Mitsubishi Electronics AJ65BT-D75P2-S3 User Manual

AJ65BT-D75P2-S3 Positioning Module User's Manual

SAFETY PRECAUTIONS

(Read these precautions before using this product.)

Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. For the safety precautions of the programmable controller system, refer to the user's manual for the CPU module used. In this manual, the safety instructions are classified into two levels: "

WARNING" and " CAUTION".

Under some circumstances, failure to observe the precautions given under " CAUTION" may lead to serious consequences. Observe the precautions of both levels because they are important for personal and system safety.

Make sure that the end users read this manual and then keep the manual in a safe place for future reference.

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[Design Precautions]

WARNING

Failure to observe this could lead to accidents for incorrect outputs or malfunctioning.

Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller. Failure to do so may result in an accident due to an incorrect output or malfunction. (1) Configure an emergency stop circuit and interlock circuit such as a positioning upper

limit/lower limit to prevent mechanical damage outside the programmable controller.

(2) The machine zero point return operation is controlled by the zero point return direction

and zero point return speed data. Deceleration starts when the near-point dog turns ON. Thus, if the zero point return direction is incorrectly set, deceleration will not start and the machine will continue to travel. Configure an interlock circuit to prevent mechanical damage outside the programmable controller.

(3) When the positioning module detects an error, the motion slows down and stops or the

motion suddenly stops, depending on the stop group setting in parameter. Set the parameters to meet the specifications of the positioning control system used. In addition, set the OPR parameters and positioning data within the specified setting range.

When a data link results in a communication error, the operating status of the station in

communication error changes depending on the type of the used data link. Using the communication status information, configure an interlock circuit in the sequence program to ensure that the system will operate safely.

For the method of checking the station in communication error and its operating status at communication error, refer to the corresponding data link manual.

[Design Precautions]

CAUTION

Do not install the control lines or communication cables together with the main circuit lines or

power cables.

Keep a distance of 100mm or more between them.

Failure to do so may result in malfunction due to noise.

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[Installation Precautions]

CAUTION

Use the programmable controller in an environment that meets the general specifications in

this manual.

Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product.

Securely fix the module using the DIN rail or mounting screws and fully tighten the mounting

screws within the specified torque range. If the screws are loose, it may result in fallout, short circuits, or malfunctions. Tightening the screw too far may cause damages to the screws and/or the module, resulting in a fallout, short circuits, or malfunctions.

Securely connect the external device connection connector and peripheral device connection

connector into the module connector until a click is heard.

Improper connection could lead to a connection fault, and to incorrect inputs and outputs.

When not connecting the drive unit and peripheral device, always install a cover on the

connector section.

Failure to observe this could lead to malfunctioning.

[Wiring Precautions]

WARNING

Check the rated voltage and terminal layout before wiring to the programmable controller, and

connect the cables correctly. Connecting a power supply with a different voltage rating or

incorrect wiring may cause a fire or failure. Check the terminal layout before wiring to the module, and connect the cables correctly. Prevent foreign matter such as dust or wire chips from entering the module.

Such foreign matter can cause a fire, failure, or malfunction.

[Wiring Precautions]

CAUTION

Tighten the terminal screws within the range of the specified torque.

If the terminal screws are loose, it may result in short circuits, or malfunctions. Tightening the terminal screws too far may cause damages to the terminal screws and/or the module, resulting in short circuits, or malfunctions.

Be sure there are no foreign substances such as sawdust or wiring debris inside the module.

Such debris could cause fires, failure, or malfunction. Individually ground the FG terminal of the programmable controller with a ground resistance of

100 ohms or less. Failure to do so may result in malfunction. Place the cables in a duct or clamp them.

If not, dangling cable may swing or inadvertently be pulled, resulting in damage to the module or cables or malfunction due to poor contact.

Keep a certain distance between the control wires and the communication cables.

Noise can cause a malfunction.

When disconnecting a cable from the module, do not pull on the cable itself. Disconnect cables

not fitted with a connectors by holding and pulling the cable connector.

Disconnect cables not fitted with a connector by removing the screws from the part connected

to the module can cause damage to the module or cable, or ,malfunction due to cable

connection faults.

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[Startup and Maintenance Precautions]

CAUTION

Do not touch any terminal while power is on.

Doing so will cause electric shock or malfunction.

Never disassemble or modify the module.

Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Switch off all phases of the externally supplied power used in the system before cleaning or tightening the screws. Failure to turn all phases OFF could lead to electric shocks.

Make sure to install or remove the module from the panel after switching off all phases of the

externally supplied power for the system.

Failure to turn all phases OFF could lead to module trouble or malfunctioning.

Before starting test operation, set the parameter speed limit value to the slowest value, and

make sure that operation can be stopped immediately if a hazardous state occurs.

Do not install/remove the terminal block more than 50 times after the first use of the product.

(IEC 61131-2 compliant)

Always make sure to touch the grounded metal to discharge the electricity charged in the body,

etc., before touching the module.

Failure to do so may cause a failure or malfunctions of the module.

[Precautions for use]

CAUTION

Note that when the reference axis speed is designated for interpolation operation, the speed of

the partner axis (2nd axis) may be larger than the set speed (larger than the speed limit value).

[Disposal Precautions]

CAUTION

When disposing of the product, handle it as industrial waste.

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CONDITIONS OF USE FOR THE PRODUCT

(1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions;

i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; and ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.

(2) The PRODUCT has been designed and manufactured for the purpose of being used in general

industries. MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT. ("Prohibited Application") Prohibited Applications include, but not limited to, the use of the PRODUCT in;

• Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT.

• Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User.

• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator, Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other applications where there is a significant risk of injury to the public or property.

Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or other safety features which exceed the general specifications of the PRODUCTs are required. For details, please contact the Mitsubishi representative in your region.

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REVISIONS

The manual number is given on the bottom left of the back cover.

Print Date * Manual Number Revision

Apr., 1998 IB (NA)-66824-A First printing

Apr., 2003 IB (NA)-66824-B Complete review

Oct., 2003 IB (NA)-66824-C Complete review

Feb.,2004 IB (NA)-66824-D

Partial correction addition

CONTENTS, Section 3.5, Section 5.6.2, Section 7.1.2, Section 8.2.5, Section 8.2.6, Section 10.1.2, Section 10.3.3 to Section 10.3.5, Section 10.3.8, Appendix 13, INDEX

Jun., 2005 IB (NA)-66824-E

Partial correction addition SAFETY INSTRUCTIONS, Generic Terms and Abbreviations, Section 3.4.2, Section 4.2.2, Section 4.3, Section 4.5.1, Section 4.5.3, Section 4.8.1, Section 5.1.2, Section 5.2.1, Section 5.3, Section 5.7.2, Section 6.1.1, Section 6.6.1, Section 6.6.5, Section 8.1.1, Section 8.2.4 to Section 8.2.8, Section 8.5, Section 9.1.2, Section 9.15, Section 9.2.6, Section 9.2.8 to Section 9.2.11, Section 10.3.9, Section 11.3.1, Section 12.2.1, Section 14.4.3, Section 12.4.4, Section 12.5.1, Section 12.5.2, Section 12.7.1, Section 12.7.5, Section 12.7.6, Section 13.4, Section 14.2, Section 14.3, Appendix 5.1, Appendix 11, Appendix 12

Jul., 2006 IB (NA)-66824-F

Partial correction addition

Appendix 7.1, INDEX

Sep., 2007 IB(NA)-66824-G

Partial revisions

Section 5.1.2, Section 5.2.1, Section 5.6.1, Section 5.7.1

Apr., 2015 IB(NA)-66824-H

Addition

CONDITIONS OF USE FOR THE PRODUCT Partial correction addition SAFETY PRECAUTIONS, INTRODUCTION, ABOUT MANUALS, COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES, GENERIC TERMS AND ABBREVIATIONS, Section 1.3, 2.3, 2.4, 3.1,

3.2, 3.7.1, 3.7.3, 3.7.4, 4.1.2, 4.1.3, 4.2.1, 4.3, 4.5.1, 4.5.2, 4.8.1,

5.1.1, 5.2.3, 5.3, 5.5, 6.1.1, 6.1.2, 9.1.4, 9.1.5, 9.2.7, 10.1.1, 10.1.2,

10.3.5, 10.3.8, 10.4.1, 10.4.2, 12.3.2, 12.4.3, 12.4.4, 12.5.3, 13.4, Appendix 1, 2, 3.2, 5.1, 5.2, 5.3, 6.1, 7.1, 8.1, 9.1, 11, 12, WARRANTY

Japanese Manual Version SH-3654-J

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

 1998 MITSUBISHI ELECTRIC CORPORATION

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MEMO

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INTRODUCTION

Thank you for purchasing the Mitsubishi general-purpose programmable controller MELSEC-A Series. Always read through this manual, and fully comprehend the functions and performance of the A Series PLC before starting use to ensure correct usage of this product. When applying the program examples introduced in this manual to an actual system, ensure the applicability and confirm that it will not cause system control problems.

SAFETY PRECAUTIONS ............................................................................................................................ A- 1

CONDITIONS OF USE FOR THE PRODUCT ........................................................................................... A- 5

REVISIONS .................................................................................................................................................. A- 6

INTRODUCTION .......................................................................................................................................... A- 8

CONTENTS .................................................................................................................................................. A- 8

ABOUT MANUALS ....................................................................................................................................... A- 15

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES ......................................................... A- 16

USING THIS MANUAL (1) ............................................................................................................................ A- 17

USING THIS MANUAL (2) ............................................................................................................................ A- 18

USING THIS MANUAL (3) ............................................................................................................................ A- 19

GENERIC TERMS AND ABBREVIATIONS ................................................................................................ A- 20

ENCLOSED PARTS ..................................................................................................................................... A- 21

SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING

1. PRODUCT OUTLINE 1- 1 to 1- 20

1.1 Positioning control .................................................................................................................................. 1- 2

1.1.1 Features of D75P2 .......................................................................................................................... 1- 2

1.1.2 Purpose and applications of positioning control ............................................................................. 1- 4

1.1.3 Mechanism of positioning control ................................................................................................... 1- 6

1.1.4 Outline design of positioning system .............................................................................................. 1- 8

1.1.5 Communicating signals between D75P2 and each module ........................................................... 1- 10

1.2 Flow of system operation ........................................................................................................................ 1- 12

1.2.1 Flow of all processes ........................................................................................................................ 1- 12

1.2.2 Outline of starting ............................................................................................................................. 1- 14

1.2.3 Outline of stopping ........................................................................................................................... 1- 16

1.2.4 Outline for restarting ......................................................................................................................... 1- 17

1.3 Outline of communication ....................................................................................................................... 1- 18

1.3.1 Cyclic transmission........................................................................................................................... 1- 19

1.3.2 Transient transmission ..................................................................................................................... 1- 20

2. SYSTEM CONFIGURATION 2- 1 to 2- 12

2.1 General image of system ....................................................................................................................... 2- 2

2.2 List of configuration devices .................................................................................................................. 2- 4

2.3 Applicable system .................................................................................................................................. 2- 6

2.4 Precautions for use ................................................................................................................................ 2- 8

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3. SPECIFICATIONS AND FUNCTIONS 3- 1 to 3- 44

3.1 General specifications ............................................................................................................................ 3- 2

3.2 Performance specifications .................................................................................................................... 3- 4

3.3 List of functions ..................................................................................................................................... 3- 6

3.3.1 D75P2 control functions .................................................................................................................. 3- 6

3.3.2 D75P2 main functions ..................................................................................................................... 3- 8

3.3.3 D75P2 auxiliary functions and common functions .......................................................................... 3- 10

3.3.4 Combination of D75P2 main functions and auxiliary functions ...................................................... 3- 12

3.4 Specifications of input/output signals for master module ...................................................................... 3- 14

3.4.1 List of input/output signals ............................................................................................................... 3- 14

3.4.2 Details of input signals (D75P2

3.4.3 Details of output signals (Master module

3.5 Remote registers ..................................................................................................................................... 3- 23

3.6 Transmission delay time ......................................................................................................................... 3- 32

3.7 Specifications of input/output interfaces with external devices ............................................................. 3- 35

3.7.1 Electrical specifications of input/output signals ............................................................................... 3- 35

3.7.2 Signal layout for external device connection connector.................................................................. 3- 38

3.7.3 List of input/output signal details ...................................................................................................... 3- 39

3.7.4 Input/output interface internal circuit ................................................................................................ 3- 42

Master module) ....................................................................... 3- 17

D75P2) .................................................................... 3- 21

4. INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT 4- 1 to 4- 30

4.1 Outline of installation, wiring and maintenance ..................................................................................... 4- 2

4.1.1 Installation, wiring and maintenance procedures ........................................................................... 4- 2

4.1.2 Names of each part ......................................................................................................................... 4- 3

