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

3.

SPECIFICATIONS

0

AFTER

The has finished. In this mode, if the operation complete the

I

Start

"M

mode

code

ON"

"M

signal

code

is

ON"

given

signal

/MELSEC-A

after

the positioning operation

is

not given.

stopped before

it

is

Operation

M

code

BUSY

"M

code

ON"

"M

code

OFF"

POINT

I

0

The

"M

in

the

0

The

M

and the

the

positioning pattern, refer to Section

3-23)

.)

The next positioning operation code ON" signal An error condition arises if the

at

the rise of the

started. The

I,

II

I

I1

11

Fig.

code

ON"

positioning data

code

is

ignored if the positioning pattern

"M

code

is

"M

01

Pattern

3.9

AFTER

signal

is

set

ON" signal

switched

start

code

ON"

Pattern

00

I]

I

x

if

I

Mode

Timing

not

given

if the

M

code

at

0.

is

not given, (For details of

3.4.3

is

not started until

off.

"M

code

ON" signal

signal and positioning

signal

is

turned

off

I

is

"11"

(page

the

is

when:

data

"M

on

not

_.

1.

"M

code

2.

PC

ready signal

3.

Zeroing, positioning,

is

selected

3-1

6

OFF" signal changes from

(Y

1D)

is

off;

or

jog

operation, or inching mode

in

the AGGPP

test

mode.

OFF

to ON;

I6

INAl

€6101-A

3.

SPEClFKATlONS

/MELSEC-A

M

code

BUSY

"M

code

(WITH

mode)

"M

code

(AFTER

ON"

mode)

For a sequence of positions, the first of which are defined

pattern

"00" or

itself

I

is

"1 1

"01"

given

",

the

pattern data

at

"M

code

ON"

signal is not given until the first

is

reached. In this

case

the M code

the first position. This is illustrated below.

Pattern

00

Dwell

-

I'

1

I]

I

\,

I

as

"M

code

OFF"

Fig.

3.10

"M

code

ON"

Simrl

Timing

for

Positioning

haern

"1

1"

3.

SPECIFICATIONS

3.4.2

Zeroing

data

/MELSEC=A

1

Zeroing direction

2

Zeroing method

4

I

Zeroing speed

~

1

to 12000

This defines a home position or zero point for Table

3.6.

Zeroing data

1)

parameters or zeroing data

AD71;

2)

"PC

from

3)

zeroing, positioning, jog operation, or manual pulser inching

selected in

I

x101

I

mm/min

is

checked when:

ready

signal"

OFF

to

AGGPP

0

:

1

:

0

:

1

:

2

:

to

is

transferred from the

output from the

ON;

or

test

mode.

Forward direction(address increases)

Reverse direction(address decreases)

Pulse generator(PG1zero-point signal Stop and dwell timer time-out Stop and signal from drive unit

l2Oo0

1

inch/rnin

x1

I

lo

PC

l2OO0

~

deg/min

x1

CPU

the

to the

I

to2m

AD71.

A6GPP

AD71

Refer to

to the

changes

I

PLS/sec

xlol

is

to

2000

inch/rnin

~

x1

Zeroing Data

to

No.

Oto499(

1

7

No.

time

7

Torque limit

TsMe

3.6

I

POINT

J

(1)

NO.

3

(2)

When setting gram, refer to Section

0

to

can

1

to

l2OoO deg/min

i

x

10'msec)

2

50(%)

be

set

and

No.

3.5.6

(WW

'

I

x1

by

the sequence program.

2

from

to20000

I

the

sequence Pro-

3-47).

PLS/sec

I

xlol

1

3-18

IB

lNAl 66101.A

3.

SPECJFtCATlONS

/MELSEC-A

(1

Zeroing direction

(2)

Zeroing methods

Zeroing data

is

explained below:

Specifies the direction for zeroing.

IMPORTANT

Zetoing

speed. Always

1

is

controlled according

Deceleration

ensure

that

is

the

to

the zeroing direction and

started when an actuator

zeroing

direction

is

correct for

is

drive system used.

Zero the system using one of the following methods, require a "zeroing dog" or actuator to reduce the

speed

speed.

a)

Zero-phase signal from pulse generator

b)

Stop and dwell timer time-out

c)

Stop and signal from drive unit

(a)

Zero-phase signal from

PG

(PG)

operated.

the

all

methods

to the creep

The sequence of events

0

Zeroing signal received - move in appropriate direction,

0

"Zeroing dog" on

0

"Zeroing dog"

0

Zero phase signal

I

Fig.

3.11

J

I I I\

"Zeroing dog"

Zeroing Using a Zero-Phase Encoder

is

as

follows

-

start

decceleration to creep

off

-

continue

-

stop drive, zeroing complete.

Actuator signal starts deceleration.

Creep

(See

at

creep speed.

apead

Drift (axording to drive unit)

I

u

U

'//////////////

Adjust tha actuator position zerophme

and

Fig.

3.1

1):

speed.

Zero-phase signal

is

signal.

Torque limit valid range

an

Actuator

near

so

the

(method

that its

center

of

OFF

the

a1

3.

SPECIFICATIONS

1

turn

of

~

-

PG

(b) Stop and dwell timer time-out

/MELSEC-A

+

The sequence of events

0

Zeroing signal received - move in appropriate direction.

0

”Zeroing dog“ on

start

dwell timer.

0

Work

is

stopped by mechanical stopper.

0

Dwell timer times out - zeroing complete.

(c)

Stop and signal from drive unit

The sequence

0

Zeroing signal received- move in appropriate direction.

0

“Zeroing dog“ on

0

Work

0

Feedback signal from drive unit (e.g. torque limit exceeded),

of

events

is

stopped by mechanical stopper.

zeroing complete. (The feedback signal phase signal input).

Zeroing

speed

Actuator signal

is

as

follows (See Fig. 3.13-1

-

start

decceleration to creep speed and

is

as

-

start

follows

decceleration to creep speed.

starts

(See

deceleration.

Creep speed

Mechanical stop

Fig. 3.13-2):

is

fed into the zero-

1:

(3)

Zeroing address

(4) Zeroing speed

1

Fig.

3.13

Home

0

This address

upon completion of zeroing.

0

Set

the zeroing address to either the upper or lower stroke

limit

set

0

Sets the zeroing

is

set

in the parameters.

speed.

3-20

Positioning Using

as

the present value of the home position

Stop

Signal

(Refer to Fig. 3.14.)

IB

INAI

66101-C

3.

SPECJRCATlONS

(5)

Creep

speed

0

This

is

the low

Fig.

3.14.)

0

This speed should be

as

well

as

Zeroing

speed

I

speed

used

to approach the home position.

set

with consideration for errors in zeroing

the impact with the end stop.

starts

deceleration.

Drift [according to drive unit)

Zero-phase signal

Adjust the actuator position is near zero-phase signal.

P//I////I////R

Torque

/MELSEC-A

(See

1

so

that it5

the

center

limit valid range

of

OFF

the

(6)

Zeroing dwell time

(7)

Torque limit

1

Fig.

3.14

Zeroing and

0

This

is

the period

turned on to when home positioning

0

Set

the

time interval to allow the creep

drive to hit the mechanical stopper.

0

When

the

dwell timer home positioning method

used,

this may

0

Sets

a

limit for the

is reached.

I

POINT

I

0

A D/A converter module

0

Any

value

torque limit zeroing method

Torque limit value

I

1-1

Read

of

time starting from when the actuator

be

set to any value within the setting range.

servo

within

the

setting range

PC

71

Creep

Speeds

is

complete.

speed

to stabilize and the

is

not being

motor torque after the creep speed

is

necessary

is

not

I

r:i::

for

torque limiting.

may

be

specified

being used.

Drive unit

if

the

J

is

I

Operation

I

by

program

Fig.

3-21

converter unit

3.15

Torque

(Analog amount)

I

Limit

Block

Diagram

IB

INAi

66101-C

3.

SPEClFlCATlONS

3.4.3

Positioning data

:

/MELSEC-A

Positioning data

(i.e.

control other than home positioning, inching and jog operation).

Refer to Table

Table

3.7

for the X and Y axes,

The block of data used in the positioning Positioning data

b15

F

Positioning information

I

b8

3.7.

shows

b7

VY

1

is

used in the

one block

respectively.

for

start

area

is

checked when positioning is started.

Setting

bO

?*

L

Positioning pattern

-

Positioning method

Valid only when incrementallabsolute combination specified in parameter.

Positioning direction (valid in incremental mode only)

Unused (may be

AD71

to execute positioning control

of

positioning data.

positioning

of

the buffer memory.

Data

00

:

Positioning terminated

01

:

Positioning continued

:

Speed cham

11

I

0

:

Absolute

{

1

:

Incremental

0

:

Forward direction (address increase)

{

1

:

Reverse direction (address decrease)

is

dictated by the number

and

positioning then continued

0

or 1)

400

blocks can be

is

set

~~

c

Positioning speed

t

Positioning

address

Dwell time

1

rnm

I

'

1

to

12000

!

0

to

,162x107

I

x

10'

mm/min

x'o-'pm

Table

POINT

No.

l2O0O

0

to

162x107

3.7

Positioning Data List

I

2

to

No.

