Mitsubishi Melsec-A, AD71 User Manual

PROGRAMMABLE

CONTROLLER

User

Positioning

'8

Manual

module

CATALOG

$

15.00

#

UMPM

type

MlTSUBlSHl

A

ELECTRIC

AD71

REVISIONS

%The manual number

is

given on the bottom

left of

the back

cover.

Deletion

Section

“Instructions for Strategic Materials”

I

8.1.4

]

added

INTRODUCTION

Thank you for choosing the Mitsubishi MELSEC-A Series of General Purpose Programmable Controllers. Please read this manual carefully

A

copy of this manual should be forwarded to the end User.

so

that the equipment is used to its optimum.

2 .

SYSTEM CONFIGURATION

INTRODUCTION

1.

INTRODUCTION

/MELSEC=A

The AD71 series of programmable controllers. The operation of the position controller system by using the extensive MELSEC-A series software features. This manual covers both hardware and software and contains all the

information required to install and operate the unit to

The manual

Chapter 2 System Configuration

Chapter 3 Specifications

Chapter 4 Handling

is

a

position controller module for use with

may

be

adapted to suit the individual requirements of the

is

arranged

Explains the AD71 operating principles together with glossary of terms and describes the MELSEC-A series system configurations suitable for use with the AD71.

Gives the AD71 specifications, functions, a description of the data required for operation, external equipment, etc.

AD7 1 nomenclature,

as

follows:

1/0

etc.

the

MELSEC-A

its

optimum.

specifications with

a

Chapter 5 Loading and Installation

Gives AD71 installation and wiring instructions, etc.

Chapter 6 Programming

Explains the

AD71.

Chapter 7 Check Lists

Gives

pre-start-up

Chapter 8 Troubleshooting

Hardware and software fault finding

Chapter 9 Maintenance

Appendices

Gives AD71 dimensions, connection examples with various servo motors, etc.

PC

programming required to control the

test

procedures.

1-1

IS

INA)

M101-A

Refer also to the following manuals:

SWO-AD71P Operating Manual AGGPP User's Manual Al, A2, A3CPU Relevant drive unit instruction manual

In

this

manual,

assume

Packing list:

that the

User's

AD71

Manual

I/O

numben

is

loaded

assigned

in

slot

0

from

of

the main

the PC CPU

base.

I

40-pin connector

Description

AD71

positioning unit

for

external wiring

I

Quantity

1

-3

2.

SYSTEM

2.

SYSTEM

2.1

Introduction

CONFIGURATKlN

CONFIGURATION

to

the

PC

'C

ACPUl AI

thing unit

'1

AD71

~lse train,

/MELSEC--

The AD71 gives a pulse chain output. The number of pulses deter-

mines the system position and the pulse frequency determines the positioning traverse in a number of units (namely mm, inch, degrees or pulses) by specifying a feedrate per pulse where the feedrate the pulse frequency. A system schematic

Deviation

'

-

-1unter

r

-

speed.

DIA converter

Positioning can consequently be specified

is

shown below:

Drive unit Servo motor

Speed command

is

proportional to

1

i

e

AGGPP

Intelligent GPP

i

'I

t

Feedback

>

2

n

ln

it

The deviation counter in the drive unit integrates the incoming pulse

chain from the AD71 and converts the resultant value into an analog voltage for use turning and the pulse generator to generate feedback pulses to the

deviation counter. The feedback pulse chain

input pulse chain from the AD71 and an error value generated until

the error value

sped.

counter value decreases and the speed decreases accordingly until

finally the deviation counter value

When the AD71 pulse output

the counter pulse

Time

T

as a speed signal. This causes the motor to

is

sufficient to maintain the motor

pulse train

otor

is

switched off, the deviation

is

zero and the motor stops.

I

!

I

rpwd

start

compared with the

at

the desired

Before positioning can begin, the system must be zeroed. This involves driving the motor in a known direction to a known point

and loading a home position or zero address to the AD7l's position-

ing counter. referred to this zero address, either point specified

(i.e.

a

given distance from the previous address).