4.1.3 Handling precautions ...................................................................................................................... 4- 5

4.2 Installation .............................................................................................................................................. 4- 7

4.2.1 Precautions for installation .............................................................................................................. 4- 7

4.2.2 Installation/removal of module ........................................................................................................ 4- 9

4.3 Connection of CC-Link dedicated cable ................................................................................................. 4- 12

4.4 Module setting ......................................................................................................................................... 4- 14

4.4.1 Station number setting of module .................................................................................................... 4- 14

4.4.2 Transmission speed setting of module ............................................................................................ 4- 15

4.5 Wiring/connection .................................................................................................................................... 4- 16

4.5.1 Precautions for wiring/connection .................................................................................................... 4- 16

4.5.2 Wiring the external device connection connector pins.................................................................... 4- 20

4.5.3 Connecting the connector ................................................................................................................ 4- 24

4.6 Confirming the installation and wiring ..................................................................................................... 4- 25

4.6.1 Items to confirm when installation and wiring are completed ......................................................... 4- 25

4.7 Single module test ................................................................................................................................... 4- 26

4.8 Maintenance ............................................................................................................................................ 4- 30

4.8.1 Precautions for maintenance ........................................................................................................... 4- 30

4.8.2 Disposal instructions ........................................................................................................................ 4- 30

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5. DATA USED FOR POSITIONING CONTROL (List of buffer memory addresses) 5- 1 to 5-112

5.1 Types of data .......................................................................................................................................... 5- 2

5.1.1 Parameters and data required for control....................................................................................... 5- 2

5.1.2 Setting items for positioning parameters ........................................................................................ 5- 4

5.1.3 Setting items for zero point return parameters ............................................................................... 5- 6

5.1.4 Setting items for positioning data .................................................................................................... 5- 7

5.1.5 Setting items for start block data .................................................................................................... 5- 9

5.1.6 Setting items for condition data ....................................................................................................... 5- 10

5.1.7 Types and roles of monitor data ...................................................................................................... 5- 11

5.1.8 Types and roles of control data ....................................................................................................... 5- 14

5.2 List of parameters ................................................................................................................................... 5- 18

5.2.1 Basic parameters 1 .......................................................................................................................... 5- 18

5.2.2 Basic parameters 2 .......................................................................................................................... 5- 24

5.2.3 Detailed parameters 1 ...................................................................................................................... 5- 28

5.2.4 Detailed parameters 2 ...................................................................................................................... 5- 36

5.2.5 Zero point return basic parameters ................................................................................................. 5- 45

5.2.6 Zero point return detailed parameters ............................................................................................. 5- 52

5.3 List of positioning data ............................................................................................................................ 5- 57

5.4 List of start block data ............................................................................................................................. 5- 71

5.5 List of condition data ............................................................................................................................... 5- 76

5.6 List of monitor data .................................................................................................................................. 5- 80

5.6.1 System monitor data ........................................................................................................................ 5- 80

5.6.2 Axis monitor data .............................................................................................................................. 5- 90

5.7 List of control data .................................................................................................................................. 5-100

5.7.1 System control data ........................................................................................................................ 5-100

5.7.2 Axis control data .............................................................................................................................. 5-106

6. SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 6- 1 to 6- 66

6.1 Information necessary for program creation ............................................................................................ 6- 2

6.1.1 When ACPU/QCPU (A mode) is used .............................................................................................. 6- 2

6.1.2 When QCPU (Q mode)/QnACPU is used ....................................................................................... 6- 15

6.2 Precautions for creating program ........................................................................................................... 6- 2 2

6.3 List of devices used ................................................................................................................................. 6- 23

6.4 Creating a program ................................................................................................................................. 6- 29

6.4.1 General configuration of program .................................................................................................... 6- 29

6.4.2 Positioning control operation program ............................................................................................. 6- 30

6.5 Positioning program examples ............................................................................................................... 6- 3 3

6.5.1 When using FROM/TO command with ACPU/QCPU-A (A mode) ................................................ 6- 33

6.5.2 When using dedicated commands with ACPU/QCPU-A (A mode) ............................................... 6- 40

6.5.3 When using dedicated commands with QCPU (Q mode)/QnACPU .............................................. 6- 46

6.6 Program details ....................................................................................................................................... 6- 51

6.6.1 Initialization program ........................................................................................................................ 6- 51

6.6.2 Start details setting program ............................................................................................................ 6- 52

6.6.3 Start program .................................................................................................................................... 6- 53

6.6.4 Restart program ............................................................................................................................... 6- 61

6.6.5 Stop program .................................................................................................................................... 6- 64

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7. MEMORY CONFIGURATION AND DATA PROCESS 7- 1 to 7- 16

7.1 Configuration and roles of D75P2 memory ........................................................................................... 7- 2

7.1.1 Configuration and roles of D75P2 memory .................................................................................... 7- 2

7.1.2 Buffer memory area configuration .................................................................................................. 7- 5

7.2 Data transmission process .................................................................................................................... 7- 6

SECTION 2 CONTROL DETAILS AND SETTING

8. ZERO POINT RETURN CONTROL 8- 1 to 8- 24

8.1 Outline of zero point return control ........................................................................................................ 8- 2

8.1.1 Three types of zero point return control ......................................................................................... 8- 2

8.2 Machine zero point return ...................................................................................................................... 8- 4

8.2.1 Outline of the machine zero point return operation ........................................................................ 8- 4

8.2.2 Machine zero point return method .................................................................................................. 8- 5

8.2.3 Zero point return method (1): Near-point dog method ................................................................... 8- 6

8.2.4 Zero point return method (2): Stopper stop method 1) .................................................................. 8- 8

8.2.5 Zero point return method (3): Stopper stop method 2) ................................................................... 8- 11

8.2.6 Zero point return method (4): Stopper stop method 3) ................................................................... 8- 14

8.2.7 Zero point return method (5): Count method 1) .............................................................................. 8- 16

8.2.8 Zero point return method (6): Count method 2) .............................................................................. 8- 18

8.3 Data setting method zero point return .................................................................................................... 8- 20

8.4 High-speed zero point return .................................................................................................................. 8- 21

8.4.1 Outline of the high-speed zero point return operation .................................................................... 8- 21

8.5 Positioning to the zero point ................................................................................................................... 8- 23

9. MAIN POSITIONING CONTROL 9- 1 to 9- 62

9.1 Outline of main positioning controls....................................................................................................... 9- 2

9.1.1 Data required for main positioning control ...................................................................................... 9- 3

9.1.2 Operation patterns of main positioning controls ............................................................................. 9- 4

9.1.3 Designating the positioning address................................................................................................ 9- 14

9.1.4 Confirming the current value ............................................................................................................ 9- 15

9.1.5 Control unit "degree" handling ......................................................................................................... 9- 17

9.1.6 Interpolation control .......................................................................................................................... 9- 19

9.2 Setting the positioning data ................................................................................................................... 9- 22

9.2.1 Relation between each control and positioning data ...................................................................... 9- 22

9.2.2 1-axis linear control .......................................................................................................................... 9- 23

9.2.3 2-axis linear interpolation control ..................................................................................................... 9- 25

9.2.4 1-axis fixed-dimension feed control ................................................................................................. 9- 29

9.2.5 2-axis fixed-dimension feed control (interpolation) ........................................................................ 9- 31

9.2.6 2-axis circular interpolation control with auxiliary point designation ............................................... 9- 33

9.2.7 2-axis circular interpolation control with center point designation .................................................. 9- 39

9.2.8 Speed control ................................................................................................................................... 9- 46

9.2.9 Speed/position changeover control ................................................................................................. 9- 48

9.2.10 Current value change ..................................................................................................................... 9- 56

9.2.11 JUMP command ............................................................................................................................. 9- 60

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10. ADVANCED POSITIONING CONTROL 10- 1 to 10- 22

10.1 Outline of advanced positioning control ............................................................................................ 10- 2

10.1.1 Data required for advanced positioning control ......................................................................... 10- 3

10.1.2 "Start block data" and "condition data" configuration ................................................................. 10- 4

10.2 Advanced positioning control execution procedure ........................................................................ 10- 6

10.3 Setting the start block data ................................................................................................................ 10- 7

10.3.1 Relation between various controls and start block data ............................................................ 10- 7

10.3.2 Block start (normal start) ........................................................................................................... 10- 8

10.3.3 Condition start .............................................................................................................................. 10- 10

10.3.4 Wait start....................................................................................................................................... 10- 11

10.3.5 Simultaneous start ...................................................................................................................... 10- 12

10.3.6 Stop............................................................................................................................................... 10- 13

10.3.7 Repeated start (FOR loop) ......................................................................................................... 10- 14

10.3.8 Repeated start (FOR condition) ................................................................................................. 10- 15

10.3.9 Restrictions when using the NEXT start ...................................................................................... 10- 16

10.4 Setting the condition data ................................................................................................................... 10- 17

10.4.1 Relation between various controls and the condition data ......................................................... 10- 17

10.4.2 Condition data setting examples ................................................................................................. 10- 19

10.5 Starting advanced positioning control ................................................................................................ 10- 20

10.5.1 Starting advanced positioning control ......................................................................................... 10- 20

10.5.2 Example of start program for advanced positioning control ....................................................... 10- 21

11. MANUAL CONTROL 11- 1 to 11- 22

11.1 Outline of manual control ................................................................................................................. 11- 2

11.1.1 Two manual control methods ..................................................................................................... 11- 2

11.2 JOG operation .................................................................................................................................... 11- 4

11.2.1 Outline of JOG operation ............................................................................................................ 11- 4

11.2.2 JOG operation execution procedure .......................................................................................... 11- 7

11.2.3 Setting the required parameters for JOG operation ................................................................... 11- 8

11.2.4 Creating start programs for JOG operation ................................................................................. 11- 10

11.2.5 JOG operation example ............................................................................................................... 11- 12

11.3 Manual pulse generator operation ...................................................................................................... 11- 16

11.3.1 Outline of manual pulse generator operation .............................................................................. 11- 16

11.3.2 Manual pulse generator operation execution procedure ............................................................ 11- 19

11.3.3 Setting the required parameters for manual pulse generator operation .................................... 11- 20

11.3.4 Starting the manual pulse generator operation ........................................................................... 11- 21

12. CONTROL AUXILIARY FUNCTIONS 12- 1 to 12- 82

12.1 Outline of auxiliary functions .............................................................................................................. 12- 2

12.1.1 Outline of auxiliary functions ....................................................................................................... 12- 2

12.2 Auxiliary functions specifically for machine zero point returns ......................................................... 12- 4

12.2.1 Zero point return retry function ................................................................................................... 12- 4

12.2.2 Zero point shift function ............................................................................................................. 12- 8

12.3 Functions for compensating the control ............................................................................................. 12- 11

12.3.1 Backlash compensation function ................................................................................................. 12- 11

12.3.2 Electronic gear function ............................................................................................................... 12- 13

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12.3.3 Near pass mode function ............................................................................................................. 12- 18

12.4 Functions to limit the control ............................................................................................................... 12- 22

12.4.1 Speed limit function ...................................................................................................................... 12- 22

12.4.2 Torque limit function ..................................................................................................................... 12- 24

12.4.3 Software stroke limit function ....................................................................................................... 12- 27

12.4.4 Hardware stroke limit function ..................................................................................................... 12- 33

12.5 Functions to change the control details .............................................................................................. 12- 35

12.5.1 Speed change function ................................................................................................................ 12- 35

12.5.2 Override function .......................................................................................................................... 12- 40

12.5.3 Acceleration/deceleration time change function ......................................................................... 12- 42

12.5.4 Torque change function ............................................................................................................... 12- 45

12.6 Absolute position restoration function ................................................................................................ 12- 47

12.7 Other functions .................................................................................................................................... 12- 53

12.7.1 Step function................................................................................................................................. 12- 53

12.7.2 Skip functi on ................................................................................................................................. 12- 58

12.7.3 M code output function ................................................................................................................. 12- 60

12.7.4 Teaching function ......................................................................................................................... 12- 64

12.7.5 Command in-position function ..................................................................................................... 12- 69

12.7.6 Stepping motor mode function ..................................................................................................... 12- 72

12.7.7 Acceleration/deceleration processing function ............................................................................ 12- 75

12.7.8 Indirectly specification func tion .................................................................................................... 12- 78

13. COMMON FUNCTIONS 13- 1 to 13- 10

13.1 Outline of common functions ............................................................................................................. 13- 2

13.2 Parameter initialization function ......................................................................................................... 13- 3

13.3 Execution data backup function ........................................................................................................ 13- 5

13.4 LED display function .......................................................................................................................... 13- 7

13.5 Clock data function.............................................................................................................................. 13- 10