4

-

M

code

(0

M

to 255)

code

'

0

1 62 x 107

=

0

to

O'rnsec)

Sn

inch/min

x

Ot0499( x 1

can be set from

when

M

code

is

dearee

x1 x1

deg/min

x

O-sdeg

the

sequence program.

not mecified

'

to20000

0

to

16252928

PULS inch

x

10'

PLS/sec

PLS

1

I

3.

SPECIFICATIONS

/MELSEC-A

(1)

Positioning information

Positioning data

is

explained below.

Separate the information for the X and Positioning information consists of following.

hl5

(a)

Positioning pattern

b8

b7

This specifies whether the operation

is

further divided

Y

axes.

16

bits and includes the

bO

Positioning method

Positioning direction

UnUred

--

is

to be halted after the current

M

code

is

to be continued to

as

follows:

the

1)

Consecutive positions are reached using

2)

The

speed

is

changed

at

the specified address and positioning

then proceeds in the same direction.

This pattern data

is

specified

tioning information.

Bit

1

Bit

0

Positioning pattarn

00

:

Positioning and

01

;

Positioning continued (in any direction)

11

:

Spaed

(in the same direction)

10

:

No

setting

Fig.

3.16

Positioning

the

same speed.

by

the first two bits of the posi-

chanped end positioning then continued

Pattern

*

3-23

IB

INN

66101-A

3.

SPECIFICATIONS

0

Positioning end

/MELSEC=A

Drives to the specified address, positioning

is

complete after

the dwell time has elapsed.

Start

(Y

10)

..

Positioning commenced

0

Positioning continued

nmL

(X81

Fig.

3.17

Pattern

0

The positions are reached consecutively in the order specified

by

their data numbers

by

a

single

start

signal. (The

remains on during positioning.)

BUSY

signal

positioning commenced

BUSY

(X41

Positioning complete

P = address Dwell V=ppeed

t = dwell time

I

Pattern

00

(X8)

should

Fig.

3.18

be

set for the

t,

Pattern

,

V,

Dwell

ta

I

01

last

--

1

position in a series of

Pattern

continuous operations.

Pattern

caw,

01

may

the

patterns

be

set

for interpolation positioning.

for

the X and Y axes should

be

the same. The X and Y axis patterns are checked before operation and any error will stop positioning.

00

In

??

Dwell

tt

+

this

I

3-24

IB

INAI

€6101-A

3.

SPECIFICATIONS

/MELSEC-A

0

Positioning continues with

The positions are reached consecutively in the order specified

by

their data numbers by a single

the speed may be changed but the direction remains

(Refer to

Start lYlOl

:ommenced

BUSY

(X14)

M

(X

code

18)

ON

Fig.

3.19.)

P

V

t

I

speed

=

address

=

speed

-

dwell

change

start

signal. During positioning,

(pulse)

(PIS)

(in

0.01 second increments)

1

the

same.

I

7

I

Fig.

3.19

Pattern

11

Table

3.8

shows

the positioning data for

Fig.

3.19.

conditions apply:

M

code ON/OFF timing

:

AFTER mode

Incremental/absolute method: Incremental and absolute

combined

In

the method column, Ab. indicates absolute

method and Inc. incremental method.

TaMo

3.8

Positioning Data

The following

i

I

1

3-25

I6

INN

€61014

3.

SPECIFICATIONS

/MELSEC-A

POINT

I

For continuous positioning, pattern more than nine times consecutively.

consecutive down by placing

pattern

timer, pattern

Always set pattern

While pattern

and

the

after pattern changed after deceleration has started, the new ignored and,

"M

code

During positioning using pattern code will

Interpolation positioning cannot

11

is

being used.

11

patterns

01

11

=

9

times, pattern

00

=

11

positioning method should remain unchanged, only

01

or

if

the

ON"

signal

be

ignored.

are

being

pattern data every nine

1

time).

00

in the final data block.

is

continuing,

00

may these

M

code

has

is

not

given.

11

Where

used, they must

01

=

1

the

direction of movement

be

changed. If the

been

set in WITH mode, the

11,

dwell time data and

be

specified when pattern

should not

a

large number of

be

11

patterns.

time, pattern

be

used

broken

(e.g.

11

=

speed

M

9

is

(b) Positioning method

Incremental or absolute positioning must be specified assuming that

it

has not been

Parameter data takes precedence over this data.

POINT

(c)

I

The positioning method cannot

been

specified.

The positioning

01

have been executed.

Positioning direction

For incremental mode positioning, the direction of travel relative

to the previous address must be specified.

increasing address numbers and

address numbers.)

In absolute mode, the positioning direction

set

method

in the parameters (item

be

can

chand

be

changed after patterns

if

(0

1

specifies reverse, decreasing

is

ignored.

15,

pattern

specifies forward,

page

11

00

3-9).

has

or

3-26

IB

1NA)

€61014

3.

SPECIFKATIONS

/MELSEC-A

(d) M code

(2)

Positioning speed

Specifies to 255) The code should

During interpolation positioning, M codes for the X and Y axes. (X-axis M code, buffer address

M

code, buffer address

Specifies

POINT

bfore operation, the

the

parameter

Positioning speed for linear interpolation

During linear interpolation positioning, the with the furthest to travel takes precedence and other

axis

an

"M"

the

speed

I

positioning

speed

is

derived

code relevant to that position address. (range:

be

set to 0 if

=

at

which the next position

parameter

rpeed

limit value

as

follows.

it

is

not required.

346.)

zpeed

exds

is

the

used.

limit

speed

are

given individually

=

46.

is

to be approached.

is

checked

limit value, the

the

and if

set

for the axis

speed of the

0

Y-axis

(Short travel

-

(long

An example of this

data:

Parameter set value

Positioning data set value

To

move from point A (address

X-axis

travel

X-axis positioning

(This speed exceeds

axis

speed)

axis

is

given in

is

less than Y-axis travel

speed

the

speed limit value which

'peed)

:

speed

limit value

:

positioning

=

50 x

(short travel distance)

x

Fig.

0,

(long

travel

distance)

3.20

which

speed

0)

to point B (lwkp, 200kp),

so

Vy

-

=

loo

25KPLS/sec

200

uses

the following

X

Axis POKPLS/sec 20KPLS/sec

=

50kp/s has precedence.

is

ignored in thiscase.)

50KPLS/sec 50KPLS/sec

Y

4

Axis

3.

SPECIFKAlWNS

/MELSEC-A

Fig.

3.20

Linur

Interpolation

Note: For interpolation positioning, the actual positioning speed is

approximately is extremely

1

WPB.

I

5%

lowr than the

low,

the error will

set

speed.

be

larger, e.g. about

(If

the set speed

10%

at

(3)

Positioning address

(4)

Dwell

time

POINT

The positioning address

incremental value.

The dwell time is the period of time indicated

1

During linear interpolation positioning

speed

of a given axis to limit value greatly.

For linear interpolation,

speeds

same value.

Positioning commenced

and

if

the

speed

(X81

exceed

travel

it

limits for

is

set

the set

distance for

is

suggested that

the

X

either

it

is

speed

the

and Y axes are

as

an absolute value or an

possible for

and

the

two

axes varies

the

positioning

set

in

Fig.

3.21 below.

the

speed

to

the

I

For

Speed

graph

Fig.

3.21

Pattern

During interpolation positioning, the longer dwell time value valid irrespective of the distance travelled

axis

=

1.5

sec,

1.5

sec

is

valid.)

3-28

I

-

Dwell

00

(e.g.

if X axis = 1

pattern

sec

and

00

is

Y

IS

iNAl

66101.4

3.

SPECIFICATIONS

3.5

Buffer

Memory

/MELSEC-A

The AD71 has a battery backed buffer memory for communication

of data with the

PC

CPU. The memory map

is

shown in Fig.

3.22.

Data can be read from the buffer memory

0

Reading data using the sequence program

One word (16 bit) or buffer read application instructions.

0

Reading

For details, refer to the SWOGP-AD71P Operating Manual.

Data can be written to the buffer memory

(The writing of data may AD71. General details, refer to Section 3.5.1 to

a

Writing data from the sequence program

One word (16 bit) or two word data can be written by using

the buffer write application instructions.

0

Writing data from the AGGPP

data using the AGGPP

write

conditions are shown in Fig.

two

word data can

be

restricted depending on the status of the

3.5.6.)

as

follows:

as

follows:

be

read by using the

3.22.

For further

Transfers data in blocks from the A6GPP memory to the

buffer memory.

An additional function allows individual pieces of positioning data to be written to the buffer memory if the AD71 refer to the SWOGP-AD71 P Operating Manual.

I

REMARKS

For

buffer memory access instructions, refer

I

to

is

busy. For details,

Chapter 6 "Programming."

3-29

IE

lNAi

66101.C

3.

SPECIFICATIONS

/MELSEC-A

768

Dacription

Area for positlonlng start data numbers, etc. (For X axlsl

Area tor error reset

UnUd

Area

tor

positlonlng start data

etc.

in

Section

(For Y axlsl

3.4.3

as

follows:

2

bytes

speed:

2

bytes (16

4

bytes

(Maximum

(16

(32

numbers,

U

nu

red

to

387

1

3872

4g,

17

lntorrnatlon

3s

RAM. Writing here

IllOWed.

Unused

X

axis positioning data area der-

cribed

400

positions)

Data format

Posltioning informatlon: Posltionmg Dwell time: 2 bytar (16 blts)

Positlonmg address:

is

not

bltsl

bots)

blts)

I

1

I

Deoends

Wrlte enabled at any

tme

Depends on data

Wrltedlsabled

Wrlte enabled at any

tlrne

on

-

SSP?