All

subsequent positioning uses memory addresses

as

an absolute address

as

an individual address) or

2-1

as

an incremental address

(Le.

each

I8

(NAI

661014

2

SYSTEM

CONFIGURATION

/MELSEC-A

The system can be zeroed in one of three dog." The "zeroing dog" of

two

conditions which define the home position. condition depends on the zeroing method used, this will be one of the following:

0

A

zero phase signal from the rotary encoder.

0

A

mechanical stop followed by a timer timingout.

0

A

mechanical stop followed by a torque feedback signal from the

drive unit.

The operating data for the consists feedrates, tioning data (containing the individual addresses,

start

Positioning data

defined by

There are output, these are jog operation and inching. During jog operation, the output pulse chain the output every time a manual pulse generator input signal

(The manual pulse generator The inching function therefore requires the provision of an external manual pulse generator hard wired to the

to operate effectively.

of

parameters (defining system constants such

etc.),

zeroing data (defining the zeroing process), posi-

data (defining which position to

is

referred to by a positioning data number, which

its

location in the buffer memory.

two

methods for manual control of the

PC

is

on however during inching a defined number of pulses

is

a

switch

AD71

is

maintained for

is

also referred to

stored in the buffer memory and

weys.

All

use a "zeroing

or

actuator which provides one

The

as

maximum

speeds,

start

at,

etc.).

AD71

pulse chain

as

long

as

the

jog signal from

as

"manual pulser").

AD71

connector in order

second

etc.) and

is

given.

is

General design of positioning system

Pulse

generator

(PGI

Servo motor

A

:

Position detection increment (mm/p)

Vs : Command pulse frequency (p/s)

:

Number

n

L

:

Feed

R

:

Reduction ratio

V

:

Moving part speed (mm/s)

N

:

Motor speed (rpm)

K

:

Position

E

:

Deviation counter pulse value

PO

:

Zero point (pulse)

:

Address (pulse)

P

(1

)

Position detection increment

(2)

Command pulse frequency

of

pulse generator slits (slitshev)

screw lead (mm/rev)

loop

gain

(sec-'

W

1

P

(3)

Deviation counter pulse value

VS

E

=

-

(pulse)

K

Expression

output pulses

(1)

indicates the travel per pulse,

x

A.

Using expression

i.e.

(2).

calculate the command

the number of

pulse frequency from the work speed and position detection incre-

ment. Expression

(3)

indicates

the

relation between the command

pulse frequency and deviation counter pulse value.

Any of the four positioning units, (mm), (inch), (degree), and

(PULSE), may be selected individually for the X and

Y

axes.

2,

SYSTEM

2.2

MELSEC-A Series Equipment

CONFIGURATION

Fig. ment

2.1

shows a schematic diagram

for

use

with the AD71.

/MELSEC-A

of

the MELSEC-A series equip-

I-

1

Battery

(AGBAT)

I

Positioning

(AD71)

J

module

I

iL

Note

I:

Fig.

For

2.2.

use

2.1

of the

positioning unit in

Overall

Configuration

2-4

the data

link

system,

refer

to

Section

18

INAI

66101C

2.

SYSTEM

Building

CONFIGURATION

block

type CPU

U

/MELSEC-A

I

Main base unit (A3::B)

I

Extension cable (AC:;::B)

V

-lml&

Extension

(A6;:B)

--I

r-

r--=====-----

d

I

___---

I

Drive unit

n

I

'

I

bare

unit

L

Tesching unit (AD71Tl.J)

1

L

I

Intelligent

4qArnI

(A6GPP) (SWOGP.AD71 P)

-

Servo motor Pulse motor

Pulse motor Stepping motor

Etc.

u

GPP 3.5inch floppy disk

-7

"

il

-

Printer

L"

I8

INAl

€6101

C

.2

SYSTEM

CONFlGURATlON

The

AD71

can

/MELSEC-A

be

used with the following independent

CPUs:

Applicable model

Do

not use the

a

power supply (i.e.

The following

CPU

A1 (E)CPU P21/R21 A2(E)CPU P21/R21 A3(E)CPU P21/R21

A1 (EICPU A2(E)CPU

A3(E)CPU

AD71

on any extension base which does not include

A5C:B).

types are required for a data link system.

c."

