com m and and inc rem ental value comm and <Incr ementa l value comm and> G91 X 70. Y7 0. ; <Abso lute va lue com m and> G90 X 70.
6 - 11 0 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.28 G91 Inc rement al va lue c omma nd Code G91 Function Inc reme ntal va lue c omman d The coordinates command i s set as an incremental value c ommand.
6 - 11 1 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] Exam ple of com paris on bet ween the inc rem ental va lue com m and and absol ute val ue comm and <Incr ementa l value comm and> G91 X 70. Y7 0. ; <Abso lute va lue com m and> G90 X 70.
6 - 11 2 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 3. 29 G92 C oordina tes system s etting Code G92 Fu nct ion Coordinate s system sett ing The mechanical coordinates (virtual mechanical coordinates) is set simulatively. Setting the virtual mechanical coordinate system al so changes the w ork coordinates systems 1 to 6.
6 - 11 3 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] The pro gram for which set t he work coor dina te s ystem to t he s pecif ied pos itio n.
6 - 11 4 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6. 13. 30 G98, G99 Pre read dis able/ena ble Code G98, G99 Fun ct ion Preread disable/en able Preread disable (G98) Preread enable (G99) Format 98 ; G 99 ; G [Explanati on] (1) The prer ead d is ab le m ode after that when G 98 is exec uted.
6 - 11 5 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) Prerea d is dis abled un til G99 is ex ecute d after it bl ock s it modal G 98, and be ing specif ied o nly th ough pr ere ad is st oppe d in t he b lock th at M100 (prer ead dis- able) was n ot moda l, a nd sp ecifi ed onc e.
6 - 11 6 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.13.31 G100 , G1 01 Time-fixed acceleration/deceler ation, acceleration- fixed acceleration/ deceleration sw itching command Code G100, G101 Functio.
6 - 11 7 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] The pro gram desig ned t o mak e the ac celer ation- fixed acc elerat ion/dec elera tion mode of th e accel erati on/dec elerat ion s ystem valid , then inva lid m idway thr ough the pro gram .
6 - 11 8 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK About locus of G1 00/G1 01 Locus comm anded f rom the Moti on co ntroller is diff erent b y settin g of the G100/ G101. (a) Locus of G100 Tim e-fixed ac cel eration /dec elerat ion m ethod is use d to en able the sm ooth operat ion be twee n posi tioning points for C P oper atio n.
6 - 11 9 6 MOTION PROGRAMS FOR POSITIONING CONTROL (b) Locus of G101 Acce lerat ion-f ixed acc eler ation/ decel erati on m ethod is used to en able t he cor rect locus contro l be tween p ositi oning poin ts for C P op erati on. Se t a G1 01 to ex ecut e the cor rect locus contro l.
6 - 12 0 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6. 14 M -Code This sectio n exp lains the M- codes use d in t he Mot ion pr ogram s. (1) M-codes W hen a Mot ion progr am is ex ecute d, the 4- digit c ode data f ollowi ng M is outp ut to the dat a regis ter ( D) in the M comm and b lock.
6 - 12 1 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 5 Sp ecial M-Code The argum ents of the speci al M-codes are sh own in Tabl e 6.4 be low. Table 6.
6 - 12 2 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.1 M00 Pr ogram st op Code M00 Function Pro gra m s top Executio n of program is stopped. Format 0; M0 [Explanati on] Execu ting t his c omm and sto ps the progr am without ex ec ution of the next block .
6 - 12 3 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.2 M01 Opt iona l program sto p Code M01 Function Opt ion al pr ogra m stop When the optional program st op is ON, ex ecuting M01 stops an execution of program.
6 - 12 4 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.3 M02 Progra m end Code M02 Fun cti on Program end Program is end ed. Format 2; M0 [Explanati on] Execu ting t his c omm and en ds an executi on of progr am. This comm and is requir ed at th e end of a pro gram .
6 - 12 5 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.4 M30 Pro gram end Code M30 Fun cti on Program end Program is end ed. Format 0; M3 [Explanati on] Execu ting t his c omm and en ds an executi on of progr am. This comm and is requir ed at th e end of a pro gram .
6 - 12 6 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6. 15. 5 M 98, M 99 S ubprog ram call, subpr ogram end Code M98, M99 Function Subprogram call, subprogram end Subprogram call (M 98) and subprogr a m end (M 99) are ex ecuted. Format Subprogram call program No.
6 - 12 7 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] The pro gram desig ned t o ru n the s pecif ied s ubpro gram twic e repeat edl y, ret urn to the main pr ogram , and com plete operation. O0110 ; M98 P120 H20 L 2 ; M02 ; % Ma in pr ogr am Subprogram .
6 - 12 8 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.15.6 M100 Prere ad dis abl e Code M100 Fun cti on Preread disable Preread is not ex ecuted on the G- c ode (Moti on prog ram ). Format 10 ; M0 [Explanati on] Execu ting t his c omm and does not ex ecute prere ad on the G-c ode ( Mo ti on p ro gr am s ).
6 - 12 9 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6 Miscel laneous The s ettable argum ents in t he first c haracter ar e sho wn in Table 6 .5 bel ow. Table 6.5 Argumen t List [ ] Operator Logical operator Assignment (=) GOTO G M Rema rks # IF GOTO / Depends on the dat a after "/ ".
6 - 13 0 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6. 1 Prog ram con trol functi on (IF, GOTO state ment) Code IF, GOTO Fun cti on Program control functi on The flow of execution program is controll ed based on the co ndition. Format F Sequence No.
6 - 13 1 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] The p rogra m for which ju mps the spe cified se quence No . if the conditio n is sati sfied. O0020 1 ; N200 G91 ; N210 G01 X100. Y100. F 2000. ; X200. ; Y200. ; IF [#@100] GOTO230 ; N220 G01 Y300.
6 - 13 2 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6. 2 Prog ram con trol function (IF, THEN, E LSE, END stat ements) Code IF, T HEN, ELSE, END Fun cti on Program control functi on The flow of execution program is controll ed based on the co ndition.
6 - 13 3 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] O0001 ; N1 G91 ; N2 G01 X100. Y100. F2000 ; N3 X200. ; N4 Y200. ; N5 IF [#@100 EQ0] THEN1 ; N6 G01 Y300. F1500 ; N7 X300. ; N8 END1 ; N9 G02 X50 . Y50. I0. J50. F800 ; N10 G01 X100.
6 - 13 4 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.3 Program c ontro l funct ion (W HILE, DO , END sta temen ts) Code WHILE, DO, END Fun cti on Program control functi on The flow of execution program is controll ed based on the co ndition.
6 - 13 5 6 MOTION PROGRAMS FOR POSITIONING CONTROL (4) T he GOT O stat ement c annot caus e execu tion t o go i nto or c ome ou t of t he DO statem ent. [Progr am Example] The pr ogram for which jum ps to the sp ecifi ed li ne if t he co nditi on is s atis fied.
6 - 13 6 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6. 4 Fo ur funda mental operators, assignme nt operat or (+, -, *, /, MOD, = ) Code +, -, *, /, MOD , = Function Four fundamental operators, assignment operator Addition (+), subtraction (-), multiplication (*), div ision (/), remainder (MOD ) and assignment (=) are executed.
6 - 13 7 6 MOTION PROGRAMS FOR POSITIONING CONTROL (5) F or MOD, the 16- or 32-bit t ype is us ed for oper ation. If oper ation data 1, 2 ar e the 64-bit type, the y are con vert ed into t he 32- bit t ype.