Wrlte enabled when

both

data

axis BUSY signals are off.

Nrlte enabled

tame

Nrlte enabled when

30th

)xis BUSY signals we off.

Yrlte dlsabled

3lock

,oslttonlng data 'rom AGGPP to 9071 #bled when PC ready ;Ignal

or

AD71TU

X-axis and Y-

at

any

-

X-axis and Y-

transfer

IS

off.

of

only en.

Y

axis positioning data area des

cribed

in

Section

3.4.3

400

positions)

3.4.1

3.4.2

3.22

as

(X axis)

(Y axis)

(X axis)

(Y

Buffer

Data format

Parameter area explalned

tion

Parameter area explalned

tion

Zeroing data area described Section

Fig.

(Maximum

for X axis.

In

axis)

The above data may be read at any time.

Addresses are expressed

Memory

3-30

In

Wrlte enabled at any

t

me

Sec.

See-

Wrlte when PC ready slgnal

IS

in

Map

only

enabled

off.

in

decimal (1 address

Wrlte only enabled when PC ready slgnal

IS

off

=

2

bytes

(16

bits1

IB

IWI

66101-A

3.

SPECIFICATIONS

3.5.1

Positioning

start

/MELSEC-A

data

The positioning of the data

start

is

the same for both X and Y axes,

different.

POINT

Both

I

the

X-axis

this data into the AD71

Xaxis

;

0

1

2

3 4

I

37

38 39 40 41 42

43 44

45

46

47

48 49

I

,

I

Y-axis

;

address

300

301

302

I

303

304

I

I I I

8

337 338 339 340 341 342 343 344 345 346

Manual pulser inching

347

I

1

I

I I

1

Executing data

M

code comment area

348

349

500

address

200

data area is shown in Fig.

and

Y-axis

Start data

Start

data

BUSY

from

No.

NO.

signals must

the AGGPP.

1

st

point

2nd

point

I

3rd point

I I

I

20th point

I:

Pointer

dsta (32 bits)

Status

Joe

wed

Error code

M

code

enable

16

bytes

x

19 comments

No,

!

0

Addressus

the AD71

3.23.

Thearrangement

only

addresses are

be

off

Start position

(Up

to 20 can

markod

OS

only.

are written to

to write

be

specified)

by

3-3

Fig.

1

3.23

Positioning

Start

Data

I6

IN&

88101-pI

3.

SPEWICATIONS

(1

)

Speed change

area

(X

/MELSEC-A

axis:

address 40, Y axis: address 340)

To change the speed of traverse during positioning, jog operation or home positioning, write the new speeds to these addresses. be within the range shown in Table rides the in

Fig.

IV

speed

set

3.24 below.

Speed

data

in the positioning data. Speed change

written

to

speed

It

Fig.

3.24

Speed

3.7

change area

Change

page 3-23) This data over-

Example

is

illustrated

V = speed

t

=

time

(To

(2)

Present value change area

POINT

j

Acceleration and deceleration cycles use speed regardless of any forced The

speed

cannot

be

speed

force changed under

circumstances:

0

after a deceleration

0

in inching mode;

start

point;

after a stop command or after the or

0

during interpolation positioning.

(X

axis:

address 41,42, Y axis: address 341, 342)

To change the present value data in the to these addresses.

POINT

I

The

present value cannot

be

changed while

BUSY.

Present value data

be

written.

is

two

words long, one word

the

change.

jog

AD71,

positioning data

the

following

signal

is

turned

write the new value

the

AD71

data

cannot

off;

is

(3) Jog speed area

(X

axis: address 44, Y axis: address 344)

Specify the

jog

speed by writing speed data to these addresses.

This data may be written

3-32

at

any time.

IB

lNAl

66101-A

3.

SPECIFICATIONS

(4)

Inching enable area

(X

axis: address

47,

Y

axis:

address

/MELSEC-A

347)

(5)

M

code comment area

(6)

Status area

(X

axis:

Enable the manual pulser inching function by writing

significant bit in this address. This data may be written

(X

axis: address

address

bltob15maybelorO

by

(ignored

Up to

Comments may be written to M code

and Y axes.

the

16 ASCII

(using the

43,

Is

reserved for the information shown in

Y

axis:

AD71

AGGPP

OS,

OS).

Fig.

3.25

49

to

200, Y axis:

characters may be entered

or sequence program).

address

343)

Inching

349

Inching enable Inching disable

Enable

to

500)

numbers 1 to

a

1

to the

least

at

any time.

=

1

=

0

as M code comment data

19

for both

Fig.

3.26

and

is

set

by

I

X

b15

-<

-

I

POINT1

I

Do

Set

to

0.

Ill

II

____)

-1

not write data to

Fig.

this

I I

Zeroing request

3.26

area.

I

Status

During dwell time

Zeroing complete

Zeroing dog

Drive unit ready signal

Area

ON

I

3-33

IB

INAI

66101.A

3.

SPECIFICATIONS

(7)

Error code area

(X

..

axis:

address

45, Y axis:

address

345)

I_

/MELSEC-A

(8)

M

code area

(X

axis:

The code number of any error detected by the these addresses by the tion signal

POINT

0

address

46,

The

positioning operation number can be used to co-ordinate external equipment and processes.

I

(XB).

]

The error code area must not

The

most

absence of any error

For error codes, refer to Chapter

Y

axis:

address

"M

code" specified in the positioning data for the current

b15 b7

OS.

Use

be

written here.

recent error code

346)

is

written to these addresses. The

in conjunction with the error detec-

is

used

by

the

is

written to

is

indicated

by

8.

bo

AD71

a

"0"

AD71

OS

this

in

this

is

written to

and data

area.

The

address.

M

code

I

POINT

I

0

Lower

1

byte

=

M

coda

set

to 0.

Fig.

3.27

M

Coda

M

Area

code code

specified

not

specified

= 1 to

I

Do

not write data to these addresses.

For M code data timing details, refer to Section

(16)

(WW

3-15).

255

=

0

3.4.1

I

3-34

IB

INAI 66101-A

3.

SPECIFICATIONS

(9)

Current data number

(X

axis:

address

48,

Y

axis: address

/MELSEC-A

348)

The number

is

written to

of

these

the

positioning data block currently being processed

addresses by the

OS.

This number

until the next positioning operation begins. (Refer to

11

Pattern

Start

BUSY

Positioning complete

Executing data

POINT

No.

I

/

I

f+7-+j-b

I1

II

11

I I

31

I1

Fig.

3.28

Current

1

Data

:\Pattern

I

I I I

I

I I

3(

I

No.

Update

11

'attern

I

Ix

Timing

is

Fig.

00

\Dwell

--

I

retained

3.28.)

I

Do

not

write

data

to

these

addresses.

3-35

IB

(NAJ

681014,

3.

SPECIFICATIONS

(1

0)

Start data number area

/MELSEC-A

For continuous positioning, the numbers starting maximum of viding a maximum of

400

positions. These sequences can be called in turn by using the pointer to specify how many sequences) are to be processed.

X-axis

:

address

Y-axis

;

address

i

300

at

20

start

-

]Start data

Start data

Start axis

Start data

Start axis

the

data number indicated in

numbers can be specified for each

20

No.

AD71

uses consecutive position data

these

addresses.

positioning sequences from the total of

start

numbers (and hence,

I

1st point

,

2nd point

'

3rd point

----

Start axis for this start data

dipends

Y121.

I

-

For

data

For

3-38

on

start signal

2nd to 20th points, set start

No.

and axis.

start axis details, refer to page

axis,

how

many

(YIO

A

pro-

No.

1

to

I

The

tions.

BUSY

20th point,

,

- - -

-

- - -

*

Specifies how many of the start numbers

are

used

be value

signal

remains on between consecutive

to

be

used.

consecutively.

is

cleared when the power

Start numbers will

The

pointer

posi-

is

3-36

IB

INAI

ffi1OI.A

3.

SPECIFICATIONS

(a)

/MELSEC=A

Start

axis

area details

Use

the two least significant bits of these addresses to define the

start

axis.

(See

Fig.

3.30.)

b15

I---=--------=!

.-

b2

to

b15

(ignored

rnav

by

be

OS).

1 or

0

Fig.

3.30

bl

bo

I

Start

I

00

01 : X

I

10

11

Axis

:

Interpolation start

axis start

:

Y

axis start

:

Both-axes start

Area

The following occurs if both axes are started and an error found in one:

1)

both axes stop if the error has occurred between consecutive positions.

2)

only the axis with the error stops if the error occurred after both

axes

have started.

(b) Data setting precautions

1) When both axes are to be setting

00

or independent

axis data matches for both

started

together

setting

X

and Y axes

(Le.

1

1)

ensure that the

Processing will stop if the data does not match. Refer to Fig.

3.31.

(No

interpolation)

interpolation

at

that point.

I

is

start

Address

0

[T

In

the

2nd

3rd point 4th point

point

X

axis

Address 300

303 304 305 306

above example.

X

axis

Interpolation start Interpolation start

Both-axes start Both-axes start

X

axis start

Fig.

3.31

Start Data Example

Interpolation start

3-37

Y

axis

-1

Y

axis

t

1st point

c-

1

3

rd

4th

-t

OK

-

OK

-

Error Y axis

point

Doint

stops

IB

INAl

66101-A

3.