IB

INA)

66101.A

2.

SYSTEM

2.3

AD71

CONFIGURATION

Programming Equipment

..

hit

Division

'rogramming

unit

Description

Intelligent

GPP

Plasma handy

programmer

The following table indicates the equipment available

ming the

SWOGP-AD71

AGGPP-SET

AGPHP-SET

AD71.

Remarks

AD7 1 /AD72 software package

P

0

Consists of the following:

OProgramming unit with CRT

1

AGGPP

SWLI-GPPA

SWL2-GPPK

I

WO-GPPU I User disk (3.5 inch, formatted)

I

AC30R4 I Cable for connecting AD71 and AGGPP.

0

Consists of the following:

TYW

AGPHP OEquipped with FDD, printer interface and

SWXP-GPPA A series system disk

OEquipped with

1

interface functions.

A series system disk

K series system disk

OProgramming unit with plasma display

memory

ROM

cassette

writer, FDD and printer

Remarks

functions.

for

program-

I

User disk

RS-422 cable

Composite

video cable

Cleaning disk

Cable RS-422 cable

Printer

RS232C

Printer

cable

Printer paper

KGPR ink

ribbon

Teaching unit

SWO-GPPU

AC30R4

AClOMD

SWO-FDC

AC300R4

KGPR K7PR

AC30R2

KGPR-Y

KGPR-R

ISW:lGP-GPPKI K series system disk

I

Sk-GPPU 1 User disk (3.5 inch, formatted)

1

AC30R4

1

Floppy disk for storing user programs (3.5 inch, formatted)

~~~~ ~~

Cable for connecting CPU and AGGPP. 3m (9.84 ft) length.

Cable for connecting GPP screen monitor display. lm (3.28 ft)

length.

Floppy disk for cleaning floppy disk drive.

Cable for connecting CPU and AGGPP. 30m (98.4

For print out of program ladder diagrams and lists.

Cable for connecting AGGPP and printer (KGPR, K7PR, generalpurpose printer with RS-232C interface). 3m (9.84 ft) length.

Paper for KGPR printer.

Replacement ink ribbon for KGPR.

AD7 1 /AD72 teach box.

~ ~~

Cable for connecting AD71 and AGPHP.

I

3m (9.84

I

~~~~~~~

ft)

length.

9

inch. Available in units of 2000 pcs.

ft)

length.

I

1

I

Table

2.1 AD71 Programming Equipment

L.

'B

INAi

66101

C

3.

SPECIFICATIONS

3.

SPECIFICATIONS

3.1

General

Specifications

/MELSEC-A

I

1-m

Operating amblent

I

temperature

Storage ambient

Operating ambient

hurnidlty

Storage ambient

humidity

resistance

Noise durability

I

wit~~~~~~tqeI

Insulation resistance

Operating

ambience

Cooling method

I

Conforms

JIscosll

SOOV

Frequency

to

10

to 55Hz

55 to

Conforms to JIS C 0912 (109

By noise simulator

IN

noise width and 25 to

AC for 1 rnlnute across DC external terrnlnals and ground

5MR or larger by

Free of corrosive gases. Dust should be rnlnimal.

0

to

55O

c

-20

to 758c

90%RH,

10 to

90%RH,

10 to

Acceleration

150Hz

~ ~~~ ~ ~~~

500V

AC external terrnlnels and ground

noncondensing

non-condensing

~ ~~

Amplitude

0

-

lg

of 15OOVpp noise voltage,

DC lnsulatlon resostance tester across

Self-cooling

075mrn

10

0031nchl 10

-

x

3

times

in

MHz

noise frequency

3

-

Sweep Count

tarn&

'(1 octaveIminuteJ

directions) Shock resinance

I I

I

Table

3.1

General

One Octave marked or half frequency. For example, any 20Hz to 40Hz, from 40Hz to 20H2, and 20Hz to lOHz are referred to as octave.

indicates a change from the initial frequency

Specifications

to

of

the changes from lOHz to 20H2, from

double

one

3-1

I8

iNAl

66101E

3.