6 - 13 8 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6.5 Trigonometr ic functions (SIN, COS, TAN, ASIN, ACOS, ATAN) Code SIN, COS, TAN, ASIN, ACOS, ATAN Fu nct ion Trigonome tric functions Operations of SIN (sine), COS (c osine), TAN (tangent), ASIN (arcsine), ACOS (arccosine) and AT AN (arctangent) are executed.
6 - 13 9 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6. 6 R eal nu mber to BIN value conv ersion ( INT) Code INT Function Floating-point type real number processing instruction Real number to BIN value A floating-point type real numb er is converted into a 32-bit inte ger (BIN value) including four decima l places.
6 - 14 0 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6. 7 B IN val ue to real number conv ersion ( FLT) Code FLT Function Floating-point type real number processing instruction BIN value to real number conversion A 32-bit integer (BIN value) including four decimal places i s converted into a floating-point type real nu mber.
6 - 14 1 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.8 32-bit real numb er and 64-bit r eal number data conv ersion (D FLT, SFLT) Code DFLT, SFL T Function 3 2-b it real number and 64-bit real number data conversion The DFLT instruction conv erts the data from 32-bit real numbe r to 64- bit real number.
6 - 14 2 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6.9 Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX , FUP) Code SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP Function Fun cti ons Operations of .
6 - 14 3 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6. 10 Logi cal operat ors (AND , OR, XOR, N OT, <<, > >) Code AND, OR, XOR, NOT, <<, >> Fu nct ion Logical oper ators Logical product (AND), logical add (OR), ex clusive logical add (XOR ), logical NOT (NOT ) and shift operations (<<, >>) are executed.
6 - 14 4 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] Operator Program example Operation #2010L = 00000000 00000000 00000000 01100100 15 = 00000000 00000000 00000000 00001111 AND #2010.
6 - 14 5 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6.1 1 M ove block wait functi ons ( W AI TON, W AI TOF F) Code WAITON, W AITOFF Function Mo ve bl ock wa it f unct ions The next travel block is ex ecuted at the completion of O N/OFF condition for the specified dev ice.
6 - 14 6 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] The pro gram whic h exec ute s the n ext b lock at the co mple tion of cond itio n. 1) 0 0001 W AITON #X10 ; 00002 N1 G0 1 X10 0. Y2 00. F 1000. ; 2) 0 0003 W AITOFF #X 11 ; 00004 N2 #2010 = 5 ; 00005 G 00 X 0.
6 - 14 7 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.12 Block wai t functions (EXE ON, EXEO FF) Code EXEON , EXE OFF Function Bl ock wait func tion The next block is ex ecuted at the completion of ON/OFF condition for the specified device.
6 - 14 8 6 MOTION PROGRAMS FOR POSITIONING CONTROL (2) Axis des ignat ion progr am (a) Ne xt blo ck is trav el blo ck. EXEO N/EX EOFF SET #M100 ; EXEON #M102 ; G01 X100. F1000. ; : : MO2 ; % Preread of next block is not executed. When the M102 is ON, the next block is executed.
6 - 14 9 6 MOTION PROGRAMS FOR POSITIONING CONTROL V t M100 ON OFF (Example1) t M100 ON OFF V (Example2) It is ignored. It does not become valid before preceding block end. It stops temporary regardless of G00, G01. REMARK Operat ion wh ich co mbined E XEON an d W AITON.
6 - 15 0 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6. 13 B it set a nd r es et f or w or d dev ices (BSET, BRST) Code BSET, BRST Function Bit operation of the w ard devices Sets or resets the specifies bit i n the word devic e. Format S Set bit number (0 to15) Bn D ET ; Word device which operates bit.
6 - 15 1 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6. 14 Para meter blo ck change (P B) Code PB Function Par amet er bloc k ch ang e The parameter block of the sp ecified No. i s used. Format B Parameter block change command pb ; P Parameter block No.
6 - 15 2 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] (1) W hen a param eter b lock chang e is ex ecuted duri ng poi nt-to- point posit ionin g N01 G00 X0. ; N02 G00 X100. ; N03 PB3 ; N04 G00 X300. ; Uses the parameter block at a program start.
6 - 15 3 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6. 15 Torq ue limit v alue change ( TL) Code TL Fu nct ion Torque limit val ue cha nge The torque limit val ue is chan ged to the specified v alue.
6 - 15 4 6 MOTION PROGRAMS FOR POSITIONING CONTROL (9) If spec ifie d in a m ove block , the tor que lim it val ue (T L) is made valid from that motion. W hen the t orque lim it val ue is indep endent (no b lock motion spec ified), it is m ade val id for the n ext m otion.
6 - 15 5 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.16 Home posit ion retur n (CHGA) Code CHGA Function Home position return A home posit ion return of the s pecified ax is is executed. Format H The " J + Axis n ame" to return the home position is set.
6 - 15 6 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.17 Speed chang e (CHG V) Code CHGV Function Speed change A speed chan ge of the specifi ed axis is executed. Format Speed change value (Indirect setting is possible) n; HV C GJ X The "J + Axis name" to change the speed value is se t.
6 - 15 7 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.18 Torque l imit v alue change (CH GT) Code CHGT Function Torque limit value change A torque limit v alue cha nge of the specifi ed axis i s executed.
6 - 15 8 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.19 Bit device set, reset f uncti ons (SET , RST ) Code SET, R ST Fun ct ion Bit device set, reset functions The specified dev ice is turned ON/O FF.
6 - 15 9 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.20 Bit devi ce operation on conditi on (IF , T HEN, SET /RST /OUT ) Code IF, TH EN, S ET/RS T/O UT Function Bit device operation on condition W hen the con dition co nsists , a spec ifie d dev ice is turn ed on.
6 - 16 0 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK (1) T he m ark of the I/O modu les is X an d Y in SV 43 regar dles s of i nstall ation/n on- in stallati on. PX an d PY is n ot used in the Mot ion pro gram . (2) W ritin g in the de vice X is pos sible onl y for th e ran ge of th e inpu t m odules non- in stallati on.
6 - 16 1 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.21 Progr am start (CAL L) Code CALL Function Program start The s pecif ied c ontrol progr am or axis designation program is started . Format A L C LJ X p; JYJ Z JU J V JW J A J B P J+starti ng axis name.
6 - 16 2 6 MOTION PROGRAMS FOR POSITIONING CONTROL Diff erence p oint of the progr am call an d pro gram start O0001 ; % CALL JXJY P10 ; M02 ; Progr am start 1) 2) O0010 ; % M02 ; 3) 2) O000 1 ; % GOS.
6 - 16 3 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.22 Progr am call 1 (GOSUB ) Code GOSUB Function Program call 1 The s pecif ied c ontrol progr am or axis designation program is called . Format J+starting ax is name. Eight or les s can be spec ified.
6 - 16 4 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.23 Progr am call 2 (GOS UBE) Code GOSUBE Function Program call 2 The s pecif ied c ontrol progr am or axis designation program is called . The c all sourc e pr ogram is ended a t the error oc cur rence.
6 - 16 5 6 MOTION PROGRAMS FOR POSITIONING CONTROL (9) T he end of r ol pr ogra m b y CLEAR ins tructi on in t he con trol pr ogram or th e CLEAR r eques t con trol prog ram No. s ettin g reg ister ( D707) are n orm al. Call source pr ogram is not end ed.
6 - 16 6 6 MOTION PROGRAMS FOR POSITIONING CONTROL REMARK Error list which the m ain pr ogram ends by an error occu rrence is sho wn be low. Error type Error code Starting errors 100, 101, 103, 104, 1.