14. TROUBLESHOOTING 14- 1 to 14- 40

14.1 Troubleshooting when the "ERR" LED on the Master Module is Flashing ...................................... 14- 2

14.2 Error and warning details ................................................................................................................... 14- 4

14.3 List of errors ....................................................................................................................................... 14- 8

14.4 List of warnings ................................................................................................................................... 14- 34

14.5 Start during error history ..................................................................................................................... 14- 40

APPENDICES Appendix- 1 to Appendix- 62

Appendix 1 Change with Upgrade .................................................................................................. Appendix- 2

Appendix 2 External dimension drawing ........................................................................................ Appendix- 3

Appendix 3 Format sheets ............................................................................................................ Appendix- 4

Appendix 3.1 Positioning module operation chart .................................................................... Appendix- 4

Appendix 3.2 Parameter setting value entry table ..................................................................... Appendix- 6

Appendix 3.3 Positioning data setting value entry table ............................................................ Appendix- 12

Appendix 4 Positioning data (No. 1 to 100), List of buffer memory addresses ............................ Appendix- 13

A - 13

Appendix 5 Connection examples with servo amplifiers manufactured

by MITSUBISHI Electric Coporation ............................................................................ Appendix- 16

Appendix 5.1 Connection example of D75P2 and MR-H

(Differential driver (Open collector)) ...................................................................... Appendix- 16

Appendix 5.2 Connection example of D75P2 and MR-J2/J2S-

(Differential driver (Open collector)) ...................................................................... Appendix- 18

Appendix 5.3 Connection example of D75P2 and MR-C

(Differential driver (Open collector)) .................................................................... Appendix- 20

Appendix 6 Connection examples with stepping motors manufactured

by ORIENTALMOTOR Co., Ltd. .................................................................................. Appendix- 21

Appendix 6.1 Connection example of D75P2 and VEXTA UPD (Open collector) ..................... Appendix- 21

Appendix 7 Connection examples with servo amplifiers manufactured

by Panasonic Co., Ltd. ................................................................................................. Appendix- 22

Appendix 7.1 Connection example of D75P2 and MINAS-A series (Differential driver) ........... Appendix- 22

Appendix 8 Connection examples with servo amplifiers manufactured

by SANYO DENKI Co., Ltd. ......................................................................................... Appendix- 23

Appendix 8.1 Connection example of D75P2 and PYO series (Differential driver) ................... Appendix- 23

Appendix 9 Connection examples with servo amplifiers manufactured

by YASKAWA Electric Corporation .............................................................................. Appendix- 24

Appendix 9.1 Connection example of D75P2 and - Appendix 10 Comparisons with A1SD75P

Appendix 11 MELSEC Explanation of positioning terms ................................................................ Appendix- 27

Appendix 12 Positioning control troubleshooting ............................................................................ Appendix- 49

Appendix 13 List of buffer memory addresses ................................................................................ Appendix- 55

-S3 and AD75P -S3 modules ................................ Appendix- 25

series (Differential driver) .................... Appendix- 24

INDEX Index- 1 to Index- 10

A - 14

ABOUT MANUALS

The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below.

Related Manuals

Manual Name

AJ65BT-D75P2-S3 Positioning Module User's Manual (Hardware)

This manual describes performance specifications, input/output interface, names of each part and

startup procedures of the AJ65BT-D75P2-S3 positioning module. (enclosed with module)

Manual Number

(Model Code)

IB-66829

(13JL48)

CC-Link System Master/Local Module Type AJ61BT11/A1SJ61BT11 User's Manual

This manual describes the system configuration, performance specifications, functions, handling, wiring

and troubleshooting of the AJ61BT11 and A1SJ61BT11 (sold separately).

CC-Link System Master/Local Module Type AJ61QBT11/A1SJ61QBT11 User's Manual

This manual describes the system configuration, performance specifications, functions, handling, wiring

and troubleshooting of the AJ61QBT11 and A1SJ61QBT11 (sold separately).

MELSEC-Q CC-Link System Master/Local Module User's Manual

This manual describes the system configuration, performance specifications, functions, handling, wiring

and troubleshooting of the QJ61BT11N (sold separately).

MELSEC-L CC-Link System Master/Local Module User's Manual

This manual describes system configuration, performance specifications, functions, handling, wiring, and

troubleshooting of the LCPU with built-in CC-Link (sold separately).

MELSEC iQ-R CC-Link System Master/Local Module User's Manual (Application)

This manual describes functions, parameter settings, programming, troubleshooting, I/O signals, and

buffer memory of the CC-Link system master/local module (sold separately).

Type AnSHCPU/AnACPU/AnUCPU/QCPU-A (A Mode) Programming Manual (Dedicated Instructions)

This manual describes the instructions extended for the AnSHCPU/AnACPU/AnUCPU/QCPU-A (A

Mode) (sold separately).

IB-66721

(13J872)

IB-66722

(13J873)

SH-080394E

(13JR64)

SH-080895ENG

(13JZ41)

SH-081270ENG

(13JX19)

IB-66251

(13J742)

QnACPU Programming Manual (Special Function Module)

This manual describes dedicated instructions for the special function modules (sold separately).

SH-4013

(13JF56)

MELSEC iQ-R Programming Manual (Instructions, Standard Functions/Function Blocks)

This manual describes instructions for the CPU module, dedicated instructions for the intelligent function

modules, and standard functions/function blocks (sold separately).

SH-081266ENG

---

Positioning module software package type SW1IVD-AD75P Operating Manual

This manual describes the methods of creating data (such as parameters and positioning data.),

transmitting the data to the module, monitoring the positioning and testing, using the above software

package (enclosed with each software package product).

IB-66714

(13J915)

GX Configurator-AP Version 1 Operating Manual

This manual describes the methods of creating data (such as parameters and positioning data),

transmitting the data to the module, monitoring the positioning and testing, using the above software

package (sold separately)

IB-66900

(13J948)

*1 This manual is stored in the CD-ROM of the software package as PDF file. For those who would like to order the manual separately, the printed version is optionally available and so please ask it with the manual number (model code) in the table above.

A - 15

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES

(1) Method of ensuring compliance

To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment, certain measures may be necessary. Please refer to one of the following manuals.

User's manual for the CPU module or head module used Safety Guidelines

(This manual is included with the CPU module, base unit, or head module.)

The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives.

(2) Additional measures

To ensure that this product maintains EMC and Low Voltage Directives, please refer to one of the manuals listed under (1).

A - 16

USING THIS MANUAL (1)

10 Decimal 10

The symbols used in this manual are shown below. Unless otherwise specified, the "buffer memory" indicates the buffer memory of the D75P2.

....... Symbol indicating master module buffer memory address.

Pr.*

....... Symbol indicating positioning parameter and zero point return

parameter item.

Da.*

....... Symbol indicating positioning data, start block data and condition

data item.

Md.*

....... Symbol indicating monitor data item.

Cd.*

....... Symbol indicating control data item.

(A serial No. is inserted in the * mark.)

Indication of values in this manual



The buffer memory address, error code and warning code are indicated in a

decimal value.



The X/Y device is indicated in a hexadecimal value.



The setting data and monitor data is indicated in a decimal or hexadecimal value.

An “H” attached at the end of the value indicates a hexadecimal value. (Examples)

Hexadecimal

A - 17

USING THIS MANUAL (2)

1)  2)  3)  4)  5)  Test operation  6)  Actual operation

The methods for reading this manual are shown below.

Chapter 1 PRODUCT OUTLINE

Chapter 2 SYSTEM CONFIGURATION

Chapter 3 SPECIFICATIONS AND FUNCTIONS

Chapter 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

Chapter 5 DATA USED FOR POSITIONING CONTROL

5.1 Types of data

5.2 List of parameters

5.3 List of positioning data

5.4 List of start block data

5.5 List of condition data

5.6 List of monitor data

5.7 List of control data

1) Understand the product functions and specifications, and design the system.

2) Install and wire the product

3) Set the parameters

4) While referring to lists in "SECTION 2" and "Chapter 5", set the data required for each control

Chapter 8 ZERO POINT RETURN CONTROL

Chapter 9 MAIN POSITIONING CONTROL

Chapter 10

POSITIONING CONTROL

Chapter 11 MANUAL CONTROL

ADVANCED

SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING

Chapter 6

FOR POSITIONING CONTROL

Chapter 7

AND DATA PROCESS

*Understand the data process in the D75P2 as necessary.

SEQUENCE PROGRAM USED

MEMORY CONFIGURATION

Chapter 12 CONTROL AUXILIARY FUNCTIONS

Chapter 13

5) Create a sequence program for control

Chapter 14 TROUBLESHOOTING

6) Remedies for "Errors" and "Warnings"

COMMON FUNCTIONS

A - 18

SECTION 2 CONTROL DETAILS AND SETTING

USING THIS MANUAL (3)

The contents of each chapter are shown below.

SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING

1 PRODUCT OUTLINE

2 SYSTEM

CONFIGURATION

3 SPECIFICATIONS

AND FUNCTIONS

4 INSTALLATION,

WIRING AND MAINTENANCE OF THE PRODUCT

The basic contents for understanding positioning control using D75P2 are described.

The devices required for positioning control using D75P2 are described.

The D75P2 functions and performance specifications, etc., are described.

The procedures for installing and wiring the D75P2, the precautions and maintenance are described.

List of parameters

Pr.

List of positioning data List of start block data List of condition data

List of monitor data

List of control data

5 DATA USED FOR

POSITIONING CONTROL

The setting items, setting details and range, default values, and setting destination buffer memory address for the parameters and data required for positioning control are described.

6 SEQUENCE

PROGRAM USED FOR POSITIONING CONTROL

7 MEMORY

CONFIGURATION AND DATA PROCESS

SECTION 2 CONTROL DETAILS AND SETTING

8 ZERO POINT

RETURN CONTROL

9 MAIN POSITIONING

CONTROL

10 ADVANCED

POSITIONING CONTROL

11 MANUAL CONTROL

12 CONTROL

AUXILIARY FUNCTIONS

13 COMMON

FUNCTIONS

14 TROUBLESHOOTING The errors and warnings detected by the D75P2 are described.

The sequence program required for positioning control is described. (Create an actual program using this program as a reference.)

The D75P2 memory configuration and data process are described. (Read this as required.)

The details and settings for zero point return control are described.

The details and examples of settings for "Main positioning control" using the "Positioning data" are described.

The details and examples of settings for "Advanced positioning control" using the "Positioning data" are described.

The settings and sequence programs required for JOG operation or manual pulse generator operation are described.

The settings and sequence programs required for using the auxiliary functions are described.

The settings and sequence programs required for using the common functions are described.

APPENDICES

Examples of wiring, a glossary and list of buffer memory addresses are described. (Read this as required.)

Da.

Md.

Cd.

APPENDICES

A - 19

GENERIC TERMS AND ABBREVIATIONS

Unless specially noted, the following generic terms and abbreviations are used in this manual.

Generic term/abbreviation Details of generic term/abbreviation

D75P2 Generic term for positioning module AJ65BT-D75P2-S3 type.

Peripheral device

AD75 software package

Drive unit Abbreviation for pulse input compatible drive unit (servo amplifier, stepping motor).

Manual pulse generator Abbreviation for manual pulse generator (prepared by user).

Data link system Abbreviation for MELSECNET ( ) and MELSECNET/B data link system.

Network system Abbreviation for MELSECNET/10 network system.

I/F Abbreviation for interface.

DOS/V personal computer IBM PC/AT® and compatible DOS/V compliant personal computer.

Personal computer Generic term for DOS/V personal computer.

Workpiece Generic term for moving body such as workpiece and tool, and for various control targets.

CC-Link Abbreviation for Control & Communication Link.

Master station Station that controls remote, local and intelligent device stations in a CC-Link system.

Remote I/O station Remote station that handles only bit data. (AJ65BTB - , AJ65BTC - )

Local station Station that has a CPU and can communicate with the master station and other local stations.

Intelligent device station

Master module Generic term for modules that can be used as the master station.

Cyclic transmission

Transient transmission Function that updates data for specified station at access request of PLC CPU.

RX Remote input.

RY Remote output.

RWw Remote register. (Write area)

RWr Remote register. (Read area)

Generic term for DOS/V personal computer that can run the following "AD75 Software Package".

Generic term for "SW1IVD-AD75P type positioning module software package" and "GX Configurator-AP Version 1 (SW0D5C-AD75P-E)."

Slave station in a CC-Link system that can make transient transmission, such as D75P2 or AJ65BT-R2.

Transmission method that updates contents of remote input/output and remote registers periodically.

A - 20

ENCLOSED PARTS

The D75P2 product configuration is shown below.