SfEClflCAllONS

3.2

Performance Specifications and Functions

3.2.1

AD71

performance specifications

/MELSEC-A

ltrm

1/0

Number of

Number of control axes

Interpolation

RAM memory backup

-

Posi-

,ionin

deceleration times

Backlash compensation

Error compensation

Jog

operation function

Inching function Operation using manual pulse generator.

M

Internal current consumption

External supply voltage, current

Size

Weight kg (Ib)

points

Method

Positioning units

Positioning speed

Acceleration

and deceleration

Acceleration and

Zeroing

function

mm (inch)

15 minutes without battery 125OC) Lithum battew guarantees power failure backup for total of 300 days. Battery guaranteed for five years.

Max. 162 Im)

Max. 16200 (inch)

Max. 16200 (degree)

10

10 to 12oooO Immlmin) (command unit: 10mm/min)

1 to 12000 (inch/minl (command unit: 1 inch/minl 1 to 12000 (degree/min)

Automatic trapezoidal acceleration and deceleration

The AD71 may

cal

With zero eddrerc change function.

Zeroing direction and speed depand on setting.

Podormanerr

2 (simultaneous or independent)

Linear interpolation (for 2

Input from A6GPP or seguence program

Absolute and/or incremental method.

1 to 16,252,928 (PULSE)

(command unit: 0.1 to 10um/PLS)

(command unit:

(command unit: 1

to

200000

(PLS/sec) (command unit: 10 PLS/sec)

0

to 65535 x position command unit

(0

to

255

errors.

Jog operation by jog start signal input.

4.75 to 26.4V, max. 50mA

and

Specifications

32

~~ ~

400 points per

1

x

lo-'

x

lo-'

(command unit: 1 degreelmin)

64 to 4999 (msec)

pulses if unit

be

"calibrated" to allow for mechani-

M

code

output

DC,

1.5A

5V

0.63 (1.93)

axes)

axis

to 0.001 inch/PLS)

to 0.001 degreelPLS)

is

PULSE)

a

Table

3-2

3.2

Performance Specifications

IS

(NAI

66101C

3.

SPECIFKAT1ONS

3.2.2

Functions

~/MELSEC-A

The AD71 can drive two axes independently or with linear interpolation, either:

(1)

Using the AGGPP

(2)

From the PC sequence program

For

use

of the AGGPP, refer to the SWOGP-AD71P Operating Manual. For use of ual. Positioning control functions are

Function

Error detection

st

date

and

(positioning data mite)

Inching operation

and

Present value

speed

read

Teaching

Jog

operation

Zeroing

positioning

or

teaching unit, or

the

AD71TU, refer to the AD71TU Operating Man-

write

point

shown

~~

Squmce

Trm-axir

An error code positioning control error occurs. (For details of the error codes, refer to Chapter

I

AD71 set data (parameters, zeroing data, positioning data) can

Present value data and

AD71. (Present value can

tioning.)

After manual positioning, present value can be written as

position data. The

is

defined number each time a manual pulse

is

pulse manual pulse generator.

The drive for the given axis

is

operated for

the

1

Returns the drive to a defined start position and refers the zero address to

I

that position.

Moves

position to the set position

set

at

indopmndmt

omntion

is

provided by the AD71 if a data setting or

be

read and written.

drive for the given axis

advanced by a pre-

received. The manual

is

provided by

from

is

on.

the

a~

jog

input

speed.

below.