6 - 16 7 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.24 Control program end (CLEAR) Code CLEA R Function Control program end The s pecif ied co ntrol progr am is end ed.
6 - 16 8 6 MOTION PROGRAMS FOR POSITIONING CONTROL (4) Th e CLEAR at the p rogram cal l as th e follow ing ope rati on. O100 ; (Contr ol prog ram) A % GOSUB JXJY P200 ; M02 ; O200 ; (Axis designation program) % G01 X100.
6 - 16 9 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.25 Time t o wait (TIME) Code TIME Function Time to w ait Tim e from the end of the bloc k to the next block beginn ing is speci fied at w aiting time.
6 - 17 0 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.26 Block trans fers (BMOV : 16 -bit unit) Code BMOV Function Block transfers (16-bi t un it) The data of n words from the s pecif ied device are batch-transf erred to the specified transfer destinatio n.
6 - 17 1 6 MOTION PROGRAMS FOR POSITIONING CONTROL (2) P rogr am which batch-tr ansfers a contents f or 5 words from absolute addr ess (0x0600000 0) of Mot ion CPU to a ll data f or 5 words f rom D2000.
6 - 17 2 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6. 27 Block tra nsfer ( BDMOV : 32-bit unit) Code BDMOV Function Block transfer (32 -bi t u nit) The data of n words from the s pecified word device are batch- transferred to the specified transfer destinati on.
6 - 17 3 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] (1) P rogr am which batch-tr ansfers a contents f or 4 words from D2000 to all data for 4 words f rom #@10.
6 - 17 4 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.28 Identical data block transfers (FMOV) Code FMOV Function Identical data block transfers The data of n words from the s pecif ied device are batch-transf erred to the specified transfer de stination.
6 - 17 5 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] (1) Program whic h batch-t ransf ers a contents for f rom D0 to all d ata for 5 words from #@10. 12 #@10 FMOV #@10 #D0 5 12 D0 #@11 #@12 #@13 #@14 12 12 12 12 Batch tran sfer (16-bit unit) The m otion d evic e is n ot ini tial ized (0 set) at the power on.
6 - 17 6 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.29 W rite d evice data to shared CPU memory (MUL TW ) Code MULTW Function W rite device d ata to shared CPU memo ry A part for (n) w ords of dat.
6 - 17 7 6 MOTION PROGRAMS FOR POSITIONING CONTROL An o perat ion err or wi ll occur if : (a) Number of words (n) to be wri tten is outs ide the ra nge of 1 to 256. (b) T he sh ared C PU m emor y addres s (D) of self CPU of th e wr iting desti nation devic e is outside the range (800H to FFFH) of the shar ed CPU m emory address.
6 - 17 8 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.30 Read dev ice data from shared CPU memory of th e other CPU (MULT R) Code MULTR Function Read device data from shared CPU memory of the other .
6 - 17 9 6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) W hen data are r ead norm ally from the t arget CPU s pecifi ed wit h (S1), the r eadin g com plete fla g M921 6 to M9 219 (C PU No .1:M92 16, CP U No.2 :M9217 , CPU No.3 :M92 18, CPU No.4:M 9219) corre spondi ng to the targe t CPU turns on .
6 - 18 0 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16.31 W rite words data to intelligent function module/special function module (T O) Code TO Function Write words data to intelligent function modu.
6 - 18 1 6 MOTION PROGRAMS FOR POSITIONING CONTROL (4) T he fol lowin g anal ogue m odules can be use d as t he co ntrol m odul e of Mo tion CPU. • Q62D A • Q64D A • Q68D AV • Q68D AI • Q64AD • Q68A DV • Q68AD I (5) An ope ration error will o ccur if : (a) Nu mber o f word s (n) to be writ ten i s outside the ra nge of 1 to 256.
6 - 18 2 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.16. 32 Read words da ta from intelligent functio n modu le/special f unction m odule (FR OM) Code FRO M Function Read words data from intelligent f.
6 - 18 3 6 MOTION PROGRAMS FOR POSITIONING CONTROL (3) T he dev ices th at ma y be se t at (D), (S1), (S2) and ( n) ar e sho wn belo w. Word devices (Note) (16-bit integer type) Bit devices (Note) Set.
6 - 18 4 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6.1 6.3 3 C onditio nal branch using bit d evice ( ON, OFF) Code ON, OFF Function Bit device cond itional branch By describing this comma nd in the condition al expression of IF or WHILE, branches processing accordi ng to the ON/OFF status of the specified bit device.
6 - 18 5 6 MOTION PROGRAMS FOR POSITIONING CONTROL [Progr am Example] (1) W hen M1 00 is ON, a branc h to l ine N03 is tak en. N01 IF [ON #M100] GOTO3 ; N02 G01 X100. F200. ; N03 G00 X0. ; Branches to line N0 3 if M100 is ON. Executes the next line (N02) if M1 00 is OFF.
6 - 18 6 6 MOTION PROGRAMS FOR POSITIONING CONTROL MEM O.
7 - 1 7 AUXILIA RY AND A PPLIED FUNCT IONS 7. AUXILI ARY AND APPLIED FUNCTI ONS 7.1 Backlash Compens ation Function This funct ion com pensat es f or the backlas h am ount in the m achin e s ystem.
7 - 2 7 AUXILIA RY AND A PPLIED FUNCT IONS (2) Backlash compen sation processing Details of bac klas h com pensation proc essing are sh own b elow. Table 7.
7 - 3 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.2 Torque Limit Functi on This funct ion res tricts the ge nerati ng tor que of the s ervo motor within the s etting r ang e. If the torqu e req uired for co ntrol excee ds th e tor que l imit va lue durin g pos itioni ng contr ol, it r estric ts with the settin g torq ue lim it va lue.
7 - 4 7 AUXILIA RY AND A PPLIED FUNCT IONS (3) Motio n pro gram O10; G90; N1 G00 X 100. Y100. ; TL100; N2 G00 X 200. Y200. ; N3 G00 X 300. Y300. ; M02; % 300 100 N3 N2 N1 200 250 50 Sequence No.
7 - 5 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3 Home Position Ret urn (1) Us e the hom e posit ion retur n at the po wer su ppl y ON and ot her t imes where confir matio n of axis is at the mac hine h ome pos itio n is req uired. (2) T he fo llow ing s ix meth ods for hom e posi tion ret urn ar e sho wn bel ow.
7 - 6 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.1 Home posit ion return data This data is use d to ex ecute the hom e pos ition r etur n. Set t his d ata us ing a perip hera l de vice. Table 7.2 Home p osition return data l ist Settin g ran ge mm i nch degre e Indire ct se ttin g No.
7 - 7 7 AUXILIA RY AND A PPLIED FUNCT IONS Remarks Explanat or y section • The home positi on ret urn dire ction is set. • The hom e posit ion return meth od is s et. • The prox imity dog type o r count type a re re commen ded for the serv o ampl ifier which does n ot support abso lute v alue.
7 - 8 7 AUXILIA RY AND A PPLIED FUNCT IONS (1) Trav el value after proximi ty dog ON (a) T he tra vel value after prox imit y dog ON is set t o ex ecute t he co unt t ype home pos it ion ret urn. (b) After the pr oxim ity do g ON, t he h ome pos itio n is t he f irst ze ro-p oint af ter trav el by the settin g trave l va lue.