Part name Quantity

External device connection connector (10136-3000VE, Sumitomo 3M)

Connector cover (10336-56 F0-008, Sumitomo 3M) 2

Module (AJ65BT-D75P2-S3) 1

AJ65BT-D75P2-S3 Positioning Module User's Manual (Hardware)

A - 21

MEMO

A - 22

SECTION 1

PRODUCT SPECIFICATIONS AND HANDLING

SECTION 1

SECTION 1 is configured for the following purposes (1) to (5).

(1) To understand the outline of positioning control, and the D75P2 specifications and functions (2) To carry out actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a sequence program required for positioning control (5) To understand the memory configuration and data transmission process

Read "SECTION 2" for details on each control.

Chapter 1 PRODUCT OUTLINE ................................................................................... 1- 1 to 1- 20

Chapter 2 SYSTEM CONFIGURATION ....................................................................... 2- 1 to 2- 12

Chapter 3 SPECIFICATIONS AND FUNCTIONS ........................................................ 3- 1 to 3- 43

Chapter 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT ..... 4- 1 to 4- 30

Chapter 5 DATA USED FOR POSITIONING CONTROL ............................................ 5- 1 to 5-112

Chapter 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL ............. 6- 1 to 6- 66

Chapter 7 MEMORY CONFIGURATION AND DATA PROCESS ............................... 7- 1 to 7- 16

APPENDICES

MEMO

Chapter 1

PRODUCT OUTLINE

The purpose and outline of positioning control using D75P2 are explained in this chapter.

By understanding "What can be done", and "Which procedures to use" beforehand, the positioning system can be structured smoothly.

1.1 Positioning control ........................................................................................................ 1- 2

1.1.1 Features of D75P2 .......................................................................................... 1- 2

1.1.2 Purpose and applications of positioning control ............................................ 1- 4

1.1.3 Mechanism of positioning control ................................................................... 1- 6

1.1.4 Outline design of positioning system.............................................................. 1- 8

1.1.5 Communicating signals between D75P2 and each module ........................ 1- 10

1.2 Flow of system operation ............................................................................................ 1- 12

1.2.1 Flow of all processes ..................................................................................... 1- 12

1.2.2 Outline of starting ........................................................................................... 1- 14

1.2.3 Outline of stopping ......................................................................................... 1- 16

1.2.4 Outline for restarting ...................................................................................... 1- 17

1.3 Outline of communication ............................................................................................ 1- 1 8

1.3.1 Cyclic transmission ........................................................................................ 1- 19

1.3.2 Transient transmission................................................................................... 1- 20

APPENDICES

1 - 1

1 PRODUCT OUTLINE

1.1 Positioning control

1.1.1 Features of D75P2

MELSEC-

The features of the D75P2 are shown below.

(1) Compatibility with distributed system

The D75P2 can be installed near distributed servo amplifiers and stepping motors.

(2) Ease of compatibility with absolute position detection system

(a) Connection of an absolute position-compatible servo system provides

compatibility with an absolute position detection system.

(b) Once the zero point position has been established, the axis can return to

the address prior to power-on by absolute position restoration.

established by data setting method zero point return. This makes the wiring of near-point dogs, etc. unnecessary.

(3) Control by mechanical inputs

External inputs, such as external start, stop, and speed/position changeover, allow positioning control to be performed without use of sequence programs.

(4) Ample positioning control functions

(a) Various functions required for the positioning system, such as positioning

control to random position, fixed-dimension feed control and uniform speed control are provided.

1) Up to 600 positioning data items containing the positioning address, control method and operation pattern, etc., can be set for each axis. Positioning for each axis is carried out using this positioning data. (2axis interpolation control, and multiple axes using simultaneous start is possible.)

2) Linear control (2-axis simultaneous execution possible) is possible with

positioning for each axis. This control can carry out independent positioning with one positioning data item, or can carry out continuous positioning with continuous execution of multiple positioning data items.

3) With multiple axes positioning, linear interpolation control or circular

interpolation control using two axes is possible. This control can carry out independent positioning with one positioning data item, or can carry out positioning with continuous execution of multiple positioning data items.

(b) The control method designated with each positioning data includes position

control, speed control and speed/position changeover control.

the operation pattern set by the user using positioning data. With the above multiple positioning data as one block, continuous positioning of multiple blocks is possible.

1 - 2

1 PRODUCT OUTLINE

(5) High-speed pulse output and long distance with drive unit

(6) Easy maintenance

MELSEC-

(d) The zero point return control has been strengthened.

1) The near-point dog method (one method), stopper stop method (three

types), and count method (two types) zero point return methods have been prepared as the "machine zero point return" zero point return method.

2) To realize zero point return control to the machine zero point from a

random position, the zero point return retry function has been prepared. (The machine zero point is the position used as the start point for control such as positioning control. The machine zero point is established with the machine zero point return in item 1) above.)

(e) Automatic trapezoidal acceleration/deceleration and S-curve

acceleration/deceleration have been prepared as the acceleration/deceleration methods. The user can select from automatic trapezoidal acceleration/deceleration or S-curve acceleration/deceleration.

(a) The D75P2 has a differential driver and open collector pulse output

interface. Connect to either according to the type of drive unit.

(b) When connected to the differential driver, the speed and distance have

been increased.



When connected to differential driver : 400kpps, max. 10m,



When connected to open collector : 200kpps, max. 2m

The maintenance of the D75P2 has been improved with the following matters.

(a) The various data, such as the positioning data and parameters, are stored

on a flash ROM in the D75P2. This allows the data to be held without a battery.

(b) The error display, machine system input and zero point input state can be

confirmed with the 17-segment display.

(d) Up to 16 history items each for the error and warning information can be

held, so the details of the errors and warnings that have occurred can be confirmed easily.

1 - 3



1 PRODUCT OUTLINE

1.1.2 Purpose and applications of positioning control

"Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece") at a designated speed, and accurately stopping it at the target position. The main application examples are shown below.

Punch press (X, Y feed positioning)

Servo

mplifier

Palletizer

Y axis servomotor

Conveyor control

Servomotor (with brakes)

Servo amplifier

Gear and ball screw

Press head

Servo amplifier

Y axis

X axis servomotor

Reduction gears

Ball screw

(From D75P2)

X axis

Conveyor

320mm

Y axis

X axis Gear and rack & pinion

160mm

Press punching

12 s

X axis

Y axis

Position detector

Palletizer Unloader control

15m/min (2000r/min)

15m/min (1875r/min)

D75P2

MELSEC-

To punch insulation material or leather, etc.,

as the same shape at a high yield, positioning is carried out with the X axis and Y axis servos.

After positioning the table with the X axis

servo, the press head is positioned with the Y axis servo, and is then punched with the press.

When the material type or shape changes, the

press head die is changed, and the positioning pattern is changed.

Using the servo for one axis, the palletizer is

positioned at a high accuracy.

The amount to lower the palletizer according to

the material thickness is saved.

D75P2

Compact machining center (ATC magazine positioning)

Servomotor

Servo amplifier

D75P2

Coupling

Positioning pin

Reduction gears

ATC tool magazine

Tool (12 pcs., 20 pcs.)

Rotation direction for call ing 11, 12, 1, 2 or 3

Current value retrieval position

Rotation direction for calling 5, 6, 7, 8, 9 or 10

<No. of tools: 12> <No. of tools: 20>

Rotation direction for calling 17 to 20, 1 to 5

Current value retrieval position

Rotation direction for calling 7 to 16

1 - 4

The ATC tool magazine for a compact

machining center is positioned.

The relation of the magazine's current value

and target value is calculated, and positioning is carried out with forward run or reverse run to achieve the shortest access time.



1 PRODUCT OUTLINE

Lifter (Storage of Braun tubes onto aging rack)

B conveyor

Lifter C

Counterweight

Reduction gears

Servomotor (with brakes)

conveyor

A conveyor Servo amplifier

Loader

Servomotor

Servo amplifier

Aging rack

Positioning module D75P2-S3

Index table (High-accuracy indexing of angle)

D75P2

Unloader

Loader/unloader

MELSEC-

During the aging process of braun tubes,

storage onto the rack is carried out by positioning with the servo.

The up/down positioning of the lifter is carried

out with the 1-axis servo, and the horizontal position of the aging rack is positioned with the 2-axis servo.

The index table is positioned at a high accuracy

using the 1-axis servo.

Digital switch

Index table

Worm gears

Inner surface grinder

Servomotor

Inverter

AC220V 60Hz

D75P2

Servo amplifier

Motor

Fix the grinding stone, feed the workpiece, and grind.

Operation panel

a b

Workpiece

Grinding stone

a. Total feed

amount (mm) b. Finishing

feed amount (mm) c. Compensation amount (mm)

Detector Servomotor

Motor

Inverter

Servo amplifier

d. Rough grind ing speed (mm/s) e. Fine grindi ng speed ( mm/s)

The grinding of the workpiece's inner surface

is controlled with the servo and inverter.

The rotation of the workpiece is controlled with

the 1-axis inverter, and the rotation of the grinding stone is controlled with the 2-axis inverter. The workpiece is fed and ground with the 3-axis servo.

1 - 5

1 PRODUCT OUTLINE

1.1.3 Mechanism of positioning control

Positioning control using the D75P2 is carried out with "pulse signals". (The D75P2 is a module that generates pulses). In the positioning system using the D75P2, various software and devices are used for the following roles. The D75P2 realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the PLC CPU.

Creates control order and conditions as a sequence program.

GPP function software package

Stores the created program.

The D75P2 outputs the start signal and stop signal following the stored program.

D75P2 errors, etc., are detected.

PLC CPU

MELSEC-

AD75 software package

Sets the parameters and positioning data for control.

Outputs the start command for JOG operation, etc., during test operation with the test mode.

Monitors the positioning operation.

CC-Link master/local module

D75P2 positioning module

Servo amplifier

Communicates with the D75P2, using RX as input and RY as output.

Outputs signals such as the start signal, stop signal, limit signal and control changeover signal to the D75P2.

External signal

Manual pulse generator

Stores the parameter and data.

Outputs pulses to the servo according to the instructions from the PLC CPU, AD75 software package, external signals and manual pulse generator.

Receives pulse commands from D75P2, and drives the motor.

Outputs the drive unit READY signal and zero point signal to the D75P2.

Issues commands by transmitting pulses.

Motor

Carries out the actual work according to commands from the servo.

Workpiece

1 - 6

1 PRODUCT OUTLINE

The principle of "position control" and "speed control" operation is shown below.

Position control

The total No. of pulses required to move the designated distance is obtained in the following manner.

Total No. of pulses required to move designated distance

When this total No. of pulses is issued from the D75P2 to the servo amplifier, control to move the designated distance can be executed. The machine side movement amount when one pulse is issued to the servo amplifier is called the "movement amount per pulse". This value is the min. value for the workpiece to move, and is also the electrical positioning precision.

Speed control

The above "total No. of pulses" is an element required for movement distance control, but when carrying out positioning control or speed control, the speed must also be controlled. This "speed" is controlled by the "pulse frequency".

MELSEC-

Designated distance

Movement amount of machine (load) side when motor rotates once

* The No. of pulses required for the motor to rotate once is the "encoder resolution"

described in the motor catalog specification list.

No. of pulses required for motor to rotate once

Positioning module

Speed = Pulse frequency Movement amount = No. of pulses Feedback pulses = Pulses generated by detector

Servo amplifier

Servomotor

Feedback pulse

Detector

(Pulse encoder)

Pulse frequency [pps]

ta td

0.4 1.2 0.4

Movement amount t = 2

This area is the total No. of commanded pulses.

(s)

Fig. 1.1 Relationship between position control and speed control

POINT

The D75P2 controls the position with the "total No. of pulses", and the speed with the "pulse frequency".

1 - 7

1 PRODUCT OUTLINE

1.1.4 Outline design of positioning system

The outline of the positioning system operation and design, using the D75P2, is shown below.

MELSEC-

PLC CPU

Program

Write, read, etc.

Master module

Buffer memory

Positioning module D75P2

RX, RWr

Set data

RY, RWw

Write, read, etc.

· SW1IVD-AD75P-E

· SW0D5C-AD75P-E

· AD75 TU

Forward run pulse train

Reverse run pulse train

Deviation counter

Drive unit

D/A converter

Speed command

Interface

Feedback pulse

Servo amplifier

Servomotor

PLG

Fig. 1.2 Outline of the operation of positioning system using D75P2

1) The D75P2 output is a pulse train. When the pulse train is output, the pulses are cumulated with the deviation counter. This pulse droop amount is changed into a DC analog voltage by the D/A converter, and is used as the speed command.

2) Simultaneously with the start of motor rotation by the speed command from the drive unit, feedback pulses proportional to the speed are generated by the pulse encoder PLG, and the droop pulses in the deviation counter are subtracted. The deviation counter maintains a set droop amount and the motor continues rotating.