Progrm

or

ABOPP

Two-axir intorpolation

omration

~~

~~~ ~~

speed

data can

be

reed and monitored during posi.

of

pulses

a

long

as

be

Unavailable

I

current

Unavailable

Moves from the current position to the set position

at interDolated

read from

8.)

the

speed.

Posi-

tioning

Continuous

positioning

Continuous

positionlng with

speed change

(Pattern change)

TaMe

3

-3

series of positions

speeds

ferent

Ing

a single start slgnal.

3.3

Positioning

at

dif-

after recetv-

Control

Functions

Unavailable

I8

INAI

66101-C

3.

SPECIFICATIONS

Note

I.

1:

Error compensation and backlash compenmtion functions are valid for all the functions shown in Table

2:

An indexed code may

amciated processes during positioning. This

code.

3:

The

A071

present value can be rewritten before positioning

using the sequence program or AGGPP.

4:

Positioning writing positioning start data to the buffer memory

39,

Y

axis:

may

300

to

be

used

be

executed continuously for up to

339).

/MELSEC-A

3.3.

as a digital signal for the control of

is

known as an

is

20

points by

(X

axis: 0 to

"M"

s?a,-ted

3-4

IB

INAJ

66101-A

3.

SPECWICATIONS

3.3

Positioning

3.3.1

AD71

System Operation

interfaces Fig, 3.2 indicates the signal communications between

external devices.

o

Communication between

PC

CPU and AD71

/MELSEC-A

the

AD71

and

Control signals and data communications consist of:

Control signals.

Data

I

0

Communication between A6GPP (or AD71TU) and AD71

Data write, AD71

RS422

o

Communications between drive unit and AD71

Control signal communication to and from the drive unit and pulse train output from the AD71. (For the to Section 3.7

. . .

connector.

. . .

.

,

.I/O signals given in Section 3.6

.

. .

.Written to and read from the buffer memory

by the (page

test,

(page

3-54).]

PC

CPU. Detailed in Section 3.4

3-81.

AD71 monitor,

via

base unit, they

(page

etc. via

the AD7l's

1/0

interface, refer

348).

PC

I

CPU

Data writelread

II-

Fig.

3.2

AD71

Function

3-5

-1

Block Diagram

IB

INAl

€6101-C

3.

SPECIFICATIONS

3.3.2

AD71

operation

START

u

AD71 buffer memory all clear

+

Yes

Fig.

3.2

-

PC

initiated positioning procedure

-

- - - - -

--Clear

the

AD7 1 buffer memory using the AGGW.

/MELSEC-A

Set

parameters

Set

zeroing data

Set

positioning data

I

Start zeroing

*

I

Write positioning start into buffer memory.

Start positioning (Ylo, Yll,Y121

4

+

I

Zeroing required?

Zeroing complete?

L-

data

---------Section 3.4.1 (page3-8).

.

- -

-.

-

--Section 3.4.2

-

- -

-

- - -

-

Section 3.4.3 (page 3-231.

1

No.

Write start data numbers and pointers into X-axis addresses 0 to 39 and

Y-axis

addresses

I

(pe

3.1 81.

300 to 339.

Although data

sequence progrm,

to

set

the data (especially parameters

zero

and

AGGPP or AD71TU.

may

it

is

point return datal using the

be

set

bv

recommended

the

Note

I:

For home position and positioning

1-

start

conditions, refer to Chapter

6.

IB

INAI €6101-A

3.

SPECIFICATIONS

/MELSEC-A

Acceleration

and

deceleration

Table

3.4

Relation

Indicates functions used to change the

between

Data

3-7

md

Positioning

speed

when the

Functions

AD71

is

busy.

18

(NAI

66101-A

3.

SPECIFICATIONS

3.4

Format and Functions

!

of

Operating Data

/MELSEC-A

3.4.1

Parameters

The following three blocks of data the AD71. This data explained in Section

o

Parameters

o

Zeroing data

o

Positioning data

Operating data

1)

AGGPP or AD71TU.

2)

Sequence program.

It

is

necessary to

This

is

the general information required for positioning. Table

gives

a

list

of all the parameters which must be

Initial parameter values

is

written to the buffer memory which will be

3.5

(page

is

written using:

. .

.

set

data for the two

3-30).

.For details, refer to the SWOGP-AD71P

or AD71TU Operating Manual.

.

.For details, refer to Chapter 6.

are

required for positioning using

axes

(X

and

Y

1.

set

for the AD71.

3.5

If parameters are not

is

outside the allowed shown in Table the buffer memory.

Parameters are checked when:

1)

the

power

is

2)

parameters are transferred from the A6GPP to the AD71;

3)

"PC

ready signal" from the

"off"

to

"on"; or

4)

(1) zeroing, been selected in A6GPP

Error code and error detection signal are not given for the "power on"

parameter check.

set

or

setting

3.5

and the faulty

switched on;

(2)

positioning,

an error

range),

PC

(3)

test

mode.

is

found (for example parameter

all

data defaults to the values

set

of parameters will remain in

CPU to

jog operation, or

the

AD71 switches from

(4)

inching has

3-8

IB

INAl

66101-C

3.

SPECIFICATIONS

2 Travel per pulse

x

/MELSEC-A

10-5

3

Speed

limit value 1 to 12OOO lt012000

~

I

'

5

starting

bias

rpesd I Oto 12000 oto12MX)

6 Backlashcompenration 01065535

7

Upper stroke limit Oto162000 mm Oto16200 inch Oto16200 degree