7 - 9 7 AUXILIA RY AND A PPLIED FUNCT IONS (2) Home posi tion return retry function/dwel l time at the home posi tion return retry (a) V alid/i nvalid of hom e pos ition r eturn r etr y is set.
7 - 10 7 AUXILIA RY AND A PPLIED FUNCT IONS (3) Home posit ion shift amount/speed set at the home positi on shift (a) The shif t (tr ave l) am ount f rom position stop ped b y hom e pos itio n retur n is set.
7 - 11 7 AUXILIA RY AND A PPLIED FUNCT IONS (d) Valid/i nval id of t he s etting value for h ome pos itio n shif t am ount b y the home posi tion r eturn met hod is shown be low.
7 - 12 7 AUXILIA RY AND A PPLIED FUNCT IONS (5) Operati on setting for incompleti on of home positi on return (a) O perat ion in se lecting "0: Execute Mot ion pro gram " 1) W hen "0 : .
7 - 13 7 AUXILIA RY AND A PPLIED FUNCT IONS Opera tion ex am ple in s tartin g the Motio n progr am in the condit ion th at the f ixed para meter and hom e posit ion re turn re quest s ign al wer e set as the f ollo wing i s sho wn belo w.
7 - 14 7 AUXILIA RY AND A PPLIED FUNCT IONS (6) Indir ect setting of home position r eturn data A part of hom e pos itio n retu rn dat a can be exec uted the i ndirect setti ng b y the word d evices ( D, W , #) of Motio n CPU.
7 - 15 7 AUXILIA RY AND A PPLIED FUNCT IONS 3) G30 The s econd hom e positio n retur n ad dress s pecif ied with th e hom e posit ion re turn d ata is re ad ev er y time, a nd the posit ioning is execute d with hi gh-s peed f eed rat e.
7 - 16 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.2 Home posi tion return by the proximity dog type 1 [Control detail s] (1) Prox imity dog type 1 Zero po int pos ition af ter pro xim ity dog ON to OFF is ho me posit ion in t his method.
7 - 17 7 AUXILIA RY AND A PPLIED FUNCT IONS [Cautions] (1) Keep the p roximity dog ON dur ing decel erati on from th e home p ositi on ret urn speed to th e creep sp eed. If the proxim it y dog t urns O FF befor e dec elerat ion to the cr eep s peed, a decel erati on stop is m ade and th e next zero point is s et as the hom e position .
7 - 18 7 AUXILIA RY AND A PPLIED FUNCT IONS (3) W hen it does not p ass ( zero pass s ignal: M2406 +20n O N) th e zer o poin t from home pos it ion ret urn s tart to decel eration stop b y proxim ity .
7 - 19 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.3 Home posi tion return by the proximity dog type 2 [Control detail s] (1) Prox imity dog type 2 Zero po int pos ition af ter pro xim ity dog ON to OFF is ho me posit ion in t his method.
7 - 20 7 AUXILIA RY AND A PPLIED FUNCT IONS (3) Home posi tion return ex ecution Home posit ion r eturn by the proxim it y dog t ype 2 is exe cuted using the CH GA instr uct ion in Sec tio n 7.3.1 6. W hen the hom e pos ition r eturn r equest is O N, th e prox im ity dog t ype 2 h om e posit ion is also made even G28 of the Motion progr am.
7 - 21 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.4 Home posit ion return by the count type 1 [Control detail s] (1) Count ty pe 1 After t he pr oxim it y dog ON , the zero p oint after the s pecif ied distanc e (tr ave l value af ter prox im ity dog ON) is home posi tion in th is meth od.
7 - 22 7 AUXILIA RY AND A PPLIED FUNCT IONS [Cautions] (1) Hom e p osition return and c ontinu ousl y start of hom e posi tion ret urn ar e als o possi ble in t he pr oxim ity d og ON in the count t ype 1.
7 - 23 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.5 Home posit ion return by the count type 2 [Control detail s] (1) Count ty pe 2 After t he pr oxim it y dog ON , the p ositi on whic h tr avele d the s pecif ied distanc e (tra vel val ue after pr oxim ity do g ON) is hom e posi tion in this metho d.
7 - 24 7 AUXILIA RY AND A PPLIED FUNCT IONS [Cautions] (1) Home pos itio n retur n an d cont inuous ly star t of home p ositi on ret urn are also possi ble in t he pr oxim ity d og ON in the count t ype 2.
7 - 25 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.6 Home posit ion return by the count type 3 [Control detail s] (1) Count ty pe 3 After t he pr oxim it y dog ON , the zero p oint after the s pecif ied distanc e (tr ave l value af ter prox im ity dog ON) is home posi tion in th is meth od.
7 - 26 7 AUXILIA RY AND A PPLIED FUNCT IONS (3) Home posi tion return ex ecution Home pos it ion re turn b y the count type 3 is ex ecut ed us ing the CHGA instru ction in Secti on 7. 3.16. W hen the hom e pos ition r eturn r eques t is ON, th e cou nt type 3 h ome pos itio n return is als o m ade eve n G28 of the Motion progr am .
7 - 27 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.7 Home posit ion return by the data set type 1 [Control detail s] (1) Data set ty pe 1 The prox imit y dog is not us ed in this metho d for the abs olute po sition system .
7 - 28 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.8 Home posit ion return by the data set type 2 [Control detail s] (1) Data set ty pe 2 The prox imit y dog is not us ed in this metho d for the abs olute po sition system .
7 - 29 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.9 Home posit ion return by the dog cradle ty pe [Control detail s] (1) Dog cradl e type After dec elerat ion stop by th e proxim it y dog ON, if the z ero poin t is passe d after trave ling t o rever se d irectio n an d turn ing th e prox im ity dog O FF, t he d eceler ation stop is made .
7 - 30 7 AUXILIA RY AND A PPLIED FUNCT IONS [Cautions] (1) W hen home pos iti on re turn retr y fu nctio n is n ot set, if h ome pos itio n retur n is execu ted a gain af ter h ome pos it ion re turn .
7 - 31 7 AUXILIA RY AND A PPLIED FUNCT IONS (3) W hen the prox im ity dog is s et in t he hom e pos ition retur n dir ect ion, th e prox imit y dog is turne d OFF during trav el to r evers e direc tio.
7 - 32 7 AUXILIA RY AND A PPLIED FUNCT IONS (4) W hen it starts in t he pr oxim ity dog , the zero p oint i s not p asse d at the tim e of t he proxim it y dog is turn ed OF F dur ing tr avel to re verse d ire ction of hom e pos ition retur n, it c ontin ues to trave l with home p ositi on ret urn s peed u ntil t he zero p oint is passed .
7 - 33 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.10 Home positi on return by the stopper type 1 [Control detail s] (1) Stopper ty pe 1 Posit ion of stop per is hom e pos itio n in th is m ethod.
7 - 34 7 AUXILIA RY AND A PPLIED FUNCT IONS [Cautions] (1) A zero point do es not mus t be pass ed (zero pas s sign al: M2406 +20n ON) betwe en turn ing o n the p ower s uppl y and ex ecut ing ho me pos ition r etur n. (2) Home pos itio n retur n retr y funct ion c annot b e used in th e stop per t ype 1.
7 - 35 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.11 Home positi on return by the stopper type 2 [Control detail s] (1) Stopper ty pe 2 Posit ion of stop per is hom e pos itio n in th is m ethod.
7 - 36 7 AUXILIA RY AND A PPLIED FUNCT IONS [Cautions] (1) A zero point do es not mus t be pass ed (zero pas s sign al: M2406 +20n ON) betwe en turn ing o n the p ower s uppl y and ex ecut ing ho me pos ition r etur n. (2) Home pos itio n retur n retr y funct ion c annot b e used in th e stop per t ype 2.