3) When the command pulse output from the D75P2 is stopped, the droop pulses in the deviation counter decreases, and the speed slows. When there are no more droop pulses, the motor stops. In other words, the motor rotation speed is proportional to the designated pulse frequency, and the motor rotation angle is proportional to the No. of output command pulses. Thus, if the movement amount per pulse is specified, the motor can be fed to a position proportional to the No. of pulses in the pulse train. The pulse frequency will be the motor speed (feedrate).

4) As shown below, the pulse train is rough during motor acceleration, and is dense at the full speed. During deceleration, the pulse train becomes rougher, and finally the pulse reaches 0. The motor stops with a slight delay in respect to the command pulse. This time difference is required to ensure the stopping precision, and is called the stop settling time.

1 - 8





1 PRODUCT OUTLINE

Speed V Pulse droop

amount

Pulse distribution

Servomotor speed

MELSEC-

Acceleration

Pulse train Rough Dense Rough

Deceleration

Time t

Stop settling time

Fig. 1.3 D75P2 output pulses

A : Movement amount per pulse (mm/pulse) Vs : Command pulse frequency (pulse/s)

Pulse encode (PLG)

Servomotor

Workpiece

Worm gea

Table

n : Pulse encoder resolution (pulse/rev) L : Worm gear lead (mm/rev) R : Deceleration ratio V : Movable section speed (mm/s) N : Motor speed (r/min) K : Position loop gain (1/s)

: Deviation counter droop pulse amount

P0 : Zero point (pulse) P : Address (pulse)

Fig. 1.4 System using worm gears

(1)

Movement amount per pulse

[mm/pulse]

A =

(2) Command pulse frequency

Vs =

V A

[pulse/s]

(3) Deviation counter droop pulse amount

 =

[pulse]

The movement amount per pulse is indicated with (1), and the [No. of output pulses] [

movement amount per pulse] is the movement amount. The command pulse frequency is

calculated with (2) using the movable section speed and

movement amount per pulse.

The relation of the command pulse frequency and deviation counter droop pulses is shown in (3).

As the positioning command

unit, (mm), (inch), (degree) or (pulse) can be selected

independently for the 1 to 2 axes of the D75P2. Thus, if the data such as the movement amount per pulse, acceleration/deceleration time, positioning speed, and positioning address are set to match the positioning command unit, the operation will be carried out within the D75P2 for the target positioning address. The pulse train will be output, and positioning will be executed.

1 - 9

1 PRODUCT OUTLINE

1.1.5 Communicating signals between D75P2 and each module

The outline of the signal communication between the D75P2 and PLC CPU, peripheral device and drive unit, etc., is shown below.

PLC CPU

Master module

RX(n+7)B

RXn0

RY(n+1)6, RY(n+1)8

RY(n+1)7, RY(n+1)9

Remote station READY signal

D75P2 READY signal

Forward run JOG start signal

Reverse run JOG start signal

D75P2

External interface

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Drive unit READY signal

Upper/lower limit signal

Near-point dog signal

Zero point signal

Deviation counter clear

Pulse train

External signal

Drive unit

Write/read

RY(n+1)0, RY(n+1)1

RXn7, RXn8

RXn4, RXn5

RXn1, RXn2

RY(n+1)3, RY(n+1)4

RXnD, RXnE

RXnA, RXnB

Positioning start signal

Positioning complete signal

BUSY signal

Start complete signal

Axis stop signal

M code ON signal

Error detection signal

Data write/read

Interface with master module

Peripheral device interface

Manual pulse generator A-phase

Manual pulse generator B-phase

Speed/position changeover signal

Stop signal External start signal

Parameter write/read

Positioning data write/read

Positioning start information write/read

Zero point return operation (test)

JOG operation (test)

Positioning operation (test)

Operation monitor

Manual pulse generator

External signal

Peripheral device

D75P2 Master module

Communication

Control signal *

Data (read/write)

* Refer to the section "3.4 Specifications of input/output signals with master module" for details.

The D75P2 and Master module communicate the following data via the base unit.

Direction

Signal indicating D75P2 state, such as D75P2 READY signal, BUSY signal.

Parameter, positioning data, positioning start information, monitor data, control data

D75P2

Master module Master module D75P2

Signal related to commands such as various start signals, stop signals, etc.

Parameter, positioning data, positioning start information, control data

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

1 PRODUCT OUTLINE

D75P2 Peripheral device

The D75P2 and peripheral device communicate the following data via the peripheral

Communication

Data (read/write)

Test operation –

Operation monitor Monitor data –

device connection connector.

Direction

D75P2 Drive unit

The D75P2 and drive unit communicate the following data via the external device

Communication

Control signal

Pulse train Pulse train output –

connection connector.

Direction

D75P2 Manual pulse generator

The D75P2 and manual pulse generator communicate the following data via the

Communication

Pulse signal –

external device connection connector.

Direction

D75P2 External signal

The D75P2 and external signal communicate the following data via the external

Communication

Control signal –

device connection connector.

Direction

D75P2

Parameter, positioning data, positioning start information

Signals related to commands such as deviation counter clear signal

D75P2

Peripheral device Peripheral device D75P2

D75P2

Drive unit Drive unit D75P2

Manual pulse generator Manual pulse generator D75P2

External signal External signal D75P2

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Parameter, positioning data, positioning start information

Zero point return control start command Positioning control start command JOG operation start command

Manual pulse generator operation enable/disable command

Signals indicating drive unit state such as drive unit READY signal

Manual pulse generator A-phase, manual pulse generator B-phase

Signals from detector such as near-point

dog signal, upper/lower limit signal, zero point signal

Control signals from external device such

as stop signal, external start signal, speed/position changeover signal

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1 PRODUCT OUTLINE

1.2 Flow of system operation

1.2.1 Flow of all processes

Design

The positioning control processes, using the D75P2, are shown below.

AD75 software package

1) Understand the functions and performance, and determine the positioning operation method

(system design)

D75P2

2) Installation, wiring, single module test

Servo, etc.

PLC CPU/

master module

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GPP function software package

Preparation

Operation

3) 4) Setting of the:

· Parameters

· Positioning data

· Start block data

· Condition data

Writing of setting data

7) 8)

Monitoring with test operation, and debugging of setting data

Monitor

5) 6)

Connection confirmation

Test operation

Actual operation

Creation of sequence program for operation

Writing of program

Monitoring and debugging of operation program

Monitor

10)

Maintenance

11)

Maintenance

Disposal

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

1 PRODUCT OUTLINE

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Details Reference

Understand the product functions and usage methods, the configuration devices

1) and specifications required for positioning control, and design the system.

Install the D75P2 onto the DIN rail or enclosure surface, wire the D75P2 and

external connection devices (drive unit, etc.), and connect the D75P2 and peripheral devices. Check that the D75P2 operates correctly. (Single module test)

Using the D75P2 software package, set the parameters, positioning data, start

3) block data and condition data required for the positioning control to be executed.

Using the GPP function software package, create the sequence program required for positioning operation. (When not using the AD75 software package, also create

4) the sequence program for setting data.)

Write the parameters and positioning data, etc., created with the AD75 software

5) package into the D75P2.

Using the GPP function software package, write the created sequence program into the PLC CPU. (When not using the AD75 software package, also write in the

6) sequence program for setting data.)

Carry out test operation and adjustments in the test mode to check the connection with the D75P2 and external connection device, and to confirm that the designated

7) positioning operation is executed correctly. (Debug the set "parameters" and

"positioning data", etc.)

Carry out test operation and adjustment to confirm that the designated positioning

operation is executed correctly. (Debug the created sequence program. When not using the AD75 software package, also debug the set data.

Actually operate the positioning operation. At this time, monitor the operation state

9) as required. If an error or warning occurs, remedy.

10) Service the D75P2 as required.

11) Dispose of the D75P2.

The following work is carried out with the processes shown on the left page.

Chapter 1 Chapter 2 Chapter 3 Chapter 8 to Chapter 13

Chapter 4

Chapter 5 Chapter 8 to Chapter 13 AD75 Software Package

Operating Manual

Chapter 6 GPP Function Software

Package Operating Manual

Chapter 7 AD75 Software Package

Operating Manual

Chapter 7 GPP Function Software

Package Operating Manual

AD75 Software Package

Operating Manual

GPP Function Software

Package Operating Manual

Chapter 5 Chapter 14 AD75 Software Package

Operating Manual

GPP Function Software

Package Operating Manual

Chapter 4

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1 PRODUCT OUTLINE

1.2.2 Outline of starting

The outline for starting each control is shown with the following flowchart. * It is assumed that each module is installed, and the required system configuration,

etc., has been prepared.

Flow of starting

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Preparation

Control functions

Positioning parameters

Zero point return parameters

Positioning data

Positioning start informa tion

Control data

Installation and connection of master module and D75P2

Setting of master module and D75P2 (transmission speed, station number, etc.)

Main positioning control

·Position control

·Speed control

·Speed/position changeover control

·Other control

Advanced positioning control

·Block start

·Condition start

·Wait start

·Simultaneous start

·St op

·Re pe titiv e st art

·Machine zero point return control

Set the positioning parameters.

Set the zero point return parameters.

Set the positioning data.

)

Da.1)Da.9

Set the positioning start information.

)

Da.10

Set the positioning start No. (RWwm, RWwm+8)

Da.18

)

Set the positioning starting point No.

)

Cd.31

Zero point return control

Data setting method zero poin t return control

·High-speed zero point return control

)

Pr.45)Pr.58

Manual control

·JOG operation

·Manual pulse generator operation

)

Pr.1

Pr.44

Set the JOG speed RWwm+6 to 7, RWwm+14 to 15

Set the manual pulse generator enable flag to "ON".

(RY(n+1)9, RY(n+4)9)

Set the manual pulse generator

Start signal

Control start

Input the start signal. Method (1) Turn ON the D75P2 start signal from the PLC CPU Method (2) Turn the D75P2 external start signal ON

1 pulse input magnification.

Turn the D75P2 JOG start signal ON from the PLC CPU

)

Cd.23

Operate the manual pulse generator

Operation

Control end

Stop

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1 PRODUCT OUTLINE

Setting method

: Indicates the sequence program that must be created.

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Set with AD75 software package

* Set the parameter and data for executing this function, and the auxiliary functions that need to be set beforehand.

Create sequence program for executing main function

* Create sequence program for outputting control signals, such as start signal, to D75P2.

Operation sequence program PLC CPU

· Clock data setting

· Speed change

· Current value change

· Torque limit

· Restart, etc.

Create a sequence program for the auxiliary functions.

Write

D75P2

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1 PRODUCT OUTLINE

1.2.3 Outline of stopping

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Forced stop

Fatal stop (Stop group 1)

Emergency stop (Stop group 2)

Relatively safe stop (Stop group 3)

Intentional stop (Stop group 3)

Stop cause

Drive unit READY signal OFF

Hardware stroke limit upper/lower limit error occurrence

Software stroke limit upper/lower limit error occurrence

Remote station READY signal OFF

"Stop" input from peripheral device

Axis error detection (Error other than stop group 1 or 2)

Error in test mode

"Stop signal" ON from external source

"Axis stop signal" ON from PLC CPU

Each control is stopped in the following cases.

(1) When each control is completed normally. (2) When the drive unit READY signal is turned OFF. (3) When the data link of CC-Link stops. (4) When Initial data setting request (RY(n+7)9) turns ON and Remote station READY

(RX(n+7)B) turns OFF. (5) When an error occurs in the D75P2. (6) When control is intentionally stopped (Stop signal from master module turned ON,

stop from peripheral device, etc.)

The outline for the stopping process in these cases is shown below. (Excluding (1) for normal stopping.)

Stop process

Zero point return control

HighMachine zero point return control

Immediate stop

Deceleration stop/sudden stop

(Select with Pr.38 )

Deceleration stop/sudden stop

(Select with

Deceleration stop/sudden stop

(Select with

speed

zero

point

return

control

Main positioning control

Pr.39 )

Pr.40 )

Advanced positioning control

JOG operation

Manual control

Manual pulse generator operation

Immediate stop

Deceleration stop

Stop

axis

Each axis

All axes

Each axis

Axis

operation

status after

stopping

(RWrn+7,

RWrn+15)

During error

When stopped (While waiting)

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1 PRODUCT OUTLINE

1.2.4 Outline for restarting

When a stop cause has occurred during operation with position control causing the axis to stop, positioning to the end point of the positioning data can be restarted from the stopped position by using restart command [RY(n+2)5, RY(n+4)5].

When "Restart command [RY(n+2)5, RY(n+4)5]" is ON

(1) If the "Axis operation status (RWrn+7, RWrn+15)" is stopped, positioning to

(2) When "Axis operation status (RWrn+7, RWrn+15)" is not stopped, the warning

[Example for incremental method]

The restart operation when the axis 1 movement amount is 300, and the axis 2 movement amount is 600 is shown below.

Axis 1

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the end point of the positioning data will be restarted from the stopped position regardless of the absolute method or incremental method.