~~~ ~ ~ ~

8

Lower stroke limit

Acceleration and deceleration times

I

R&itioning complete

signal

outpn

hlse

13

output

Oto

time

mode

xlol

mm,min

x 101 x1

,"Ao-'

Oto65535

162ooO mm Oto 16200 inch

0

1 : Forward PLS or rewrse PLS(A

zh,min

ih,min

i::{-5

Oto20000(mssc)

:

PLS+SIGN(B

lto12000

Oto

,

Oto65535

1

Oto

type)

12000

16200 degree

x1

wmin

xlo's

mree

type)

OtoZm

Or0255 PLS

Oto16252928

Om16252928

x 10'

PLS/sec

PLS 16252928

PLS

0

I

0

15

bitioning

method

0

:

Resent value increase

:

Resent value increaw when reverse pulse is output

1

0

:

Absolute

1

:

Incremental

2

:

Incrernental/absdute combined

0:

M

code

1:Mcoded

Table

not

3.5

wtmn

forward

used

o:

Parameter

pulse

WrrH

mode

Unfixed when

List

-

POINT

(1)

No,

(2)

When

sequence

I

2 to

No.

setting

program, refer

3-9

12 are

No.

1

set

and

No.

to

b

output

shipped

from

Section

from factory. All clear sets

the

sequence

13

to

No.

16 from

3.5.5

(page

absolute

O=

program.

3-46).

I-

to

0.

the

IB INN

ffi101.A

3.

SPECIFICATIONS

/MELSEC-A

IMPORTANT

The AD71 automatically multiplies any numerical data received from

For

example,

the

sequence

PLS/sec,

200

x

I

IMPORTANT

The

AD71 controls

pulses

For

this

actual found

The AD71 can only deal with whole number multiples of 6.1,

so

the

second.

I

the

sequence program

if

the

AD71 receives the constant

program

the

sped

output

10'

PLS/wc.)

I

all

per

second.

rearon,

speed

as

follows

200

-

6.1

actual speed will

if

will

=

32.78688

a

speed

be

and

the

to

speeds

is

set

195.2

pulses

.....

be

by

the

relevant factor.

K

=

units have been defined

the drive

to a maximum accuracy of 6.1

to

32 x 6.1 = 195.2 pulses

is

2000 PLS/sec

200

pulses per second, the

per second. This may

200 from

as

(Le.

be

per

(1)

Unit

(2)

Travel per pulse

(3)

Speed limit value

Parameter data

Selects

Can be

=

0

the units (mm, inch, degree, or pulse) for positioning control.

set

degree).

Specifies the travel distance per pulse mechanics of the system. Controls the number of pulses contained in the pulse train from the

AD71.

Specifies the maximum speed for positioning (or zeroing). When the positioning speed called the speed limit value, the speed parameter.

When a new speed program and this

is

limited to the value

is

explained

independently for X and

as

follows.

is

called during positioning by the sequence

is

greater than the speed limit value, the speed

set

by the parameter.

Y

axes

(e.9. X axis = mm,

as

determined

at

a

given time is greater than

is

limited to the value set by the

Y

by

axis

the

3-1

0

IS

INAI 66101-A

(4)

Jog speed limit value

(5)

Starting

bias speed

Sptxifies

0

The

Table

0

When the jog

greater than

the

jog

sped

3.5

and must not

maximum

limit value must

speed

set

the

jog

speed

for jog operation.

exceed

using

the

limit value,

be

within the range shown in

speed

limit value.