7 - 37 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.12 Home positi on return by the l imit switch combined ty pe [Control detail s] (1) Limi t switch combined ty pe The prox im ity d og is not us ed in this m etho d. H ome pos ition r etur n can be execu ted b y usin g the ex ter nal up per/l ower l imit s witch.
7 - 38 7 AUXILIA RY AND A PPLIED FUNCT IONS [Cautions] (1) For the axis whic h execut es th e hom e pos ition r eturn b y the lim it s witch c ombi ned type, if the extern al inpu t signa l has not se.
7 - 39 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.13 Home positi on return retry function W hen a work has b een excee ded hom e pos itio n dur ing pos itio nin g contr ol, e tc., e ven if it exec utes the hom e positi on retur n, depe nding on the posit ion of work , a work m ay not t ravel to home po sition directi on.
7 - 40 7 AUXILIA RY AND A PPLIED FUNCT IONS (2) H ome pos itio n retur n ret ry op eration s etti ng a wor k o utside t he ran ge of extern al lim it switc h (a) W hen th e dir ectio n of " work hom e posit ion " and h om e posit ion r eturn is sam e, norm al hom e posit ion r etur n is o perat ed.
7 - 41 7 AUXILIA RY AND A PPLIED FUNCT IONS (3) Dwell tim e setti ng at t he h om e posit ion r eturn r etr y Revers e oper atio n by d etect ion of the ex terna l upper /low er lim it sw itch a nd dw.
7 - 42 7 AUXILIA RY AND A PPLIED FUNCT IONS (2) Make a s ystem for which does n ot exec ute t he serv o am plif ier po wer of f or ser vo OFF b y the ex tern al upp er/lo wer lim it s witch. H ome pos itio n retur n retr y ca nnot be execu ted on ly in th e state of s ervo O N.
7 - 43 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.14 Home position shi ft function Norm ally, when the m achine h ome pos itio n retur n is exec uted, a posi tion of hom e posit ion is set by usi ng t he pr oxim ity dog or ze ro po int s ignal .
7 - 44 7 AUXILIA RY AND A PPLIED FUNCT IONS [Control detail s] (1) H ome posit ion s hift op erat ion Oper ation fo r the ho me positio n shi ft functi on is show n below .
7 - 45 7 AUXILIA RY AND A PPLIED FUNCT IONS (2) Settin g rang e of hom e p osition s hif t am ount Set t he hom e pos itio n shif t am ount with in t he ran ge of f rom the det ected zero signa l to exter nal upper/l ower l imit s witch ( FLS/RL S).
7 - 46 7 AUXILIA RY AND A PPLIED FUNCT IONS (b) H ome pos it ion sh ift oper atio n wit h the "cree p sp eed" V Home posit ion return direction Creep speed Home posit ion retu rn s tart Home position Hom e p ositi on Proximity dog Zero point Home position shif t am ount is po sit ive Home position shif t am ount is ne ga tiv e Fig.
7 - 47 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3.15 Condition sel ection of home positi on set A hom e posit ion r eturn m ust be m ade after the s ervom otor h as bee n rot ated m ore th an one re vol.
7 - 48 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.3 .1 6 Ex ecution o f home position r eturn The hom e positio n return is exec uted usin g the CHG A instru ction. [Control detail s] (1) Home p ositi on ret urn is exec uted b y the hom e posit ion re turn m ethod s pec ifie d with the hom e pos ition r etur n data ( Refer to Sec tion 7.
7 - 49 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.4 Speed Chang e (CHGV instr uction) The s peed c hange is ex ecut ed at the pos itio ning c ontro l or JO G oper atio n. S(P ).CHGV instru ction of PL C program or CHGV i nstruction of Mot ion program is used for the speed change.
7 - 50 7 AUXILIA RY AND A PPLIED FUNCT IONS Command S peed after Execution of Spee d Chang e No. Travel mode at spee d change (N ote-1) Tr avel mode after speed chan ge (Note-1) Command spe ed at ex e.
7 - 51 7 AUXILIA RY AND A PPLIED FUNCT IONS [Data setting] (1) The set ting rang es to speed ch ange r egiste rs are shown below. mm inc h degree Unit s Item Set ting range Units S etting range Uni ts Setti ng range Units (Note) Speed change val ue 0 to 600000000 10 -2 mm/min 0 to 600000000 10 -3 inch/min 0 to 2147483.
7 - 52 7 AUXILIA RY AND A PPLIED FUNCT IONS (1) If a sp eed c hange is ex ecuted , the s etting spe ed is ignor ed i n the f ollowi ng cas es. (An erro r will not occur.
7 - 53 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.5 JOG Operation The s etting JO G o perat ion i s execu ted. Indiv idual st art or s im ultaneous start c an b e used in th e JO G operat ion. JOG op erati on can be ex ecute d using the P LC pro gram , contro l pro gram or test mode of per ipher al de vice.
7 - 54 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.5.2 Indivi dual start JOG op erati on for the s pecif ied axes is star ted. JOG op erati on is exec uted b y the fo llowi ng JOG oper atio n com mands : • For ward JOG start c omm and...... ..... M3 202+2 0n • Revers e JOG start c omm and.
7 - 55 7 AUXILIA RY AND A PPLIED FUNCT IONS (2) The se tting r ange for JOG speed sett ing regi sters are shown below . Setting ran ge JOG ope rat ion JOG speed sett ing reg ister mm inch de gree No.
7 - 56 7 AUXILIA RY AND A PPLIED FUNCT IONS [Cautions] (1) If the f orward J OG s tart c omm and (M32 02+20 n) and r evers e JOG s tart c omm and (M320 3+20n) turn on s imult aneo usly for a s ingle axis, the for ward JOG o perat ion is ex ecuted .
7 - 57 7 AUXILIA RY AND A PPLIED FUNCT IONS (3) JO G op eration b y the JO G opera tion comm and (M 3202 +20n/M 3203 +20n) is not execu ted dur ing t he tes t mode using a peri phera l devic es. After r eleas e of t est m ode, t he JOG oper atio n is ex ecut ed b y turnin g the J OG operat ion c omm and OFF to ON .
7 - 58 7 AUXILIA RY AND A PPLIED FUNCT IONS (3) Motio n pro gram (C ontro l program ) O0100 SET #M2042; All axes serv o ON command turns on. N10 IF[[ON #M 2415] AND [ON #M2435]] GOTO 20; W ait until ax is 1 and axis 2 serv o ON. GOTO 10; N20 #D640L = 100000; Tr ansfer the JOG operation speed to D 640L and D642L.
7 - 59 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.5.3 Simultaneous sta rt Sim ultane ous st art J OG o perat ion for spec ifie d m ultipl e axes . [Control detail s] (1) JO G op erati on co ntin ues a t t.
7 - 60 7 AUXILIA RY AND A PPLIED FUNCT IONS (3) The se tting r ange for JOG speed sett ing regi sters are shown below . Settin g ran ge JOG ope rat ion JOG speed se tti ng regis ter m m inc h de gree No.
7 - 61 7 AUXILIA RY AND A PPLIED FUNCT IONS [Progr am Example] Program f or sim ultaneous st art of JOG op erati ons are sho wn as the f ollowi ng condit ions.
7 - 62 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.6 Manual Puls e Generator Oper ation Po sition ing cont rol based on the nu mber of pu lses in putted from th e manual pulse genera tor is exec uted. Simul tane ous op erati on for 1 to 3 axes is p ossibl e with one m anual puls e gener ator , the num ber of conn ectabl e m odules ar e sh own be low.