SPECIFICATIONS

/MELSEC-A

2)

A

start

point

is

ignored if

Fig.

3.32

X

axis points 2 and 3 have been defined

starts

and Y axis point 3 has been defines

These points are therefore ignored and processing proceeds to

the next valid start point.

X

axis

Address

2

X

axis

Start axis

4 Start axis

5

6

Start axis

/I

o

Y

axis

specification

10

0

1

Start data Point update Start data

No.

105

Pattern

"00"

-NO.

-

Dwell Dwell Dwell

-'

its

I

start

300

305 specification

Pattern

"01"

axis

Y

300

is

wrongly defined. In

as

an X axis start.

axis

-

1st point

t

2nd point

*

X

c

4th polnt

JUl

as

axis

Y

axis

Y

.

Start data

axic

No.

-

100

Fig.

Dwell

3.32

110

1

Pattern

I

"00"

Positioning point but immediately switched to 4th point because start axis

wt

to X axis.

Start

Data

4

~

I

Dwe!l

t

is

switched to 3rd

Example

"1

1"

2

",

1"

Dwell

is

3-38

IB

INAI

€6101-A

3.

SPECIFICATtONS

/MELSEC-A

3)

In a situation where single two axes operation, the new axis begins operation from the data number corresponding to the pointer value for the original

axis.

This

is

working independently until point

starts.

Address

Axis X then

X

01

axis

starts

I

Address 300

axis

operation

illustrated in

Fig.

3

when interpolation

operation from point

Y

axis

1

50

It-lst

3

301

02

1-4

)

is

3.33.

3.

changed to

Axis Y is

point

2nd point

(Y

axis start1

Y

X

axis

bury

J

busy

Start

No.

50

Dwell

Fig.

3.33

~~

Start

X

axis starts

specified

Data

Dwell

by

the pointer

Exampla

1

11

I1

1

I

tl

at the data

3

number value.

I

,

-I

3-39

18

INN

€81014

3.

SPEClFlCAllONS

4)

Processing will stop if interpolation

(1 1)

operations have been called and the other axis is under

different control (e.g. zeroing jog operation

/MELSEC=A

(00)

or

independent

or

inching).

X

axis

Y

axis

busy

Y-axis zeroing

start

I*-)

Dwell

1

kpp-

st point

Dwell

-.+

c

I

3rd point

-t

-

X

axis is switched to

and processing is stopped

Y axis is zeroing.

3rd

point

buse

Fig.

3-40

3.34

Start

Data

Example

4

IB

INAI

€6101-A

3.

SPECIFICATIONS

5)

In a situation where interpolation

(1

1)

start

has been defined

still

positioning, processing will vary

0

An

axis

will wait for the other to finish

Address

process or for in

Fig.

3.35

X

axis

01

54

its

busy signal to turn

below.

1

/MELSEC=A

(00)

or independent

at

one axis and the other axis

as

described below.

its

off.

This

is

illustrated

Y

axis

302

301

hi)+-

X

axis proceeds to 2nd start

2nd point

num-

is

current

Y

axis

X

axis

busy

Y

axis start

Y

axis busy

The execution

Start data

I

'

I

1

I

54

Start

l-

I

start

No

No.

while waiting for the other

Fig.

1

st

sequence

1

st

sequence

number remains

axis.

3.35

Start

Data

at

Example

:

2nd sequence

"0°"

I

2nd sequence

its previous value

5

I

Dwell

a

,

I

L

3-4

1

IB

lNAl

66101

A

3.

SPECIFICATIONS

X

Y

axis

/MELSEC-A

0

Processing will stop if one axis proceeds ahead of the

other and

X

axis

L

dual

axis processing is called. See Fig.

301

L

1-1

302

2nd point-

-1

3-

3rd

)-

point

2nd

21

"00"

1

3.36.

point

Dwell

Y

axis

switches to 2nd point

X

axis has

Positioning stops.

"1

:

Dual axis start has been specified for the X axis

start

"2:

Y

axis start command

point data number

2

is

received

used

reached

for both X and Y axes.

so

commences from start point.

Fig.

3.36

Start

Data

Example

cI.-rL

6

so

but

that

start point 3.

that processing

IB

INAI

66101-A

3.

SPECJFtCATlONS

/MELSEC-A

3.5.2 Error reset

3.5.3

OS

data

(Address

201

1

The error codes for both axes can be reset by writing significant bit of this address. This also resets the error detection signal

XB.

The

OS

then acknowledges that error signals have been reset by

writing

512

to

Addresses The data stored in this

b15

767)

a

0

to this bit.

bl to b15 may by

OS).

OS

sets

51

2

to

be

1 or 0 (ignored

0.

Fig.

3.37

767

are

area

Error

Reset

used

by the

is

indicated below.

bo

:

Error reset request

1

(ret

by sequence program)

0

:

Error reset processing complete

(ret

by

OS1

Area

Details

OS.

It

can only be read.

a

1

to the

least

Address

512

600 X-axis output

601 Y-axis output

602

-

X axis present value

603

604

-

Y axis prewnt value

605

X-axis torque limit value

606

Y-axis torque limit value

607

1

r

wead

Lower

16 bits

Upper 16 bits

Lower 16 bits

Upper 16 bits

Fig.

---

0

during stop and output speed when

BUSY. If

0

<

output

tion positioning, -1

speed < 1

-

---

Contains the torque limit value (if

use

during zeroing

for

I

1

7

3.38

OS

Data

Area

during interpola-

(FFFFHI

(set

at

250

is

stored.

used)

if unused).

3-43

IB

IW

881014

3.

SPEMCATIONS

3.5.4

Positioning

data

area

(X

axis:

address

3872

to

5871,

Y

axis:

address

/hmsEc-A

5872

to

7871)

'

Xaxir

address

Y-axis

!

address

,I#

...

I

This area stores the positioning data explained in Section The positioning data consists of positioning information, positioning

speed,

For the conversion of expressions from a data number to a buffer memory address, refer to the next page. As an example, for X axis data number

following areas:

I

dwell time, and positioning address

=

Positioning information : Address = 3873 Positioning

Dwell time

Positioning address

Positioning information

Positioning speed

Dwell time

speed

Positioning information details

bl6

:

Address = 4273

:

Address = 4673

:

Address = 5074

L

Positioning method

I

Valid only when incremmtal/abrolute canbination

4

Positioning direction (Valid only in incrmantal modal

L

~nused:

M

Set M code

5075

00

:

Positioning terminated

:

Positioning continued

01

11

:

Pattern change

0

:

Absolute

1

:

Incremental

0

:

Forward

1

:

Reverse direction (address decrease)

o

code

(0

to 255)

as

shown in

2,

data

is

stored in the

(lower (upper

or 1

=

0

16

bits),

16

bits)

is

specified in parameter.

direction (address increase)

when

not used.

Fig.

3.4.3.

3.39.

5077 : 7077

I

Data No. =400

Data

No.

=

1

u

Data No. = 2

No.

=

No.

=

3

400

Data

r4

Data

4

Positioning address

Fig.

3.39

Positioning

Data

Area

3.

SPEClHCATlONS

/MELSEC-A

Conversion from data number to buffer memory address

Y

I

Positioning

information

Dwell

time

Loww

Positioning or A,=5070+(&ta No.)x2

I1

address

Upper 16 bits

X

Axis

A=4272+(dota No.-l) A=6272+(deta No.-1

or A=4271+(date NO.

A=4672+(datJ NO.-1

or A=4671+(deta No.

16 bits

A2=5072+(data NO.-1 1x2

A, =A, +1

I

or A=5871+(&ta No.)

I

or A=6271+(data No.)

or A=6671+(data No.)

Lower 16 bits

A,-7072+(data No.-1

or A,=7070+(data No.)x2

Upper 16 bits

Axis

A= 872+(&t0 NO.-1

A=6672+(data No.-1)

A, =A, +1

1

)x2

I

3.5.5

Parameter

X-axis

'

address

/

I

7872 ! 7892 Parameter data

7073 7074

7075

7876

7877

7878

7979

7080

7802

7083

7884

7085

7806 7007 7888

area

(X

Y-axis

address

7893

7044

7895

7096 7097

7898

7099

7900 7901

7902

7903

7904

7905

7906 7907 7908

Travel per

L

Jog

speed

Acceleration and

deceleration

Backlash compensation

Upper stroke limit

t

Lower stroke limit

Error compensation

manual pulse during

axis:

pulse

limit value

Travel per

inching

A conversion table

is

given in Appendix

5.

addm 7872 to 7887, Y axis: address 7892

Stores the parameters described

0

may

be

by

OS)

sel

tiw

1

1 or

(ignored

161

-

-Pulse output mode

in

Section

10 : degree

:

PULSE

11

Rotating direction

o

:

Forward pulse output = pment value increase

1

:

Reverse pulse output = present Value

decrease

Positioning method

00

:

Absolute

01

:

Incremental

:

Incrementallabsolute combined

10

M

code usedlnot used

0

:

M

code not

1 : Mcodeused

{

M

code ONlOFF timing

0

:

WITH

1

:

AFTER mode

I

0

:

PLS

+

1

:

Forward or rewrse pulse (A type)

(

to

3.4.1,

used

mode

SIGN

7907)

(E

type)

7891

791

I

1

Unused

(should not

area

be used)

Fig.