A6GPP or sequence program

the

jog

limit value.

*For

jog

operation, refer to Section

0

A minimum starting

speed

6.3.4

(page

is

required for the smooth operation of some motors (e.g. stepping motors). This may be starting bias speed.

0

The

starting bias speed

zeroing.

See

\

Fig.

3.3.

Positioning

Zeroing return speed

is

used for positioning,

speed

-.

- - -

t

.

has

been set

Aseleration and dcelrration speeds

=o

speed

is

6-23).

jog

operation, and

if starting bias

kept to the

set

as

sped

spa&

is

a

I

(6) Backlash compensation

Fig.

3.3

spnd

Change

When

Starting

Bias

W

Is

For positioning with interpolation between axes,

speed

set

for the axis with

0

Allows a backlash compensation

the

shorter distance to travel

(see

in for accurate positioning. Note that there

tolerances within

0

The backlash compensation facility allows extra feed pulses to

is

also

an error compensation facility to allow for

the

mechanical drive,

be generated every time the direction of movement changes during positioning.

During manual pulser inching, pulse output begins number of input pulses exceeds the backlash compensation amount each time the direction of movement changes. inched distance pulses are not generated but

is

less

than the backlash compensation, feed

the

positions according to the updated data.)

During jog operation, backlash compensation first movement after a change of direction only.

kt

the

starting bias

is

ignored.

Fig.

3.4)

to be programmed

see

note

(9).

as

soon

as

(If

AD71 calculates subsequent

is

made for the

the

3.

SPECIFEATWNS

'-s,

/MELSEC=A

.

(7)

Upper stroke limit

(8)

Lower stroke limit

(9)

Error compensation

Backlash compensation the backlash compensation, always zero the system.

I

Fig.

0

Defines The stroke limit is checked before each positioning operation and if outside the allowed range, positioning

During jog operation and manual pulser inching, the stroke limit

is

0

Defines the lower limit value of machine travel,

0

The stroke limit and if outside the allowed range, positioning

During jog operation and manual pulser inching, the stroke limit

is

the

ignored.

upper limit value of machine travel.

is

valid after zeroing. After redefining

f--

-+t-+--

3.4

is

checked before each positioning operation

backlash

Backlrsh

Zeroing

direction

Lead rrew

Work

Cornpansation

is

halted.

is

halted.

The AD71 may be calibrated to allow for mechanical errors in the system. This parameter and

1

)

Set

the

2)

Program the AD71 to provide lOOOmm travel.

3) Measure the actual distance travelled.

4)

Calculate the error,

E

5)

Set

E

6)

If using inches the calibration distance

degrees

The AD71 calculates the error compensation value Ec

Ec=

Where,

is

facilitated by providing an error compensation

is

found

as

follows (example for

error compensation to

E,

such that

=

lm - Measured value. (in

as

the error compensation parameter (in units of 10-lpm).

it

is

100 deg.

-x€

I:

S

=

Travel distance according to AD71

m = Measured distance for

E

=

Difference calculated in

n

=

lo4

=

10'

xn

I

when units are mm when units are inch-' or degree-'

0.

mm)

S

(4)

above.

mm):

is

100 inch, and for

as

follows:

3-1

2

IB

INAI

66101-A

3.

SPECWICATIONS

/MELSEC-A

Error compensation

positioning applications.

Backlash compensation, Bc, should

expression:

where,

(1

0)

Manual pulser inching travel increment

0

(1

1 ) Acceleration and deceleration times

0

is

valid for: manual pulser inching, jogging and

be

set according to the following

Bc=BxE

B

=

Actual backlash

E

=

As above

Defines the distance travelled each time a manual pulser inching

command

is

given. The AD71 counts the number of manual pulser inching commands input and transmits the appropriate number of output pulses. During manual pulser inching there

(The

speed

is

fixed

at

2oooO

PLS/sec.)

is

no automatic acceleration/

deceleration.

Defines the period of time from the start of positioning to

when

the speed limit value specified in the parameter

(Refer to

Fig.