7 - 63 7 AUXILIA RY AND A PPLIED FUNCT IONS (b) O utput s peed The ou tput s peed is the posit ioning spee d corr esp ondin g to the num ber of pulses input fr om a manua l pulse ge nerat or in uni t tim e.
7 - 64 7 AUXILIA RY AND A PPLIED FUNCT IONS (5) T he set ting manua l pul se gen erator 1-p ulse input magnif icat ion chec ks the "1- pulse input m agn ifica tion s etting regist ers of the m anu al puls e gen erator " of the applic able ax is at the tur ning m anual p ulse gen erator e nabl e flag turns off to on.
7 - 65 7 AUXILIA RY AND A PPLIED FUNCT IONS (7) Er rors det ails at the data setting for man ual pu lse gene rato r operat ion are sho wn below. Error details Error processing Axis set to manual pulse gen erator operation is specified. • Duplicated specified ax is is ignored.
7 - 66 7 AUXILIA RY AND A PPLIED FUNCT IONS (5) If the s ame m anual puls e gener ator enabl e flag t urns on ag ain f or axis dur ing smooth ing deceler ation after manua l pu lse gener ator enab le f lag turns off , an error [ 214] is se t and m anua l puls e gener ator inpu t is n ot en abled.
7 - 67 7 AUXILIA RY AND A PPLIED FUNCT IONS [Progr am Example] Progr am ex ecutes manu al puls e gen erator oper ation is shown as the f ol lowing condit ions.
7 - 68 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.7 Overri de Ratio Setting Function The s peed c hange c an b e execut ed b y sett ing the overr ide r atio to the c omm and speed of the Moti on progr am in this f uncti on.
7 - 69 7 AUXILIA RY AND A PPLIED FUNCT IONS (2) W hen the spee d is c hang ed b y the o verride r atio sett ing f unction , accele ration /dece lerat ion proces sing is execute d accor ding to the " acce leration tim e" and "dec elerat ion tim e" in the param eter bloc k.
7 - 70 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.8 FIN signal wait function By sel ecting t he FIN si gnal wai t funct ion and se tting a M-code at each exe cuting po int, a proc ess en d of each ex ecut ing p oint is sync hroni zed wit h the F IN si gnal, the FIN sign al tur ns ON to OFF an d then the ne xt po sitioni ng is exe cuted.
7 - 71 7 AUXILIA RY AND A PPLIED FUNCT IONS [Cautions] (1) W hen the stop c omm and (ex terna l, M32 00+20 n, M32 01+20n) , ca ncel s ignal or sk ip signal is in put, the M- code ou tputti ng signa l turns OF F. (2) W hen M-code is se t at t he end poin t, pos ition ing en ds after the F IN sig nal has tur n OFF to ON to OFF.
7 - 72 7 AUXILIA RY AND A PPLIED FUNCT IONS (6) T he com mand in-pos iti on sig nal for FIN sign al wait f unction is outp ut as belo w. (a) W hen the aut om atic de celerat ion is star ted b y pos itio ning t o the ex ecut ed point ( inc luding the las t po int) d uring F IN si gnal wait.
7 - 73 7 AUXILIA RY AND A PPLIED FUNCT IONS POINTS (1) The f ixed acceleration/d eceleration ti me method is ac celeration/decelera tion processi ng that the time which accelera tion/deceleration takes is fix ed, even if the command dif fers.
7 - 74 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.9 Single Bl ock Operation This funct ion is used to ex ecute the pro gram operat ion block -by-bloc k an d chec k th e operat ion of Mot ion pr ogram .
7 - 75 7 AUXILIA RY AND A PPLIED FUNCT IONS (b) S ingle block m ode (M4408) This signa l mak es a s ingl e bloc k va lid. (c) S ingle block start (M44 09) This single s tarts a pro gram in a s ingle block wait ing st atus.
7 - 76 7 AUXILIA RY AND A PPLIED FUNCT IONS (4) How to star t operation continuously during execution of single bl ock Turn th e sin gle bloc k m ode sig nal (M4 408) f rom ON to OF F.
7 - 77 7 AUXILIA RY AND A PPLIED FUNCT IONS (6) How to execute single block dur ing continuous operation Turn th e sin gle bl ock m ode sig nal (M4 408) ON duri ng pr ogram operat ion.
7 - 78 7 AUXILIA RY AND A PPLIED FUNCT IONS [Cautions] (1) S ingle block m ode signal (M44 08) an d singl e bloc k c omm and (M440 3+10n) If the single block b y single block mode s igna l (M440 8) an.
7 - 79 7 AUXILIA RY AND A PPLIED FUNCT IONS 7.10 Control Pr ogram Stop Function from The PLC C PU The No . of co ntrol progr am dur ing ex ecu tion is spec ifie d to e nd a pr ogram fr om the PLC C PU. (T his fu nct ion is equi valen t to a Motion progr am (CLEAR) for posit ionin g control .
7 - 80 7 AUXILIA RY AND A PPLIED FUNCT IONS MEM O.
8 - 1 8 USER FILES 8 8. USER FILES A user file list a nd d irector y st ructur e are s hown belo w 8.1 Projects User f iles ar e m anaged on a "proj ect" b asis.
8 - 2 8 USER FILES 8.2 User Fil e List A user file list is sho wn be low. Sfc (1) (2) (3) (7 ) ( 9) svgc ode.bin gsvp. cnf svsystemH.bin svlatch.bin svdata H.bin svls.b in motionp ara. bin svbac kup.bi n svbackup2.bin svdat ag.bin svbackup6.bin modevi ce.
APP - 1 A PPENDICES APP. APPENDICES APPENDIX 1 Error Co des Stored Usin g The Motio n CPU The M otion pr ogram setti ng er rors and posi tioni ng errors are detec ted in the Mo tion CPU side . (1) Motio n pro gram sett ing erro rs Thes e are pos itio ning d ata errors s et in the Motion prog ram, at it chec ks the param eter b lock No .
APP - 2 A PPENDICES Table 1.1 Error code storage regi sters, error detection signal s Error code storage regist er Devi ce Error clas s Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 A.
APP - 3 A PPENDICES APPENDIX 1.1 Mo tion pr ogram s etting err ors (Stor ed in D9190) The err or cod es, er ror con tents and cor recti ve acti ons f or Motion progr am setting errors are s hown in T able 1.
APP - 4 A PPENDICES APPENDIX 1.2 Minor error s Thes e errors are detect ed in t he PLC program or Motio n progr am , and the error codes of 1 to 999 are us ed.
APP - 5 A PPENDICES Table 1.3 Setting data err or (1 to 99) li st (Continued) Error code Erroneous data Chec k timing Error cause Error processing Corrective act ion 40 Para meter block Interpolat ion control start The interpolation control unit of the parameter block is diff erent from the control unit of the fixed parameters.
APP - 6 A PPENDICES (2) Positi oning control start err ors (100 to 199) Thes e errors are detect ed at the pos itio ning c ontr ol start . The err or cod es, c auses , pr ocessi ng, and correc tive ac tio ns ar e sho wn in T able 1.
APP - 7 A PPENDICES Table 1.4 Pos itioning control star t error (100 to 199) li st (Continued) Control m ode Error code Control progra m Axis designation prog ram (positioning) JOG Manual pulse gene r.