"restart not possible" (warning code: 104) will be applied, and the restart command will be ignored.

Axis 1

Stop position due to stop cause

Start point address

200

100

100 300 700

Designated end point position

Axis 2

Restart

Stop position due to stop cause

400

200

100

300 700

100

Stop position after restart

Operation during restart

Axis 2

Reference

If the positioning start signal [RY(n+1)0, [RY(n+1)1]/external start signal is turned ON while the "Axis operation status (RWrn+7, RWrn+15)" is waiting or stopped, positioning will be restarted from the start of the positioning start data regardless of the absolute method or incremental method. (Same as normal positioning.)

[Example for incremental method]

The positioning start operation when the axis 1 movement amount is 300 and the axis 2 movement amount is 600 is shown below.

Axis 1

Stop position due to stop cause

400

Start point address

200

100

100 300 700

Designated end point position

Positioning start

Axis 2

Axis 1

Stop position due to stop cause

500

200

100

300 900

100

Stop position after start

Operation during positioning start

Axis 2

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1 PRODUCT OUTLINE

1.3 Outline of communication

For communication between the D75P2 and master module, the two different transmission formats, cyclic transmission and transient transmission, are used.

When AJ61BT11 or A1SJ61BT11 is used

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PLC CPU

Read/write with FROM/TO command Automatic refresh with dedicated command

Master module

Cyclic transmission

Transient

transmission

D75P2

Remote

input/output

Remote registers

Buffer memory

Fig. 1.5 Outline of communication (When AJ61BT11 or A1SJ61BT11 is used)

When a module other than the AJ61QBT11 or A1SJ61QBT11 is used

D75P2

PLC CPU

Automatic refresh

Master module

Cyclic transmission

Transient

transmission

Remote

input/output

Remote registers

Buffer memory

Fig. 1.6 Outline of communication (When a module other than the AJ61QBT11 or A1SJ61QBT11

is used)

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1 PRODUCT OUTLINE

1.3.1 Cyclic transmission

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This section explains cyclic transmission between the D75P2 and master module.

PLC CPU Master module

Buffer memory

Remote input

(RX)

3) 4)

5) 6)

8) 7)

Remote output

(RY)

Remote register

(RWw)

Remote register

(RWr)

1)2)

Link scan

D75P2

Remote input

(RX)

Remote output

(RY)

Remote register

(RWw)

Remote register

(RWr)

Fig. 1.7 Cyclic transmission

(1) Remote input (RX)

1) The data of the remote input (RX) of the D75P2 are stored into the buffer memory of the master module every link scan.

2) The input data stored in the master module are imported to the PLC CPU by the FROM command or automatic refresh.

(2) Remote output (RY)

3) The data of the remote output (RY) of the D75P2 are written to the buffer memory of the master module by the TO command or automatic refresh.

4) The output data stored in the master module are sent to the D75P2 every link scan.

(3) Remote register (RWw)

5) The data of the remote register (RWw) of the D75P2 are written to the buffer memory of the master module by the TO command or automatic refresh.

6) The transmission data stored in the master module are sent to the D75P2 every link scan.

(4) Remote register (RWr)

7) The data of the remote register (RWr) of the D75P2 are stored into the buffer memory of the master module every link scan.

8) The reception data stored in the master module are imported to the PLC CPU by the FROM command or automatic refresh.

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1 PRODUCT OUTLINE

1.3.2 Transient transmission

This section explains transient transmission between the D75P2 and master module.

When FROM/TO commands are used

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PLC CPU Master module

Transmission/reception area of station No. 1

Buffer memory

(Transmission/reception

area)

Transmission area

Reception area

Transmission/

reception area for

station No. 2

D75P2 (Station No. 1)

Buffer memory

Fig. 1.8 Transient transmission (When FROM/TO commands are used)

1) Data (control data + transmission data) are stored into the transmission area of the master module.

2) When the intelligent device station access request signal (RY(n+7)E) is turned ON, the data stored in the transmission area are stored into the D75P2.

3) When the intelligent device station access complete signal (RX(n+7)E) is turned ON, a response is stored into the reception area of the master module.

4) Data are read from the reception area of the master module.

When dedicated commands (RIRD, RIWT) are used

PLC CPU Master module

Buffer memory

(Transmission/reception

Transmission/reception area of station No. 1

area)

Transmission area

Reception area

Transmission/

reception area for

station No. 2

Transient

transmission

D75P2 (Station No. 1)

Buffer memory

Fig. 1.9 Transient transmission (When dedicated commands are used)

1) When data (control data + transmission data) are stored into the word device and the dedicated command is executed, the transmission data are stored into the D75P2.

2) A response is stored into the specified word device.

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Chapter 2

SYSTEM CONFIGURATION

In this chapter, the general image of the system configuration of the positioning control using D75P2, the configuration devices, applicable CPU module and the precautions of configuring the system are explained. Prepare the required configuration devices to match the positioning control system.

2.1 General image of system ............................................................................................. 2- 2

2.2 List of configuration devices ......................................................................................... 2- 4

2.3 Applicable system ......................................................................................................... 2- 6

2.4 Precautions for use....................................................................................................... 2- 8

Appendices

2 - 1

2 SYSTEM CONFIGURATION

2.1 General image of system

The general image of the system, including the D75P2, PLC CPU and peripheral devices is shown below. (The Nos. in the illustration refer to the "No." in section "2.2 List of configuration devices".

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Extension cable

Extension system

CPU module

Main base unit

CC-Link master/local module

CC-Link dedicated cable

Conversion cable

I/O module

D75P2

RS-422 cable

Converter

RS-232 cable

REMARK

*1 Refer to section "2.3 Applicable system" for the CC-Link master/local module that

can be used.

Refer to the AD75 Software Package Operating manual.

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2 SYSTEM CONFIGURATION

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Peripheral device

Cable

9810

AD75TU

Drive unit

Manual pulse generator

Machine system input (switch)

· Near-point dog

· Limit switch

· External start signal

· Speed/position changeover signal

· Stop signal

AD75 software package

Motor

SW1IVD

Personal computer

Either of 2 and 4 is required to use the D75P2.

(Refer to the AD75 Software Package Operating Manual for details.)

-AD75P-E

SW0D5C

-AD75P-E

2 - 3

2 SYSTEM CONFIGURATION

2.2 List of configuration devices

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No. Part name Type Remarks

1 Positioning module

AD75 software

package

3 Personal computer

4 Teaching unit

5 Conversion cable

Connection cable

(converter)

7 Drive unit – (Prepared by user)

Manual pulse

generator

Connection cable

(dedicated)

Connection cable

(prepared by user)

The positioning system using the D75P2 is configured of the following devices.

AJ65BT-D75P2S3

SW1IVD-AD75P-E

SW0D5C-AD75P-E For details, refer to the GX Configurator-AP Operating Manual.

DOS/V personal computer

AD75TU Ver. D or more

A1SD75-C01H

A1SD75-C01HA

–

AD75C20SNH*

AD75C20SNJ2*2

AD75C20SC For MR-C

–

DOS/V personal computer software package*

(Prepared by user) Refer to the AD75 Software Package Operating Manual for details.

Unit for setting, monitoring and testing the D75P2 parameters and positioning data.

Length 30cm Cable for connecting RS-422 cable and D75P2.

RS-232 cable for connecting D75P2 with DOS/V personal computer, and RS-232/RS-422 converter. (Prepared by user) Refer to the AD75 Software Package Operating Manual for details.

(Prepared by user) Recommended: MR-HDP01 (Mitsubishi Electric)

For MR-H

For MR-J2/J2S-A

Cable for connecting D75P2 with drive unit, manual pulse generator or machine system input signal. (Prepared by user) Refer to manual of connected device.

Cable for connecting D75P2 with drive unit, manual pulse generator or machine system input signal.

–

Compatible as AD75P2-S3.

Compatible with absolute position detection system.

Important

To use the D75P2, either the "AD75 software package" or "Teaching unit" is required.

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2 SYSTEM CONFIGURATION

Specifications list of recommended manual pulse generator

Item Specifications

Model name MR-HDP01

Pulse resolution 25pulse/rev (100 pulse/rev after magnification by 4)

Output method

Power supply voltage 4.5 to 13.2VDC

Current consumption 60mA

Life time 100 revolutions (at 200r/min)

Permitted axial loads

Operation temperature -10 to 60 (14 to 140 )

Weight 0.4 (0.88) [kg(lb)]

Number of max. revolution Instantaneous Max. 600r/min. normal 200r/min

Pulse signal status 2 signals : A phase, B phase, 90 phase difference

Friction torque 0.1N/m (at 20 (68 ))

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Voltage-output (power supply voltage -1V or more),

Output current = Max. 20mA

Radial load : Max. 19.6N

Thrust load : Max. 9.8N

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2 SYSTEM CONFIGURATION

2.3 Applicable system

This section explains the CC-Link system master modules that can use the D75P2 and the PLC CPUs that can use the CC-Link dedicated commands.

About the master modules that can use the D75P2

(1) When AJ61BT11, A1SJ61BT11, AJ61QBT11 or A1SJ61QBT11 is

used

Use the master module whose rating plate has the following designation (9707B or later) in the DATE field.

PROGRAMMABLE CONTROLLER

9707 B

DATE

MITSUBISHI ELECTRIC CORPORATION JAPAN

BD992D013H01

MITSUBISHI

CPU UNIT

A2USHCPU-S1

MODEL

MAX 30kSTEP

DATE

9707 B

MITSUBISHI ELECTRIC BD992D008H38

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Year and month of manufacture

Function version

Fig. 2.1 Rating plates of master modules

(2) When QJ61BT11N is used

There are no restrictions.

Year and month of manufacture

Function version

2 - 6

2 SYSTEM CONFIGURATION

PLC CPUs that can use the CC-Link dedicated commands

The PLC CPUs that can use the CC-Link dedicated commands are the following models.

ACPU

QnACPU

QCPU (A mode)

QCPU (Q mode)

LCPU

RCPU

For the module of software version K (manufactured in August, 1998) or later,

only the RRPA (automatic refresh) command can be used.

For the module of software version A (manufactured in August, 1998) or later,

only the RRPA (automatic refresh) command can be used.

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

A1SHCPU, A1SJHCPU, A2SHCPU



A2UCPU, A2UCPU-S1, A3UCPU, A4UCPU (Software version Q

(manufactured in July, 1999) or later) *



A2USCPU, A2USCPU-S1 (Software version E (manufactured in July,

1999) or later) *



Q2ACPU, Q2ACPU-S1, Q3ACPU, Q4ACPU, Q2ASCPU, Q2ASCPU-

S1, Q2ASHCPU, Q2ASHCPU-S1 (Function version B or later)



Q02CPU-A, Q02HCPU-A, Q06HCPU-A



Q00JCPU, Q00UJCPU, Q00CPU, Q00UCPU, Q01CPU, Q01UCPU,

Q02CPU, Q02HCPU, Q02PHCPU, Q02UCPU, Q03UDCPU, Q03UDECPU, Q03UDVCPU, Q04UDHCPU, Q04UDEHCPU, Q04UDVCPU, Q06HCPU, Q06PHCPU, Q06UDHCPU, Q06UDEHCPU, Q06UDVCPU, Q10UDHCPU, Q10UDEHCPU, Q12HCPU, Q12PHCPU, Q12PRHCPU, Q13UDHCPU, Q13UDEHCPU, Q13UDVCPU, Q20UDHCPU, Q20UDEHCPU, Q25HCPU, Q25PHCPU, Q25PRHCPU, Q26UDHCPU, Q26UDEHCPU, Q26UDVCPU, Q50UDEHCPU, 100UDEHCPU



L02SCPU, L02SCPU-P, L02CPU, L02CPU-P, L06CPU, L06CPU-P,

L26CPU, L26CPU-P, L26CPU-BT, L26CPU-PBT



R04CPU, R08CPU, R16CPU, R32CPU, R120CPU

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2 SYSTEM CONFIGURATION

2.4 Precautions for use

Precautions for use of D75P2

(1) Necessity of AD75 Software Package

When using the D75P2, preset the positioning data to the D75P2 using the AD75 Software Package.

(2) About D75P2 functions

The D75P2 has the basic functions (functions indicated in (a)) that can be achieved by use of cyclic transmission and the functions (functions indicated in (b)) that can be achieved by use of transient transmission. Since the functions that can be achieved by use of transient transmission require access to the D75P2 buffer memory, they are more complicated in sequence program and further take longer processing time than the basic functions that can be achieved by use of cyclic transmission. It is recommended to use them in applications that will not require fast processing. The following gives the "functions that can be achieved by cyclic transmission only" and the "functions that require transient transmission". * Refer to section "1.3 Outline of communication" for cyclic transmission and

transient transmission.