3.5.)

is

reached.

Parameter

4

0,

8

v)

/*

Starting bias speed Actual

*

Set acceleration time Set deceleration time

-acceleration

Fig.

speed

limit value

-

:

Swed

if starting bias speed

has been set

Acceleration

speeds

if starting bias

-0

time -deceleration time

3.5

Adoration

Positioning

md

Ikcrlaration

speed

-

Times

- -

The acceleration and deceleration times cannot be dently. Acceleration and deceleration are controlled value.

When the positioning

meter

speed

limit, the

speed

is

very much lower than the para-

acceleration/deceleration

paratively short.

Acceleration/deceleration

time

is

valid for zeroing, positioning,

and jog operations.

For interpolation positioning, the time for the axis with the longer travel deceleration time for

the

other

axis

acceleration/deceleration

is

valid. (The acceleration/

is

ignored.)

and

deceleration

set

at

time

speed

indepen-

a

constant

is

com-

3-1

--

3

IB

INN

€6101-A

3.

SPECIFICATIONS

(1

2)

Positioning complete signal duration

(1

3)

Pulse output mode

/MELSEC-A

Sets the duration of the "positioning complete signal" from the

AD71.

Positioning

pulse output and the predetermined

is

considered to

be

complete after the

dwell

AD71

time has elapsed.

terminates

Defines the output mode

0

Forward pulse or reverse

0

PLS+

SIGN

Forward and reverse feed pulses.

Travel

(SIGN).

I

Direction Sign

slGN

I I

Low

High (Present

decreases in reverse.)

as A type or 8 type.

pulse,

two

pulse chains.

direction

in forward direction.

in

reverse direction.

value increases

is

controlled

in

forward direction and

by

direction sign

I

(1

4)

Direction setting

(15)

Positioning mode

Selects

when using forward pulse output. output.

the direction for which the present value increases.

Set

1

when using reverse pulse

)

(Set

0

Specifies incremental, absolute, or incrementaVabsolute combination modes for positioning.

0

In incremental mode positioning, positions

reference to the previous position.

Zero

point

.-

A

3-14

Fig.

-

3.6

Incremental

B

(See

Method

Fig.

are

3.6.)

To

move

travel A t so

reached with

from

defined

many

A to

as

point

pulses.

is

6.

IB

INAl

66101-A

3.

SPECIFKATIOMS

/MELSEC=A

0

In absolute mode positioning, positions are reached with refe

rence to a zero point address.

(See

Fig.

3.7.)

(16) M code ON/OFF timing

1

tom

point A

0

To use

(e.g. X axis),

Address

both

-

70

Fig.

incremental

set

2.

individual piece of positioning data. (Refer to Section

3-23)

.)

M

codes are code numbers

auxiliary functions are used by the

at

defined

PC CPU

equipment and processes.

0

M

code

use/non-use must positioning sequence they are to When M code non-use operation, M code

"M

code

ON"

0

"M

code

ON"

data in the buffer memory

signal is not output.

signal output

WITH and AFTER.

0

WITH mode

The

"M

code

ON"

signal

as

the positioning operation

B

Address

100

3.7

Abduta

and

absolute modes in the Same axis

In

this

case,

(1

to

255)

points

to co-ordinate

be

specified

be

is

specified or

is

given

starts.

Method

the mode

assigned by the user to control

in the positioning cycle.

the

operation of external

as

used,

A6GPP

available in

at

approximately the Same time

To

move

specify destination ddreu

is

from

address

70

controlled by the

3.4.3

well

as

where in the

test

mode

is

cleared and the

two

timing modes,

B

to A,

as

(page

These

the

is

I

in

I

Start

Operation

"M

code

"M

code OFF"

ON"

3-1

I I

I

5

Fig.

3.8

WITH

Mode

Timing

Pattern

00

IB

INAI

66101.A

Mitsubishi Melsec-A, AD71 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

REVISIONS

INTRODUCTION

CONTENTS

INTRODUCTION

MELSEC-A Series Equipment

2.1 AD71 Programming Equipment

SPECIFICATIONS

Performance Specifications and Functions

Functions

Parameters