APP - 8 A PPENDICES Table 1.4 Pos itioning control star t error (100 to 199) li st (Continued) Control m ode Error code Control progra m Axis designation prog ram (positioning) JOG Manual pulse gene r.
APP - 9 A PPENDICES (3) Positi oning control error s (200 to 299) Thes e are errors detect ed duri ng the pos itioni ng contr ol. The err or cod es, c auses , proc essing and c orrect ive act ions are s hown i n Tab le 1.
APP - 10 A PPENDICES Table 1.5 Pos itioning control e rror (200 to 299) li st (Continued) Control m ode Error code Control progra m Axis designation prog ram (positioning) JOG Manual pulse gene rator .
APP - 11 A PPENDICES Table 1.5 Pos itioning control e rror (200 to 299) li st (Continued) Control m ode Error code Control progra m Axis designation prog ram (positioning) JOG Manual pulse gene rator .
APP - 12 A PPENDICES (4) Speed chang e/torque li mit value change error s (300 to 399) Thes e are er rors detect ed a t spee d chan ge or torqu e lim it valu e cha nge. The err or cod es, c auses , proc essing and c orrect ive act ions are s hown i n Tab le 1.
APP - 13 A PPENDICES (5) Moti on program runni ng errors ( 500 to 699) Thes e errors are detect ed dur ing M otion pr ogram exec ution. Check the ex ecute Motio n program No., execu te seq uence No. and exec ute block No., a nd corr ect the Mot ion progr am .
APP - 14 A PPENDICES Table 1.7 Moti on program r unning err or (500 to 699) lis t (Continued) Control m ode Error code Control progra m Axis designation prog ram (positioning) JOG Manual pulse gene rator Home position return OSC Error caus e Error processing Correc tive acti on 534 [ , ] exceeded 5 level s.
APP - 15 A PPENDICES Table 1.7 Moti on program r unning err or (500 to 699) lis t (Continued) Control m ode Error code Control progra m Axis designation prog ram (positioning) JOG Manual pulse gene rator Home position return OSC Error caus e Error processing Correc tive acti on 584 Cancel start (G24) program No.
APP - 16 A PPENDICES Table 1.7 Moti on program r unning err or (500 to 699) lis t (Continued) Control m ode Error code Control progra m Axis designation prog ram (positioning) JOG Manual pulse gene rator Home position return OSC Error caus e Error processing Correc tive acti on 616 The sequence No.
APP - 17 A PPENDICES Table 1.7 Moti on program r unning err or (500 to 699) lis t (Continued) Control m ode Error code Control progra m Axis designation prog ram (positioning) JOG Manual pulse gene ra.
APP - 18 A PPENDICES Table 1.7 Moti on program r unning err or (500 to 699) lis t (Continued) Control m ode Error code Control progra m Axis designation prog ram (positioning) JOG Manual pulse gene ra.
APP - 19 A PPENDICES (6) System er rors (900 to 999) Table 1.8 Sy stem error (900 to 999) list Control m ode Error code Control progra m Axis designation prog ram ( positioning) JOG Manual pulse gene .
APP - 20 A PPENDICES APPENDIX 1.3 Major errors These er rors occur by con trol c omm and from the ex ternal input s igna l or Mo tion program , an d the er ror co des 10 00 to 1999 are use d. Major errors inclu de the positioning control start erro rs, position ing control errors absolute position system errors and system errors .
APP - 21 A PPENDICES (2) Positi oning control error s (1100 to 1199) Thes e errors are detect ed at the pos itio ning c ontr ol. The err or cod es, c auses , proc essing and c orrect ive act ions are s hown i n Tab le 1.
APP - 22 A PPENDICES (3) Absolute position syst em errors (1200 to 1299) Thes e errors ar e detect ed at the abs olute pos itio ning s ystem . The err or cod es, c auses , proc essing and c orrect ive act ions are s hown i n Tab le 1.
APP - 23 A PPENDICES (4) System er rors (1300 to 1399) These er rors are detect ed at th e power -on. The err or cod es, c auses , proc essing and c orrect ive act ions are s hown i n Tab le 1.
APP - 24 A PPENDICES APPENDIX 1.4 Servo e rrors (1) Serv o amplifier er rors (2000 to 2899) Thes e error s are detect ed b y the ser vo am plif ier, a nd t he err or codes are [2000] to [289 9]. The s ervo er ror d etecti on si gnal (M 2408 +20n) turns on at the s ervo am pl ifier error occurr ence.
APP - 25 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st Error caus e Error code Nam e Descripti on Error check Error processing Correc tive acti on • Power supply voltage is low. MR-J 3- B: 160VAC o r less MR-J 3- B1: 83ACV or less • There was an inst antaneous control power failu re of 60[m s] or longer.
APP - 26 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive acti on • Encoder c onnector (CN2) di sconn ected. • Connect c orrectl y. • Encoder f ault • Re pl ac e the s ervomotor.
APP - 27 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive acti on • W rong s etting of s ystem s etting (regenerat ive brake) • Check t he regenerative br ake of system setting and set correctly.
APP - 28 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive acti on • Short oc curred in servom otor po wer (U, V, W). • Correct the wiring. • Transist or (IPM) of t he servo ampl ifier faulty .
APP - 29 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive acti on • Servo am plifier fa il ure • Replace t he servo ampl ifier. • The power suppl y was turned on and of f continuous ly by overlo aded status .
APP - 30 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Nam e Descripti on Error check E rror processing Correc tive acti on • Machine st ruck s omething. • Review operat ion pattern. • Install li mit switches.
APP - 31 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Name Descr ipt ion Error check Error processing Correc tive acti on • Bttery c able for absol ute posit ion detecti on system is open. • Repair the c able or replace t he batter y.
APP - 32 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Name Descr ipt ion Error check Error processing Correc tive acti on 2153 (AL.
APP - 33 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Name Desc ription Error check E rror processing Correcti ve action Param eter error • The servo paramet er value is outside the setting range. (Any unauthori zed parameter is ignored and the value before sett ing is held.
APP - 34 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Name Desc ription Error check Error processing Correcti ve action Error code Param eter No.
APP - 35 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Name Desc ription Error check Error processing Correcti ve action Error code Param eter No.
APP - 36 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Name Desc ription Error check Error processing Correcti ve action Error code Param eter No.
APP - 37 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Name Desc ription Error check E rror processing Correcti ve action Initi al paramet er error • The parameter setti ng is wrong. • The parameter dat a w as corrupted.
APP - 38 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Name Desc ription Error check Error processing Correcti ve action Error code Param eter No.
APP - 39 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Name Desc ription Error check Error processing Correcti ve action Error code Param eter No.
APP - 40 A PPENDICES Table 1.13 Serv o error (2000 to 2899) li st (Con tin ued) Error caus e Error code Na me Descri ptio n Error check Error processing Correcti ve action Error code Param eter No.
APP - 41 A PPENDICES APPENDIX 1.5 PC link communi cation errors Table 1.14 PC li nk communication error codes list Error codes stor ed in D9196 Error description Corrective action 01 • A receiving pa cket for PC lin k communic ation does not arrive.
APP - 42 A PPENDICES APPENDIX 2 Motion dedic ated sign al APPENDIX 2.1 I nt er nal r elay (M) (1) Axis stat us list Axis No. Device No. Si gnal name 1 M 2400 to M241 9 2 M 2420 to M243 9 3 M 2440 to M.
APP - 43 A PPENDICES (2) Axis command signal list Axis No. Devic e No. Signal name 1 M3200 to M3219 2 M3220 to M3239 3 M3240 to M3259 Signal nam e Refresh cyc le Fetch c ycle Signal directi on 4 M32 6.