3.40

Parameter

3-45

Area

I0

INAl

66101

A

3.

SPECIFICATIONS

3.5.6

Zeroing data area

X-axis

;

address

7912 7913 7914 7915 7916 7917 7927 7910 7919

7921 : 7931

Y-axis

;

address

i

7922 7923 7924 7925 7926

7928 7929

I

i i

:

841

(X

axis: address 7912

Stores

Zero address

Torque limit b15

Zeroing information

Unused area

be

(should not

used)

zeroing

I

to

7918, Y axis: address 7922

data

described

in

Section

b4

bO

L

-Zeroing method

/MELSEC-A

to

7928)

3.4.2,

Return method with mechanical stop

0

:Stop and dwell timer time out

1 :Stop and signal from drive unit

Zeroing direction

0

:

Forward

direction

(address increase1

:

Reverse direction

1

i

(address decrease)

0

:

PG

zero.point signal

{

1

:

Mechanical stop

Fig.

3.41

Zeroing

Data

Area

3-46

IS

INAI

66101-A

3.

SPECIFICATIONS

3.6

I/O

Signals

To

and

From

/MELSEC-A

PC

CPU

The AD71 uses 16 inputs and 16 outputs for non-numerical communications with the are given below. Table 3.9 shows base unit.

Device X indicates an input signal from the AD71 to the Device Y indicates an output signal from the

I

Signal

Dirwion: AD71

DOViCbl

No.

PC

CPU.

1/0

signal assignment and functions

1/0

signals with the AD71 in slot

to

PC CPU

Sinal

Signal

PC

Direion:

No.

0

of the main

PC

CPU to the AD71.

PC

CPU

to AD71

Signal

CPU.

I

x1

X axis

X2

Y axis

X3

X axis

X4

X5

X6

Y

X?

X axis

X8

Y

X9

XA

XB

XC

XD

r

i

XE

XF

Xaxis

Y axis

IMPORTANT

YlE, Y lF,

AD71 ready

Positioning complete

axis

Zeroing request

Positioning commenced

Battery error

Zeroing return complete

M

I

and

BUSY

code

YO

ON

Table

to

YF

3.9

.

I/O

are

for special applications which are detailed

~~

Y axis Positioning stan Y11

Y 12

p$;;[on

Y13 Xaxis

Y axis

Y14

Xaxis Y15 Y axis

Y axis

Y16 X axis Y 17 X axis

Xaxis

Y18

Y axis

Y19

Y

axis Y1A

Xaxis

Y1B Error detection

Y axis

Y1C Xaxis

Y1D Y axis

Y1E

)

Y1F

Signal

Reserved.

List

reserved for use

later.

Zeroing start

stop

Forward

Reverse

Forward

Reverse

M

code

PC ready

by

the

jog

start

jog

start

jog

start

jog

start

OFF

OS

or

(1)

Watch

dog

timer error

I/O

signal details

(See

Fig.

3.42.)

(XO)

Switches on when the AD71 self-diagnostics detect timer error.

3-47

a

watch dog

IB

INN

68101-A

3.

SPECIFICATIONS

(2)

AD71 ready (X11

’.

/MELSEC-A

(3)

Positioning complete (X2, X3)

(4)

BUSY

(X4, X5)

Changes

state

according to the

PC

ready signal (YlD). Used for

interlocking, etc. in the sequence program.

PCready

Switches on for a period

3-9, item

12)

complete signal output time

Switched off

start,

and power on.

If positioning

(YlD)

set

in the parameters (Table

after

each position

at

positioning

is

stopped midway, the positioning complete signal

is

reached. (Ignored if the positioning

=

0.)

start,

zeroing start, inching

does not switch on.

Switches on

jog

start.

(Refer to Switches on while the

at

positioning

start,

zeroing start, inching

Switches off after pulse output and dwell time haveelapsed.

Fig.

3.42.) (Remains on during positioning.)

test

function

is

3.5,

page

start,

jog

start,

and

being used on the AGGPP.

(5)

Zeroing request (X6,

(6)

Positioning commenced (X8, X91

X7)

Switches on under the following conditions, Switches completion of zeroing.

AD7 1 power

is

switched on;

Drive unit ready signal (READY) has turned off in BUSY

PC

ready signal (Y1 D) has turned on;

PC

ready

(Y

1

D)

Zeroing

request

(X6.

X71

Approx.

1.5

rec

Parameters and/or zeroing data has been written from the AGGPP; Zeroing

1) zeroing,

been selected in AGGPP

Switches operation. Switches

is

started; or

2)

positioning,

on

to confirm that the AD71 has started the specified

off

when the

test

3)

jog

operation, or

mode.

start

signal turns off.

4)

inching has

off

upon

state;

Start

(YlOl

Positioning

commenced

(X81

Does not switch on in AGGPP

3-48

test

mode.

IB

lNAl

€6101

C

3.

SPECFICATIONS

(7) Battery error (XA)

(8)

Error detection (XB)

/MELSEC-A

Switches on when battery voltage drops.

Switched on by any of the errors in Chapter

the error

(9) Zeroing complete (XC, XD)

Switches on to indicate the completion

the

start

(10) M code

ON

(XE, XF)

The

ON

Table 3.5, page 3-9, item 16).

ON"

mode

"M

code OFF" signal. Remains

code

=

(11) Positioningstart (Y10, Y11, Y12)

The leading shown in Table 3.9.

(12)

Zeroing start (Y13, Y14)

is

reset. For resetting, refer to Section 3.5.2 (page 3-44].

of

the next process.

timing for this

signal

is

given

it

is

given after positioning

0)

or

in test mode using the A6GPP.

edges

of

8.

Switched

of

zeroing. Switched off

signal

depends on

If

set

at

the

start

of

is

off

the pulses cause the operations to

the

parameter setting

in WITH mode, the

positioning, if set in AFTER

complete. Switched

when the M code

is

off

when

"M

off

by the

not used

start as

at

(see

code

(M

(13) Stop (Y15, Y16)

(14) Jog

(15) M code OFF (YlB,

start

(Y17 to Y1A)

y1c)

The leading shown in Table 3.9.

Terminates the current operation.

code

ON"

For restarting the operation

The motor

it

is

switched off

The leading edge

Off.

edges

of the pulses cause the operations to

signal turns

is

driven for

the

of

off.)

see

Section 6.3.9.

as

long

motor

is

ramped down to a halt.

this signal switches the

(If

the BUSY signal

as

the jog

start

"M

signal

code

is

on, the

is

on. When

ON"

start

signal

as

"M

3-49

IE

(NAI

€6101-A

3.

SPECIFICATIONS

(16)

PC

ready (YlD)

/MELSEC=A

Indicates correct

(other than those carried out in AGGPP be on. The following control actions occur when the from off

is

BUSY.)

1)

2)

3)

Switching the

positioning to stop, and the

well

to

Parameter check and initialization; Zeroing data check; and Zeroing request ON, AD71 ready signal

PCready

AD71

ready

Zeroing

as

the M code to be cleared. (Not for AGGPP

PC

CPU operation. At the

on. (Also applies for AGGPP

(YlD)

(X1)

request

(X6,

X7)

PC

ready signal

off

while the AD71

“M

code ON” signal to

test

ON

start

of

all

operations

mode) this signal must

PC

ready signal switches

mode when neither axis

is

BUSY causes

be

disabled

test

mode)

as

-

--

IB iNAl

66101C

3.

SPECIFICATIONS

Jog

/MELSEC-A

operation

speed

PC ready

AD71

rwdy

Forward jog

Rmrse

jog

Positioning commenced

(YlD)

(Xll

(Y17)

(Y18)

(X81

Positioning operation

Pattern

01

A

Pattern

f-k

1

t

Pattern

11

Pattern

11

Positionins commenced

Start positioning

M

coda

M

code OFF

Nom:

(X5)

BUSY (X41

(Y10)

ON

(X€)

(YlB)

ifpositioning

the

parameter,

'k

operation

Ihe

is

shorter

positioning

ii

I

than

cmplem

I

\

I

&e

positicning complete

simal may

be

ourput

simal

wrput

continuwsly.

time

in

3.

SPECIFICATIONS

Zeroina comDlete IXC)

Positioning complete (X21

Positioning commenced (X81

Zeroing request (X6)

PC reedy (YlD)

AD71 ready (X11

-.

BUSY

(X41

Zeroing start (Y13)

/MELSEC-A

Zeroing

I

'1

I

/I

I I

I

I I

I

PC ready (YlD1

AD71 ready (X1)

Stop (Y

151

BUSY

(X41

j--i

lnchlng start

Inching

speed

Inching

20kpps)

3

I

W

11

I I

I

I I

I

11

II

I'

I I

ri

at

I

Distance

I

I I I

I

I I

I

I!

depends

on parameter setting

Fig.

3.42

I/O

Signal ON/OFF liming

3-52

IB

INAI

66101-A

3.

SPECIFICATIONS

3.7

I/O

interface with External Equipment

3.7.1 AD71 electrical specifications

Signal

/MELSEC-A

~~

Description

Supply power

Drive unit ready (READY) Stop signal Zeroing dog

Inching A phase Inching B phase (PULSER

Zero phase signal

(STOP)

(DOG)

(PULSER

(m)

A)

6)

5 to 24V DC (Prepare a 4.75 to 26.4V stabilized power supply.)