(a) Functions that can be achieved by cyclic transmission only

The following gives the functions that can be achieved by use of cyclic transmission only. Among the D75P2 functions, it is recommended to use the following functions (main and auxiliary functions) only.

Zero point return control

Main positioning control

Main functions

Advanced positioning control *2

Manual control

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Function Reference

Machine zero point return control Section 8.2 Data setting method zero point return control Section 8.3 High-speed zero point return control Section 8.4

1-axis linear control Section 9.2.2 2-axis linear interpolation control Section 9.2.3 1-axis fixed-dimension feed control Section 9.2.4

Position control

Speed control Section 9.2.8 Speed/position changeover control *1

Other control

Block start Condition start Wait start Simultaneous start Stop Repeated start (FOR loop) Repeated start (FOR condition)

Manual pulse generator operation * JOG operation Section 11.2

2-axis fixed-dimension feed control (interpolation)

2-axis circular interpolation control

Current value change Section 9.2.10 JUMP command Section 9.2.11

Section 9.2.5

Section 9.2.6 Section 9.2.7

Section 9.2.9

Section 10.3

Section 11.3

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2 SYSTEM CONFIGURATION

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Limited to the case where "

Cd. 21

Speed/position changeover control movement amount change register" and " Cd. 36 Speed/position changeover control (ABS mode) function valid flag" is not set.

Limited to the case where " Cd. 31 Positioning starting point number" is used

as "0 (default value)".

Limited to the case where " Cd. 23 Manual pulse generator 1 pulse input

magnification" is used as "1 time (default value)".

Function Reference

Functions characteristic to machine zero point return

Functions that compensate control

Functions that limit control

Auxiliary functions

Functions that change control details

Absolute position restoration function Section 12.6

Other functions

Common function LED display function Section 13.4

Zero point return retry function Section 12.2.1 Zero point shift function Section 12.2.2 Backlash compensation function Section 12.3.1 Electronic gear function Section 12.3.2 Near pass mode function Section 12.3.3 Speed limit function Section 12.4.1

Software stroke limit function

Hardware stroke limit function Speed change function Section 12.5.1

Override function Section 12.5.2

M code output function Section 12.7.3 Command in-position function Section 12.7.5 Stepping motor mode function Section 12.7.6 Acceleration/deceleration processing function Section 12.7.7 Indirectly specification function Section 12.7.8

Section 12.4.3

Section 12.4.4

(b) Functions that require transient transmission (Use them after

examination of the following restrictions)

The following gives the functions that can be achieved by use of transient transmission. The following functions that can be achieved by use of transient transmission are more complicated in sequence program and further take longer processing time than the basic functions that can be achieved by use of cyclic transmission since they require access to the D75P2 buffer memory. After confirming the transmission delay time (refer to Section 3.6), it is recommended to use them in applications that do not need fast processing. When fast processing is required, it is recommended to perform control with "(a) Functions that can be achieved by cyclic transmission only".

2 - 9



2 SYSTEM CONFIGURATION

Function Data for use of transient transmission Reference

Main positioning control

Main functions

Auxiliary functions

Common functions

Interrupt request during continuous operation

Advanced positioning control

Manual control

Function that limits control

Functions that change control details

Other functions

Parameter initialization function

Execution data backup function

Clock data function

Speed/position changeover control

Block start Condition start Wait start Simultaneous start Stop Repeated start (FOR loop) Repeated start (FOR condition)

Manual pulse generator operation

Torque limit function

Acceleration/deceleration time change function

Torque change function

Step function

Skip function

Teaching function

When the following values are set

Cd. 21 Speed/position changeover

control movement amount change register

Cd. 36 Speed/position changeover control (ABS mode) function valid flag (When the above values are not set, the function can be used by cyclic transmission only.)

When " Cd. 31 Positioning starting point number" is set (When the point number is used as "0 (default value), the functions can be used by cyclic transmission only.)

When " Cd. 23 Manual pulse generator 1 pulse input magnification" is set (When the manual pulse generator 1 pulse input magnification is used as "1 time (default value)", the function can be used by cyclic transmission only.)

When " Md. 45 Torque limit stored value" is read

When the following values are set

Cd. 33 New acceleration time value

Cd. 34 New deceleration time value

Cd. 35 Acceleration/deceleration time change during speed change enable/disable selection

When " Cd. 30 New torque value" is set When the following values are set

Cd. 26 Step valid flag

Cd. 27 Step mode

Cd. 28 Step start information

When " Cd. 29 Skip command" is set

When the following values are set

Cd. 4 Target axis

Cd. 5 Positioning data No.

Cd. 6 Write pattern

Cd. 7 Read/write request

Cd. 9 Flash ROM write request

When " Cd. 10 Parameter initialization request" is set

When " Cd. 9 Flash ROM write request" is set

When the following values are set

Cd. 1 Clock data setting (hour)

Cd. 2 Clock data setting (minute, second)

Cd. 3 Clock data writing

When " Cd. 32 Interrupt request during continuous operation" is executed

2 - 10

MELSEC-

Section 9.2.9

Section 10.3

Section 11.3

Section 12.4.2

Section 12.5.3

Section 12.5.4

Section 12.7.1

Section 12.7.2

Section 12.7.4

Section 13.2

Section 13.3

Section 13.5

Section 5.7.2

2 SYSTEM CONFIGURATION

Precautions for using stepping motor

When configuring the positioning system using a stepping motor, the following points must be observed. Refer to section "12.7.6 Stepping motor mode functions" for details.

(1) Setting the stepping motor mode

(a) When using a stepping motor with the D75P2, the stepping motor mode

must be set. If the stepping motor mode is not set, the stepping motor cannot be controlled correctly.

(b) When the stepping motor mode is set, there will be limits to the control

method and positioning address, etc.

(2) Sharing of bias speed at starting

When using the stepping motor, by selecting the stepping motor mode and setting the bias speed for starting, the motor rotation can be started smoothly.

(3) S-curve acceleration/deceleration use inhibited

S-curve acceleration/deceleration is not possible when using the stepping motor. The motor may step out if used.

(4) Circular interpolation control inhibited

Circular interpolation control cannot be used when using the stepping motor. An "Control method setting error" (error code: 524) will occur if used.

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2 - 11

2 SYSTEM CONFIGURATION

MEMO

MELSEC-

2 - 12

Chapter 3

SPECIFICATIONS AND FUNCTIONS

The various specifications of the D75P2 are explained in this chapter.

The "General specifications", "Performance specifications", "List of functions", "Specifications of input/output signals with master module", and the "Specifications of input/output interfaces with external devices", etc., are described as information required when designing the positioning system. Confirm each specification before designing the positioning system.

3.1 General specifications ................................................................................................ 3- 2

3.2 Performance specifications ........................................................................................ 3- 4

3.3 List of functions ......................................................................................................... 3- 6

3.3.1 D75P2 control functions ............................................................................... 3- 6

3.3.2 D75P2 main functions .................................................................................. 3- 8

3.3.3 D75P2 auxiliary functions and common functions ........................................ 3- 10

3.3.4 Combination of D75P2 main functions and auxiliary functions .................... 3- 12

3.4 Specifications of input/output signals for master module ........................................... 3- 14

3.4.1 List of input/output signals ............................................................................. 3- 14

3.4.2 Details of input signals (D75P2

3.4.3 Details of output signals (Master module

3.5 Remote registers ......................................................................................................... 3- 23

3.6 Transmission delay time ............................................................................................. 3- 32

3.7 Specifications of input/output interfaces with external devices .................................. 3- 35

3.7.1 Electrical specifications of input/output signals ............................................. 3- 35

3.7.2 Signal layout for external device connection connector ............................... 3- 38

3.7.3 List of input/output signal details ................................................................... 3- 39

3.7.4 Input/output interface internal circuit ............................................................. 3- 42

Master module) .................................... 3- 17

D75P2) .................................. 3- 21

APPENDICES

3 - 1

3 SPECIFICATIONS AND FUNCTIONS

3.1 General specifications

MELSEC-

Item Specifications

Operating ambient temperature

Storage ambient temperature

Operating ambient humidity

Storage ambient humidity 10 to 90% RH, non-condensing

Vibration resistance

Shock resistance

Operating atmosphere No corrosive gases

Operating altitude*3

Installation location

Overvoltage category *1

Pollution degree*2

1 This indicates the section of the power supply to which the equipment is assumed to be

The general specifications of the D75P2 are given below.

9.8m/s

4.9m/s

(The waterproof type remote I/O module is compliant with IP67. *

Compliant with JIS B 3502 and IEC 61131-2

0 to 55

-20 to 75°C*

10 to 90% RH, non-condensing

Frequency Acceleration Amplitude Sweep count

Under intermittent vibration

Under continuous vibration

(147 m/s

5 to 8.4Hz – 3.5mm

8.4 to 150Hz

5 to 8.4Hz – 1.75mm

8.4 to 150Hz

Compliant with JIS B 3502 and IEC 61131-2

, 3 times each in 3 directions X, Y, Z)

0 to 2000m

Inside a control panel*

or less

2 or less

10 times each in

–

X, Y, Z directions

–

connected between the public electrical power distribution network and the machinery within premises. Category II applies to equipment for which electrical power is supplied from fixed facilities. The surge voltage withstand level for up to the rated voltage of 300V is 2500V.

2 This index indicates the degree to which conductive material is generated in terms of the

environment in which the equipment is used. Pollution level 2 is when only non-conductive pollution occurs. A temporary conductivity caused by condensing must be expected occasionally.

3 Do not use or store the programmable controller under pressure higher than the atmospheric

pressure of altitude 0m. Doing so may cause malfunction. When using the programmable controller under pressure, please consult your local Mitsubishi representative.

4 This applies only when all waterproof connectors are being used or when waterproof caps are

attached to unused waterproof connectors or pipes. (Only the AJ65SBTW

5 The module can be used in an environment other than inside a control panel if the conditions

-16 has pipes.)

such as the operating ambient temperature and humidity are satisfied.

For the waterproof type remote I/O module (AJ65SBTW

-16 only), the operating ambient

temperature and storage ambient temperature will be as follows.

3 - 2

3 SPECIFICATIONS AND FUNCTIONS

Item Specifications

Operating ambient temperature 0 to 45C

Storage ambient temperature

REMARK

To ensure that the product maintains EMC and Low Voltage Directives, certain measures may be necessary. Please refer to the user’s manual for the CPU module used.

MELSEC-

Not wired (individual product) -20 to 65C

Wired (after cable installation) -10 to 55C

3 - 3



3 SPECIFICATIONS AND FUNCTIONS

3.2 Performance specifications

Item Specifications

No. of control axes 2 axes

Interpolation function

Control method

PTP (Point To Point) control, path control (both linear and arc can be set), speed control,

speed/position changeover control Control unit mm, inch, degree, pulse Positioning data 600 data (positioning data No. 1 to 600)/axis setting possible Backup Parameters and positioning data can be saved on flash ROM (battery-less).

Positioning method

PTP control : Incremental method/absolute method

Speed/position changeover : Incremental method/absolute method *

Path control : Incremental method/absolute method

For absolute method

-214748364.8 to 214748364.7 (m)/-13421772.8 to 13421772.7 (m)

-21474.83648 to 21474.83647 (inch)/-1342.17728 to 1342.17727 (inch) 0 to 359.99999 (degree)/0 to 359.99999 (degree)

-2147483648 to 2147483647 (pulse)/-134217728 to 134217727 (pulse)

For incremental method

-214748364.8 to 214748364.7 (m)/-13421772.8 to 13421772.7 (m)

Positioning

range *

-21474.83648 to 21474.83647 (inch)/-1342.17728 to 1342.17727 (inch)

-21474.83648 to 21474.83647 (degree)/-1342.17728 to 1342.17727 (degree)

-2147483648 to 2147483647 (pulse)/-134217728 to 134217727 (pulse)

For speed/position changeover control (Incremental method)

0 to 214748364.7 (m)/0 to 13421772.7 (m)

Positioning

0 to 21474.83647 (inch)/0 to 1342.17727 (inch) 0 to 21474.83647 (degree)/0 to 1342.17727 (degree) 0 to 2147483647 (pulse)/0 to 134217727 (pulse)

Speed/position changeover control (absolute method)

0 to 359.99999 (degree)/0 to 359.99999 (degree)

0.01 to 6000000.00 (mm/min)/0.01 to 375000.00 (mm/min)

Speed command *

0.001 to 600000.000 (inch/min)/0.001 to 37500.000 (inch/min)

0.001 to 600000.000 (degree/min)/0.001 to 37500.000 (degree/min)

1 to 1000000 (pulse/s)/1 to 62500 (pulse/s)

Note: Refer to section "12.3.2 Electronic gear function" [3].