APP - 44 A PPENDICES (3) Axis status 2 l ist Axis No. Device No. Si gnal name 1 M 4000 to M400 9 2 M 4010 to M401 9 3 M 4020 to M402 9 Signal name Refresh c ycle Fetch cy cle Signal direction 4 M 4030.
APP - 45 A PPENDICES (4) Axis command signal 2 list Axis No. Devic e No. Signal name 1 M4400 to M4409 2 M4410 to M4419 3 M4420 to M4429 Signal nam e Refresh cyc le Fetch c ycle Signal directi on 4 M44.
APP - 46 A PPENDICES (5) Common dev ice list De vice No. Signal nam e Ref res h cycle Fetch cycle Signal direct ion Remark (Note-4) De vice No. Signal nam e Refres h cycl e F etch cycle Signal direct .
APP - 47 A PPENDICES Common dev ice list ( Continued) De vice No. Signal nam e Ref res h cycle Fetch cycle Si gnal direct ion Remark (Note-4) De vice No.
APP - 48 A PPENDICES Common dev ice list ( Continued) De vice No. Signal nam e Ref res h cycle Fetch cycle Signal direct ion Remark (Note-4) De vice No.
APP - 49 A PPENDICES Expl anatio n of the reque st registe r No. Function Bit devic e Request regis ter 1 PLC ready f lag M2000 D704 2 Al l axes servo ON comm and M2042 D706 3 JOG operat ion sim ultan.
APP - 50 A PPENDICES (6) Special relay allocated dev ice list (Status) Device No. Si gnal name Refresh cyc le Fetch cyc le Si gnal direction Remark (Note) M2320 Fuse bl own detecti on M9000 M2321 AC/ .
APP - 51 A PPENDICES (7) Common dev ice list ( Command signal ) Device No. S ignal name Refresh c ycle Fetch c ycle S ignal direct ion Remark (Note-1) , (No te-2) M3072 PLC ready flag Ma in cy cle Com.
APP - 52 A PPENDICES APPENDIX 2.2 D at a r eg ister s (D) (1) Axis monitor device lis t Axis No. Devic e No. Signal name 1 D0 to D19 2 D20 to D39 3 D40 to D59 Signal name Refresh cycle Fetch cycle Uni.
APP - 53 A PPENDICES (2) Contr ol change register lis t Axis No. Devi ce No. Signal name 1 D640, D641 2 D642, D643 3 D644, D645 Signal name Refresh c ycle Fetc h cycle Unit Signal directi on 4 D646, D.
APP - 54 A PPENDICES (3) Axis monitor device 2 lis t Axis No. Devic e No. Signal name 1 D800 to D819 2 D820 to D839 3 D840 to D859 Signal name Refresh cycl e Fetc h cycle Unit Signal directi on 4 D860 to D879 0 5 D880 to D899 1 Cur re nt v al ue Operat ion cycle Comm and unit 6 D900 to D919 7 D920 to D939 2 Execute s equence No.
APP - 55 A PPENDICES (4) Contr ol program moni tor devi ce list Device No. Signal name D1440 to D1445 D1446 to D1451 D1452 to D1457 S ignal name Refresh cycle Fetch cycle Unit Signal directi on D1458 to D1463 0 P rogram No. D1464 to D1469 1 Sequence No.
APP - 56 A PPENDICES (5) Contr ol change register 2 li st Axis No. Devi ce No. Signal name 1 D1536 to D1538 2 D1539 to D1541 3 D1542 to D1544 Si gnal name Ref resh cycl e Fetch cycle Unit Signal direc.
APP - 57 A PPENDICES (6) Tool leng th offset data setting r egister list (Hig her rank, lower rank) Dev ice N o. Signal name D1651, D1650 Tool length of fset dat a 1 D1653, D1652 Tool length of fset d.
APP - 58 A PPENDICES (7) Common dev ice list Device No. Signal name Refresh cycle Fetch cycle Signal direction Device No. Signal name Refresh cycle Fetch cycle Signal direction D704 PLC ready flag req.
APP - 59 A PPENDICES APPENDIX 2.3 M ot ion R eg is ter s ( #) Motion register s (#) Axis No. Devic e No. Si gnal name 1 #8064 to #8067 2 #8068 to #8071 3 #8072 to #8075 Signal nam e (Note-1) Signal de.
APP - 60 A PPENDICES APPENDIX 2.4 Special Relays Speci al rela ys ar e int ernal r ela ys whose app licati ons ar e fixe d in the Mo tion C PU. F or this re ason, the y cannot be used in th e same wa y as the norm al intern al rela ys by the Motion pr ogram s.
APP - 61 A PPENDICES Specia l relay list No. Name Meaning Details Set by (W hen set ) Remark M9000 Fu se bl own detecti on OFF : Norm al ON : Fuse blo wn module detect ed • Tur n on when th ere is o ne or mor e outpu t module s cont rol of se lf CPU wh ich fuse has bee n blown .
APP - 62 A PPENDICES Special rel ay list (continued) No. Name Meaning Details Set by (W hen set ) Remark M9077 Manual pul se ge nerator axis setting e rror flag ON : At le ast on e D714 to D719 se tting is abnorm al. OFF : All D 714 to D719 settin gs a re no rmal.
APP - 63 A PPENDICES APPENDIX 2.5 Special Registers Speci al regis ters are i nterna l reg isters whose ap plic atio ns are f ixed in the Motio n CPU. For t his reas on, it is not p oss ible to use t hese r egis ters i n Mot ion SFC progr am s in t he sam e way that norm al re gist ers ar e used .
APP - 64 A PPENDICES Special regi ster list No. Name Meanin g Details Set by (W hen set ) Remark D900 0 Fus e bl o wn No . Module No. wit h blow n fuse • W hen fuse blow n mod ules a re det ected, the lo west I/O mo dule No. i s store d in D9 000. D900 5 AC/D C DO W N counte r No.
APP - 65 A PPENDICES Special regi ster list (continued) No. Name Meaning Details Set by (W hen set ) Remark D902 6 Clock data Clock data (Day , hour) • Sto res t he da y and hour i n BC D. B15 B12 to B11 B8 to B7 B4 to B3 B0 to Day Hour Example : 31st, 10 a.
APP - 66 A PPENDICES Special regi ster list (continued) No. Name Meanin g Details Set by (W hen set ) Remark D918 8 Motion operat ion cyc le Moti on opera tion cyc le • The time when t he mo tion oper ation c ycle is stored in t he [ µ s] uni t. S (Operati on cycle ) D918 9 Error pro gram No.
APP - 67 A PPENDICES APPENDIX 3 Pr ocessing Times of the Motion CPU The proc ess ing tim e of each s igna l and e ach i nstruct ion f or pos ition ing c ontro l in th e Mult iple CP U s ys t em is s ho w n b el o w. (1) CPU pr ocessing time [ms] Q173HCPU Q172HCPU Operation cycle 0.
WA RRA NTY Please confir m the fo llowing pr oduct w arranty details before usin g this product. 1. Gratis W arranty Term and Gratis W arra nty Range If any faults or defects ( hereinafter " Fail.
IB(NA)-0300115-A(0602)MEE P Q MOTION CONTROLLER Qseries (SV43) Programming Manual (Q173HCPU/Q172HCPU) MOTION CONTROLLERS Programming Manual MODEL MODEL CODE Q173H-P-SV43-E 1XB915 IB(NA)-0300115-A(0602.
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