150mA (maximum)

Input voltage High

(Input current: 0.3mA or

Low

(Input current: 2.5mA or more)

Input voltage High

Low

Pulse width

Phase difference:

lnuput pulse rise, fall time : 500~s max.

Input voltage High

(Input current: 0.3mA or

Low

(Input current: 2.5mA or more)

Pulse

width

Pulse

rise time : 3~s or

Pulse fall time : 3~s or

:

4.75 to 26.4V DC

:

(Supply power voltage

:

(Supply power

:

5V DC

:

: 1 .OV or :

----

B

phase

:

if@

4.5V

or

more, 3mA or more less,

OmA

2ms or

longer

-

lrnr

or

lonmr

-

I

-

(Duty

rate:

4.75 to 26.4V DC (Supply power voltage

(Supply power voltage - 3V) or

50p

or more

less

-

1

less)

voltage - 3V) or

less)

V) or more

lmr

or

-

1

V) or more

creases

!;::$?

less

longer

less

I

if

A

phase

Start

signal

Error detector clear

Forward feed pulse Reverse feed pulse

(START)

(CLEAR)

(-1

(m

TaMe

1

3.10

Output form : Open collector

Load voltage

Load current Output voltage when Lead current when OFF

Output form : Open collector, output duty ratio

Load voltage : 4.75 to 26.4V DC

Load current

AD71

Electrical Specifications

:

4.75 to 26.4V DC

:

lOmA (maximum)

ON

:

0.6V or

:

~~ ~ ~ ~~

:

20mA (maximum)

Use within

is

less

O.lmA or

the

than 2mA. add a load resistor.

range 2 to 15mA. If load current

less

3-53

50%

f

10%

IE

INAl

66101

C

3.

SPECIFICATIONS

I/O

interface electrical details

Circuit

Pin Number

x

Y.

I

.XIS

8x1s

?A

lA

3A

.-.-.

38

Signal

Power supply (+)

Inching A phase

PULSER A

/MELSEC-A

Description

5

to 24V DC (externel supply)

servo

(1) Low indicates

12)

AD71 checks If not reedy. the AD71 outputs a zeroing request.

(3) Arrange for drive unit errors, e.g. control power error

to set

this

14) Switching this signal to high during positioning stops the operation. Resetting the signal will not restart

omration

(1) Low to stop positioning. Signal duration 20ms or

more.

(2) Input switches start signal (STARTI off (high). Start

signal will not

(1) Switched to low by zero point actuator.

(2) For zeroing information,

Refer to Table 3.10.

signal high.

drive unit

the

drive unit ready signal prior to start.

then

restart.

is

serviceable.

see

Section 3.4.2, page 3-18.

1

n+E

4-

cu

.-

i

I

Select A

..--

1 OA

.

1 08

13R

I

14A

.--.

148

20A

208

1

4A

46

.

-.

Table

I

(+) (+)

Zero-phase signal

or

Inching 8 phase

PULSER

Error detector

24V power

5

3.1

B

-

PGO

Start

START

clear

CLEAR

to 12v powe

B

type

by

1

AD71

Refer to Table 3.10.

(1) Switched to low by encoders with zero-phase channel. (21 For zeroing information, see Section 3.4.2, page 3.18.

(1) Low while positioning. (21 On (low) during feed

a brake release signal for servos with rnffhanical brakes. Feed pulse output after this signal turns on.

Given before and after zeroing. Resets the deviation in the

servo

unit error detector.

2Oms (1st time)

-

Before feed

5

to 24V DC (external supply) 178 and 208 for 17A and 20A for 24V DC.

8

type

I

Direction sign

SlGN

1

parameter

I/O

Interface

setting.

pulse

Output

and dwell. Used as

2Oms

(2nd time)

Dulse

Outout After feed

5

to 12V DC.

Forward and reverse feed pulses

PULSE

m-j

SIGN

7

+

direction travel - direction trave

PULSE F

25ms-

m-

(For

details, refer

~ ~ ~~~~~

to

Dulse

Section

outwt

I

1 1

-

J

3.4.1.)

3.

SPECIFICATIONS

3.8

Battery

Specifications

/MELSEC-A

AGBAT

Nominal voltage

Guarantee period

I

Total power failure

I

Application

Size

(mm)

ti;--

~ ~~~

Table

DC

3.6V

5

days

years

(7200

hours)

~~

1

I

Power failure back-up for buffer memory

I

-~

3.1

2

Battery

300

16 diameter x 30 length

Specifiutions

I

3-55

19

INAI

66101-A

4.

HANDLING

4.

HANDLING

/MELSEC-A

Handling

4.1

Instructions

(1)

Protect the AD71 from mechanical shock and vibration.

(2)

Keep conductive debris out of

(3)

Switch unit to or from

(4)

Turn disconnecting the drive unit.

(5)

Do

off

the

PC

power supply before loading or unloading the

the

base.

off

the

PC

and drive unit powers before connecting or

not connect the AGGPPor AD71TU when the AD71

the

unit.

is

busy.

4-

1

IB

INAI ffi101.A

4.

HANDLING

4.2

Nomenclature

READY

Indicates

SERVO-ERR

Indicates

servo

unit

SERVO-ERR

Indicates

servo

unit

X

BUSY

Indicates

Y BUSY

Indicates Y axis

AD71

is

X

READY

is

turned off.

Y

READY

is

turned

X

axis

ready.

signal from X-axis

signal from

off.

is

busy.

is

busy.

Y-axis

-

/MELSEC=A

X

ZERO

Indicates X-axis zeroing requast.

Y

ZERO

Indicates Y-axis zeroing request.

HOLD

Indicates Refer to Chaptar

BAT ERR

Indicates battery error. Refer to Chapter

WDT

Indicates watch dog timer error. Refer to Chapter

AD71

ERR

hardware fault.

8.

9.

8.

RS422 connector

For connecting

40-pin connector

For connecting drive unit

AGGPP

~~

or

AD71TU

I

Fig.

4.1

AD71

v

Nomenclature

Kev

switches

M.PRO

OFF

LOCK

.

,

.Buffer memory protect

on.

, . ,

.Resets buffer memory

protect.

. .

.Disables pulse train out-

put from Chapter

AD71

7.)

(Refer to

4-2

18

INAl

66101.A

4.

HANDLING

4.3

Preparation

4.3.1

Battery

/MELSEC-A

connection

The battery disconnected before shipment to prevent battery consumption. Always connect

etc.,

refer

backs

to

Chapter

Negative

up the IC-RAM during power failure. The leads are

the

leads before using the AD71. (For battery life,

9.)

\

lead

(blue)

IMPORTANT

The components aged

by

static

board

:

1)

ground

2)

do

not

1

electricity.

all

tools,

touch

4-3

on

the

printed

When

work

bench,

conductive

circuit

handling

etc.

areas

board may

the

or electrical components.

be

dam-

printed circuit

IB

INAI

66101-A

5.

LOADING

5.

LOADING

5.1

installation Environment

AND

INSTALLATION

The

following installation environments are unsuitable for

equipment.

(1

)

Ambient temperature outside the range 0 to 55°C.

(2)

Ambient humidity outside the range

(3)

Excessive condensation

(4)

Corrosive and/or combustible

/MELSEC=A

10

to

90%RH.

(e.g.

due to sudden temperature changes)

gasses.

this

(5) Excessive amounts

filings,

(6)

Direct exposure to sunlight

(7)

In the vicinity of strong power and magnetic fields.

(8)

Excessive vibration and shock transmitted directly to the main unit.

oil

mist,

of

conductive powder such

salt,

or organic solvent.

as

dust, iron

5.

LOADING

5.2

System

AND

Design

INSTALLATION

Precautions

(1)

Do

include a

(2)

Where the temperature inside a panel

forced

not

use

the

AD71

power

supply

ventilation or cooling must

on any extension base which does not

(i.e.

A5XB).

/MELSEC-A

is

be

provided.

likely to exceed

55’C,

5-2

IB

(NAI

86101-A

5.

LOADING

5.3

Installation and Removal

AND

INSTALLATION

(1

)

Installation

/MELSEC-A

Base

Screw

(M4

x

0.7

x

12)

POINT

1

I

1.

Take cm not to damage

the

unit wrongly into place.

2.

M4

x

0.7

x

12

screws may

against vibration, etc.

the

connector pins

be

used

by

forcing

to secure the unit

I

5-3

IB

INAI

66101-A

5.

LOADING

AND

INSTALLAVON

(2)

Removal

Connector

/MELSEC-A

Press

5-4

IB

INA)

66101

A

5.

LOADlNG

5.4

Wiring

5.4.1

Wiring precautions

AND

INSTALLATION

(1

)

Connection cable length

/MELSEC-A

Control

Generally the cable length should be

(2)

1/0

signal wiring

0

Separate

I/O

signal wires from other cables and use separate

conduit where applicable.

0

In excessively noisy environments

screened and the

0

When running

PC

1/0

grounded.

signal

grounded.

Examples (bad example

at

top,

wires

good

less

than

3m.

I/O

signal wires should be

in metal piping, this should

example

at

bottom)

Wiring conduit

be

Control

2

box

5-5

[Relay]

Wiring oconduit

Bring the

amplifiers closer to the

AD71

cables are minimized

in length and separated

from the other wiring

(run outside the wiring

conduit).

AC

servo

50

that their

'!

IB

INAJ

€6'01

C

5.4.2

Drive

unit

connector

F

I

See

Section

3.7,

page

Fig.

3-54

for pin details.

5.1

Cable

Connector

ClmD

(1)

Use

(2)

Solder

0.3mm2

wire.

the wires to the pins and finish with insulating tubing.

3-

Pin arrangement seen from top.

Connector

"A20" and

Fig.

"Bl"

5.2

Connector

pins

are "Al" to

to

"820."

5-6

IB

INN

66101.A

6.

PROGRAMMING

6. PROGRAMMING

6.1 Writing Programs

6.1.1 Program structure

/MELSEC-A

using

A6GPP

or

AD7 1TU

Positioning operation

1 axis, simultaneous

2 axes

1

axis,

simultaneous

2

axes

1 axis

1

axis

1 axis

Simultaneous 2 axes

.....................

...........

I

II

.

See SWO-AD7 AD71TU Operating

Manual.

Section 6.3.2.

Section 6.3.7.

1

P

or

Operation

using

program

-

Jog operation

-

Manual pulser inching operation

-

Address write during jog

Address write during inching

Error reset Simultaneous 2 axes

-

'

-

6-

Interpolation

1

1 axis

.

1

axis

1

axis

1

axis

1

Section 6.3.3.

........

I

.............

Section 6.3.3.

Section 6.3.4.

Section 6.3.5.

Section 6.3.6.

Section 6.3.8.

...

.Section 6.3.2 (7)

IB

INAI 66101-A

6.

PROGRAMMING

/MELSEC-A

Unless otherwise specified,

AD71

is located

The Al,

at

slot

0

110

slot

No.

Fig.

6.1 AD71

A2,

and A3CPUs are referred

1/0

numbers

of

the main

0’

Location

base.

for

used

the

to

in

this manual assume that the

Following

as

Examples

”ACPU.”

6.

PROGRAMMING

6.1.2

Nota on programming

/MELSEC-A

(1

)

Initial

program

The following program steps should be used with the AD71.

sequence

M9038

tb

-4

XA (battery error)

<b

Ii

I

M9006

(ACPU battery error)

(ACPU RUN)

M9039

0

-it

b

xB

‘Resetting the ACPU while the AD71

guard against this use

Interlock

IU

XI

AD71 ready Provide stan interlock.

Error detection Usable for stop, etc.

the

Fig.

(2)

PC

ready reset

above

6.2

I

sequence.

Initial

is

“bury”

Program

may

n

W

cause

‘Resets A071 error

after CPU RUN.

Bettew error

PC resdv

it

to

flag an error, to

1

scan

Where necessary, the

(3)

an error

Zeroing

is

detected.

The system should when a zeroing request

(4)

Zeroing actuator

Ensure that the zeroing actuator

PC

ready signal should be disabled when

be

zeroed before positioning

is

received from the AD71.

is

serviceable and reliable.

is

started and

Failure to receive an input from this switch will allow the zeroing routine to maintain the drive signal.

(5)

Overrun precautions

The upper and lower stroke limits will only be operable

AD71

is

functioning normally. Upper and lower limit switches

should be hard wired into the system.

if

the

(6)

Emergency stop signal

Emergency stop signals must be hard wired into the system.

(7)

Upper and lower stroke limit values should be checked before

operation.

(8)

The speed limit parameter should be checked before operation.

(9)

Set

the

jog

speed

(10)

For interpolation positioning, same value. This axis can travel

at.

low

when initially setting up the system.

set

the X and Y axis

will

represent the maximum speed that either

speeds

to the

6-4

18

INA)

861014

6.

PROGRAMMING

6.2

Notes

on

Use

of

the

A6GPP

1

2)

3)

/MELSEC=A

and

AD71TU

)

Operation can AD71 ready signal (X1 ) on or off.

Data cannot be transferred from or to the GPP when the AD71 is "busy" and the GPP (or AD71TU)

The M code is ignored. (Data

memory (X axis:

be

performed with the

46,

Y

axis:

346)

PC

ready signal

is

in

test

mode.

in

the M code area of the buffer

is cleared.)

(Y

1

D) or

--

6-5

I8

INAI 66101.A

6.

PROGRAMMtNG

6.3

ACPU Programming

6.3.1

Data read and write precautions

Positioning operation

Data

(1)

Data read from and written to the sequence program should be kept to a minimum for optimum program scan time. The majority of the AD71 data must therefore be written to the buffer memory by the

(2)

The parameters and zeroing data when the

(3)

Positioning data

PC

ready signal

GPP.

(Y

is

checked immediately before

Any error will cause the error signal

most cases, positioning to stop.

Pattern

00

Pattern

01

0

,

I

@)

check Data @ check Data @ check

-

0

I

Dwelq

I

1

D)

changes from

Pattern

I

I I

I

1

/MELSEC-A

is

checked

(XB)

11

at

power on and

OFF

to

ON.

it

is

processed.

to switch on and, in

Pattern

00

Dwell

r

I

Fig.

6.3

An error

Positioning

is

Data

Check

flagged if the total distance requested exceeds the

upper (or lower) stroke limit when incremental position address-

ing

is

used.

"V

IB

INA)

66101.A

6.

PROGRAMMlNG

6.3.2

Data communication

with

PC

program

(1)

Read and write instructions

(a) Read from AD71

/MELSEC-A

FROM instruction: Also

[Format]

Symbol

Upper 2 digits

AD71

nl

nier heed

D

has been assigned (8.9.

x,

Yo401

He&

number

Number

Example:

Execution

FROMP,

FROMP

of

the

Bdigit head

address

of

stored date

of

devices

to

of

words

to

be

reed n3

Fig.

6.4

To

read one word from buffer memory address

(X

axis output speed) to D2 with the AD71 assigned

nl

hsxiptien

4

when

which

data

Read

Instruction

to X130 to X13F and Y140

FROMP

H13

DFRO, and DFROP.

n2

110

number to which the

the

hem3

will

be

K600

110

written

FROM

to

Y14F.

D2

D

number is

n3

K1

T.

C.

mice

K,

H

D.

H

I

W.

600

R

Fig.

0.5

Rd

Example

6.

PROGRAMMING

(b)

Write to AD71

TO

[Format]

n3 Number

instruction:

2

has been

Yo401

a

~~~~ ~~

digits

constant)

of

words to

Upper AD71

x.

Buffer head address for written data

Head number

also be

Also

TOP, DTO, and DTOP.

written

hed

4

when

of

the 3digit

assigned (e.g.

of

devices from which data will ba written (may

ba

/MELSEC=A

Amilabk

Dwicr

number

head

to which the

110

number is

T.

I

c.

D.

K.H

K.

H

w.

R

110

the

Example:

~~ ~

X-axis data

b15 bO

Execution

Fig.

6.6

Write

Instruction

To

write positioning information to buffer memory

TO

address 3872, with the AD71 assigned to X20 to X2F and

No.

Positioning pattern

Positioning method

Positioning direction Forward

M

Y30

to 3F.

1

positioning information example

rpssd

chnnge

Positioning direction HD07

M

code

K3072

code 13 13

-

Continue with

Incrmantel

LPositioning method Hexdecimal

TOP K1

H2

HD07

I

J

6-8

18

INN

681014

6.

PROGRAMMING

POINT

A

maximum

one

instruction.

Note

however

may

need

(2)

Present value read program

[Example] Indication of X axis present value

to

of

be

2,000

that

reset.

in

words

this

case

may

the

/MELSEC-A

be

read

or written using

watch

dog

timer

(WDT)

[Notes]

[Data

I

(1)

During positioning, the

memory lags behind the actual value

(2)

The present value

ACPU

data register

Written to Dl1 and

12

(32

is

two words long.

bits)

present

value

by

Address

as

stored in the

about

0.1

AD71

buffer memory

X

axis present value

1

AD71

buffer

seconds.

Converts the contents

to Dl2 into BCD on a seven segment device

for

of

Dl1

display

6-9

I8

WAl

ffi101.A

6.

PROGRAMMING

[Example]

~~ ~~ ~

[Data transfer

[Program]

I

spaed

+t

(3)

Speed

Y

axis

speed

read

ACPU data register

El

Stored into

red

Dl4 (16

read while

bits)

FROMP

HO

BUSY

Address

600 601

/MELSEC-A

AD71

buffer

memory

K1 Dl4 K601

6-10

I6

INAI

66101-A

6.

PROGRAMMING

(4)

Data number and pointer write

/MELSEC-A

[Exmaple]

[Note]

[Data transfer]

1st

point start data

2nd

point

Pointer:

[Program]

X

axis data number and pointer write

The

relevant axis must not be busy.

ACPU data register

:

No.

1

start data

I

start axis : X

1

:

No.

13

axis

AD71 buffer memory

Address

Stores 1st

No.

into D35.

point

start data

2nd

Stores

No.

Stores

(X

Writes D35 to

buffer memory addresses

to

2.

Writes the constant

buffer memory address 39.

point start data

into DX.

2nd point start axis

axis - 01) into 037.

037

1

to

.

0

to

I

1

6-1

1

18

IW

WlOlA

6.

PROGRAMMNG

(5)

Parameter and zeroing data write

/MELSEC-A

[Example]

X

axis parameter write - Assume that the parameters are already in Dl

31

[Note] When writing parameters and zeroing data, the PC ready signal

[Data transfer]

ACPU data register

(Data

already

-

Acceleration and deceleration times

should be

writtun)

Parameter information

Travel

sp.sd

Jog

speed

Backlash compensation

Upper stroke limit

Lwer stroke limit

Error compensation

Trawl par inching input

off.

per pulse

limit

value

limit value

AD71 buffer memory

Dl6

Dl? Dl8 Dl9 D20 D21 022 D23

Address

151

I

D29

I

6

to

(YlD)

Fj

78 74

178751

-

[Program]

b15

.

PC

RUN write command

b7 bO

Parameter

Rotating direction retting

Positioning method

M

code

uredlnot

M

code

ON/OFF

Pulse output

6-1

used

timing

mode

2

Y1D

1

PCreadv

IB

fNAl

€61014

[Example]

(6)

Speed change when

To

change X axis positioning speed to

BUSY

-

2,000

[Note] Speed cannot

[Data transfer]

ACPU data register AD71 buffer

To

write

speed

change data Address

2.000

[

Program1

Y12

(X

axis

BUSY)

be

changed during interpolation.

sy

change

command

mmory

or

Speed chanw Interpolation start

command

+

H

X

X4 Y

axis

12

t++l

BUSY

TOP

HO

6-1

3

K40

K2OOO

K1

18

INAI €6101-A

6.

PROGRAMMING

(7)

Error reset

/MELSEC=A

[Example]

[Notes]

[Data transfer]

ACPU data register AD71 buffer memory

[Program]

To

read an error code and then reset

(1

1

The error detection

(2)

The buffer memory error reset (address

Y

axes. Writing a

(XB)

signal should

1

to

this address clears the error.

Address

0

(FROM1

0

(TO

1

it.

be

used.

201)

Error reset

is

used

for both the X and

Error reset XB

+Ht

;-I

1

RE MARKS^

Writing and

FROMP

XB.

HO

I--

"1"

to

The error reset address is then automatically changed to

K45

the buffer memory error reset address resets the error code

065

K1

Reads X-axis error code to

D65.

"0".

"

..

IB

INA)

bS101.A

6.

PROGRAMMING

6.3.3

Start positioning

/MELSEC-A

The start of a positioning operation will

the relevant data has already been written to the buffer memory.

(e.g. from the Complex progams with long scan times are required if all the operating

data

AGGPP)

must be written from the

be

sequence

greatly simplified if all

program.

6-1

5

I

I0

INA)

66101-A

i

6.

PROGRAMMING

(1)

Flow

chart

(2)

Conditions

/MELSEC-A

Positioning

(7

Turn off PC ready signal Y1D

I

Write parameters and zeroing data to buffer memory.

1

Write positioning data to buffer

memory.

1

Turn on PC ready signal

1

Write start

ry.

No.

to buffer memo-

Y

1D.

.

Write pointer to buffer memory.

.

External

signal

Interface

signal

Other

'In

GPP or AD71TU test mock?, X1 and Y1D may

3)

Timing

Drive unit READY

STOP

AD71 re&

Relevant axis krsy

RelevMt axis positioning

commenced

Relevant exb

PC ready (Y 1 D)

Positioning data

Start data number

Zero address

Monitor presnt value

After signal from the GPP or signal from the AD71TU, neither axis should be bury.

(X8,

stop

Tab

(X1)

4x4,

X51

X9)

(Y15, Y161

6.1

Start

ON

OFF

ON

1

retting

0

preLent value 4 16,252,928

be

off.

Conditions

is

If positioning speed than the speed limit value, positioning

speed

the

limit

is

higher

executed at

value.

+

Turn on positioning start signal

Start

complete

i

YES

Turn off positioning start signal

(Y10,

Y11. Y121.

A

Complete

I

Speed

PC ready (YlD)

AD71 ready(X1)

Stop (Y15)

X axis start (Y

X axis BUSY (X41

K

axis positioning commenced (X81

X

axis positioning complete (x2)-

M

code

M

code

ON

M

code

OFF

(Y1Bl

10)

(XE)

Depends

on

patterr

c

Pattern 01

I

-

Dwell

*

time

after stan

6-16

IB

INAI

€6101

C

6.

PROGRAMMING

(4)

/MELSEC-A

Program

(a)

Operating data already written from

The following program assumes that parameters, zeroing data,

and

positioning data have already been written to the

AD71 buffer memory using the

GPP

or

AD71TU.

[Example] To

start

[Notes] (1 ) For

(2)

Actual positioning operation depends on data

(3) For stop during positioning, refer to Section 6.3.9 (page 6-41

[Data transfer]

To

write start data

ACPU data register AD71 buffer memory

No.

[Program]

at

X

start

axis

data number 1.

conditions,

see

Table 6.1.

Address

No.

1 pattern setting.

).

1

Resets AD71 error 1 scan after

CPU

RUN.

PC

ready

6-1

7

Specifies start

(No. 1 in

Writes data

memory addreas

Resets after

this

X

axis start signal

X

axis

X

axis start signal

has started.

data

NO.

example)

NO.

to buff1

0.

IB

INAI

66101

E

6.

PROGRAMMING

/MELSEC=A

(b) Setting data specified using sequence program

[Notes] (1 ) For start conditions,

(2)

For stop during positioning, refer to Section 6.3.9 (page 6-41).

(3)

To

write parameters and zeroing data, turn off

[Data transfer]

(X

axis) ACPU data register

1st point start data

point

axis)

point

start data

[

start axis start data

[

start axis

start data start data

[

start axis

start data

[

start axis

2nd

3rd

X

axis pointer

(Y

1st

2nd

3rd point

Y

axis pointer

No. No.

No.

No,

H

IX

axis)

Positioninp information data

No.

1

Assumes data

page

6- 19.

see

AD71

buffer

mamorv

I

4

a

Table 6.1.

(X

Dwell

(X

Positioning

is

stored in registers

axis)

data

time

axis)

address data

PC

No.Q

No.

as

10

shown in Table 6.2,

~~

ready signal

048

D49

(Y

a

1

D).

(X

axis)

Positioning

speed

data

6-1

8

(Y

axis positioning

data

omitted)

IB

lNAl

66101-A

6.

PROGRAWNG

(X

axis parameters) Parameter information Travel per pulse Sped limit

Jog

Acceleration and deceleration times Backlash compensation

Uppar stroke limit

Lower stroke limit

Error compensation

Travel per inching input

Starting Positioning complete signal output

duration

(Y

Parameter information Travel per pulse

Sped

Jog

Acceleration and deceleration times

Backlash cornpensation

Upper stroke limit

Lower stroke limit

Error compensation

Trawl per inching input

Starting bias speed

Positioning complete signal output duration

IX

Zero address

Zeroing speed Zeroing creep speed Zeroing

Torque limit

Zeroing information

(Y

Zero

Zeroing speed Zeroing creep speed Zeroing Torque limit Zeroing information

value

speed

limit value

bias

speed

axis parameters)

limit

value

speed

limit

value

axis zeroing data)

dwell

time

axis zeroing data)

address

dwell

time

Y

axis start data number

Y

axis pointer

I I

Positioning information

I I

Posi-

data

~~~

Positioning address

Positioning information

Positioning sped

Y,

axis

D~II

Positioning address

X

axis parmaterr ID120 to 135

~~

Y

axis

X

axis zeroing data

Y

axis zeroing data

TaMe

6.2

/MELSEC-A

(3

(2)

(NO.

(No.

time

(No.

parameters

Data

Register Contents

points) 1 Dl0 to 14

I

1

to 10)

I

D20to

1

to 10)

I

D50to

10)

D70to

D80to

D90to

I

Dl40 to 155

I

Dl60 to 166

Dl7Oto 176

1

to 101

1 to 10)

1

to 10)

1

to

Dl5

29

69

79

99

'19

I I

I

i

!?

6-1

9

IB

iNN

BlOlA

[Example

1

]

X

ax

is

start

Battery error

XA

I1

IPC RUN)

M9039

Write command

4t

Wrm

:ommand

i

IL

AI

X1

n

W

Resets AD71 error

CPU

run.

AD71 battery error

PC

ready

Data write

X

axis positioning information

Speed

Dwell time

Address

X

axis parameters

X

axis zeroing data

1

scan

after

<

ayi; start 71

Timlng

is

same as

X8

on

page

X4 X8 XB XE

IY

AI

6-16

IY

PLS

RST

M3

Y10

Write reset

X

axis start data

X

axls pointer

X

axis start

X

axis start reset

No.

6-20

IB

IN41 66101-8

6.

PROGRAMMING

lattery error

XA

(PC

RUN1

M9039

Write command

Write

TO

HO

/MELSEC-A

K201 K1 K1

Resets AD71 error 1 scan CPU run.

AD71 battery error

PC ready

Data write

after

7

positioning

information

Spssd

Dwell time

Address

Positioning

information

Speed

Dwell time

Address

X

axis

Y

axis

X

axis

Y

axis

I

Writes positioning data

to buffer memory

(X

axis)

Write

(Y

Parameter write

Zeroing data write

axis)

6-2

1

(To

$.

be

continued)

Write reset

X

axis start

IS

INAi

56101-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

Zeroing data

Positioning data

Zeroing data area

3.7.1 AD71 electrical specifications

HANDLING

Nomenclature

Preparation

installation Environment

Installation and Removal

Wiring

Wiring precautions

6. PROGRAMMING

6.1 Writing Programs

6.1.1 Program structure

ACPU Programming

Data read and write precautions

Start positioning