Acceleration/ deceleration

Automatic trapezoidal acceleration/deceleration, S-curve acceleration/deceleration *

process Acceleration/ deceleration time Sudden stop deceleration time

Starting time

External device connection connector

Applicable wire size

Max. output pulse

Max. connection distance between servos

Changeover between 1 to 65535 (ms)/1 to 8388608 (ms) possible

Four patterns can be set each for acceleration time and deceleration time

Changeover between 1 to 65535 (ms)/1 to 8388608 (ms) possible (Same range as

acceleration/deceleration time)

20ms or less (link scan time excluded)

10136-3000VE (soldered type, accessory)

10136-6000EL (crimp type, optional)

For 10136-3000VE : Approx. 0.05 to 0.2mm

For 10136-6000EL : Approx. 0.08mm2 (28 AWG)

When connected to differential driver : 400kpps

When connected to open collector : 200kpps

When connected to differential driver : 10m

When connected to open collector : 2m

2-axis linear interpolation

2-axis circular interpolation *

(30 to 24 AWG)

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3 - 4

3 SPECIFICATIONS AND FUNCTIONS

Item CC-Link station type Intelligent device station Number of occupied

stations External power supply (V) 24VDC (20.4 to 26.4VDC) Applicable conductor size

)

(mm Module mounting screw

(mm) Applicable DIN rail TH35-7.5Fe, TH35-7.5AI, TH35-15Fe (compliant with JIS C 2812) Applicable crimping terminal Internal current consumption (24VDC) (A)

Flash ROM write count Maximum 100,000 times

Noise immunity

Dielectric withstand voltage

Insulation resistance

Outline dimensions (mm) 63.5 (H) 170 (W) 80 (D)mm Weight (kg) 0.50kg

*1 When a stepping motor is used, the circular interpolation function cannot be used.

The control unit of speed/position changeover control in the absolute system is "degree" only.

(For details, refer to section "9.2.9 Speed/position changeover control".)

Indicates the setting range in the "standard mode/stepping motor mode".

When a stepping motor is used, S-curve acceleration/deceleration cannot be used.

4 stations (RX/RY 128 points each, RWr/RWw 16 points each)

0.75 to 2.00mm

M4 0.7mm 16mm or more DIN rail can also be used for mounting.

RAV1.25-3.5, RAV2-3.5

0.30A

Noise voltage 500Vp-p, noise width 1 (by noise simulator of 25 to 60Hz noise frequency)

500VAC for 1 minute across power supply/communication system and external input/output

or more by 500VDC insulation resistance tester across power supply/communication

10M system and external input/output



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3 - 5

3 SPECIFICATIONS AND FUNCTIONS

3.3 List of functions

3.3.1 D75P2 control functions

The D75P2 has several functions. In this manual, the D75P2 functions are categorized and explained as follows.

Main functions

(1) Zero point return control

"Zero point return control" is a function that established the start point for carrying out positioning control, and carries out positioning toward that start point. This is used to return a workpiece, located at a position other than the zero point when the power is turned ON or after positioning stop, to the zero point. The "zero point return control" is preregistered in the D75P2 as the "Positioning start data No. 9001 (Machine zero point return)", "Positioning start data NO. 9901 (Data setting method zero point return)" and "Positioning start data No. 9002 (High-speed zero point return). (Refer to "Chapter 8 ZERO POINT RETURN CONTROL".)

(2) Main positioning control

This control is carried out using the "Positioning data" stored in the D75P2. Such as position control and speed control, is executed by setting the required items in this "positioning data" and starting that positioning data. An "operation pattern" can be set in this "positioning data", and with this whether to carry out control with continuous positioning data (ex.: positioning data No. 1, No. 2, No. 3, ...) can be set. (Refer to "Chapter 9 MAIN POSITIONING CONTROL".)

(3) Advanced positioning control

This control executes the "positioning data" stored in the D75P2 using the "positioning start information". The following types of applied positioning control can be carried out.



Random blocks, handling several continuing positioning data items as

"blocks", can be executed in the designated order.



"Condition judgment" can be added to position control and speed control.



The positioning data having the same No. and set for multiple axes can be

started simultaneously. (Pulses are output simultaneously to multiple servos.)



The designated positioning data can be executed repeatedly, etc.,

(Refer to "Chapter 10 ADVANCED POSITIONING CONTROL".)

(4) Manual control

By inputting a signal into the D75P2 from an external source, the D75P2 will output a random pulse train and carry out control. Use this manual control to move the workpiece to a random position (JOG operation), and to finely adjust the positioning (manual pulse generator operation), etc. (Refer to "Chapter 11 MANUAL CONTROL".)

Auxiliary functions

When executing the main functions, control compensation, limits and functions can be added. (Refer to "Chapter 12 CONTROL AUXILIARY FUNCTIONS".)

Common functions

Common control using the D75P2 for "parameter initialization" or "backup of execution data" can be carried out. (Refer to "Chapter 13 COMMON FUNCTIONS".)

3 - 6

MELSEC-

3 SPECIFICATIONS AND FUNCTIONS

Zero point return control Control registered in D75P2

[Positioning start No.]

[9001] [9901]

[9002]

Main positioning control

Position control

Speed control

Speed/position changeover control

Other control

·1-axis linear control

·2-axis linear interpolation control

·1-axis fixed-dimension feed control

·2-axis fixed-dimension feed control

·2-axis circular interpolation control

Advanced positioning control

Main positioning control

[Positioning start information]

Manual control

[Positioning start signal]

JOG start signal ON Pulse input from manual

pulse generator

Control using "Positioning data"

·Current value change

·JUMP command

Control using "positioning data" + "positioning start information"

Control with signals input from external source

Machine zero point return Data setting method zero point

return High-speed zero point return

Main functions Auxiliary functions

(Functions characteristic to machine zero point return)

Zero point return retry function

Zero point shift function

Backlash compensation function

Electronic gear function

Near pass mode function

Independent positioning control (positioning complete)

Continuous positioning control

Continuous path control

Speed limit function

Torque limit function

Software stroke limit function

Hardware stroke limit function

Speed change function

Override function

Acceleration/deceleration time change function

Torque change function

Block start (Normal start) Condition start Wait start Simultaneous start Stop

Repeated start (FOR loop)

Repeated start (FOR condition)

Step function

Skip function

M code output function

Teaching function

Command in-position function

Stepping motor mode function

Acceleration/deceleration

Step function

Indirectly specification

function

JOG operation

Manual pulse generator operation

MELSEC-

Common functions

Parameter initialization function Execution data backup function LED display function Clock data function

3 - 7

3 SPECIFICATIONS AND FUNCTIONS

3.3.2 D75P2 main functions

The outline of the main functions for positioning control with the D75P2 are described

Main functions Details

below. (Refer to "SECTION 2" for details on each function.)

MELSEC-

Reference

section

Machine zero point return control

Data setting method zero point return

High-speed zero point return control

Zero point return control

Linear control (1-axis linear control) (2-axis linear interpolation control)

Fixed-dimension feed

Position control

Speed control

Speed/position changeover control

Main positioning control

Other control

control (1-axis fixed-dimension feed control) (2-axis fixed-dimension feed control)

2-axis circular interpolation control

Current value change

JUMP command

Mechanically establishes the positioning start point with a nearpoint dog or stopper. (Positioning start No. 9001)

Defines the position reached by manual operation as the zero point address. Used for an absolute position detection system. (Positioning start No. 9901)

Positions to the zero point address (

D75P2 with machine zero point return. (Positioning start No. 9002)

Positions with a linear path to the address set in the positioning data or the position designated with the movement amount.

Positions the movement amount designated with the movement amount set in the positioning data. (With fixed-dimension feed control, the "Current feed value (RWrn+0 to 1, RWrn+8 to 9)" is set to "0" when starting. With 2axis fixed-dimension feed control, the linear path will be fixeddimension fed with interpolation.

Positions with an arc path to the address set in the positioning data, or the position designated with the movement amount, auxiliary point or center point.

Continuously outputs the pulses corresponding to the command speed set in the positioning data.

First, carries out speed control, and then carries out position control (positioning of designated movement amount) by turning the "speed/position changeover signal" ON.

Changes the

" to the address set in the positioning data.

The following two methods can be used. (The machine feed value cannot be changed.)



Current value change using positioning data



Current value change using current value change start No.

(No. 9003)

Unconditionally or conditionally jumps to designated positioning data No.

"Current feed value (RWrn+0 to 1, RWrn+8 to

Pr.47 ) stored in the

8.2

8.3

8.4

9.2.2

9.2.3

9.2.4

9.2.5

9.2.6

9.2.7

9.2.8

9.2.9

9.2.10

9.2.11

3 - 8

3 SPECIFICATIONS AND FUNCTIONS

Main functions Details

Block start (Normal start)

Condition start

Wait start

Simultaneous start

Advanced positioning control

Stop Stops the positioning operation. 10.3.6

Repeated start (FOR loop)

Repeated start (FOR condition)

JOG operation

control

Manual

Manual pulse generator operation

With one start, executes the positioning data in a random block with the set order.

Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "start block data".

When the condition is established, the "start block data" is executed. When not established, that "start block data" is ignored, and the next point's "start block data" is executed.

Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "start block data".

When the condition is established, the "start block data" is executed. When not established, stops the control until the condition is established. (Waits.)

Simultaneously executes the positioning data having the No. for the axis designated with the "condition data". (Outputs pulses at the same timing.)

Repeats the program from the start block data set with the "FOR loop" to the start block data set in "NEXT" for the designated No. of times.

Repeats the program from the start block data set with the "FOR condition" to the start block data set in "NEXT" until the conditions set in the "condition data" are established.

Outputs a pulse to the drive unit while the JOG start signal is ON.

Outputs the pulses commanded with the manual pulse generator to the drive unit. (Carry out fine adjustment, etc., at the pulse level.)

With the "main positioning control" ("advanced positioning control"), whether or not to continuously execute the positioning data can be set with the "operation pattern".

Operation pattern

Da.1

Independent positioning control (positioning complete)

Continuous positioning control

Continuous path control

Outlines of the "operation patterns" are given below.

Details

When "independent positioning control" is set for the operation pattern of the started positioning data, only the designated positioning data will be executed, and then the positioning will end.

When "continuous positioning control" is set for the operation pattern of the started positioning data, after the designated positioning data is executed, the program will stop once, and then the next following positioning data will be executed.

When "continuous path control" is set for the operation pattern of the started positioning data, the designated positioning data will be executed, and then without decelerating, the next following positioning data will be executed.

MELSEC-

Reference

section

10.3.2

10.3.3

10.3.4

10.3.5

10.3.7

10.3.8

11.2

11.3

Reference

section

9.1.2

3 - 9

3 SPECIFICATIONS AND FUNCTIONS

3.3.3 D75P2 auxiliary functions and common functions

MELSEC-

Auxiliary functions

The functions that assist positioning control using the D75P2 are described below.

Auxiliary function Details

Functions characteristic to machine zero point return

Functions that compensate control

Functions that limit control

Functions that change control details

Absolute position restoration function*2

Zero point return retry function

Zero point shift function

Backlash compensation function

Electronic gear function

Near pass mode function

Speed limit function

Torque limit function *1

Software stroke limit function

Hardware stroke limit function

Speed change function

Override function

Acceleration/deceleration time change function

Torque change function This function changes the "torque limit value" during control. 12.5.4

*1 To carry out "torque limit", the "D/A conversion module" and a "drive unit capable of the torque limit command with

an analog voltage" must be prepared.

The "drive unit that can configure an absolute position detection system (MR-H, MR-J2, MR-J2S)" is required to

perform "absolute position restoration".

(Refer to "SECTION 2" for details on each function.

This function retries the machine zero point return with the upper/lower limit switches during machine zero point return. This allows machine zero point return to be carried out even if the axis is not returned to before the near-point dog with JOG operation, etc.

After returning to the machine zero point, this function compensates the position by the designated distance from the machine zero point position and sets that position as the zero point address.

This function compensates the mechanical backlash. Feed pulses equivalent to the set backlash amount are output each time the movement direction changes.

By setting the movement amount per pulse, this function can freely change the machine movement amount per commanded pulse. When the movement amount per pulse is set, a flexible positioning system that matches the machine system can be structured.

This function suppresses the machine vibration when the speed changes during continuous path control in the interpolation control.

If the command speed exceeds "

during control, this function limits the commanded speed to within the "

If the torque generated by the servomotor exceeds " Torque limit setting value" during control, this function limits the generated torque to within the " value" setting range.

If a command outside of the upper/lower limit stroke limit setting range, set in the parameters, is issued, this function will not execute positioning for that command.

This function carries out deceleration stop with the limit switch connected to the D75P2 external device connection connector.

This function changes the speed during positioning operation. This function sets a new speed to "New speed value (RWwm+4 to 5, RWwm+12 to 13)" and changes the speed at the speed change request (RY(n+2)7, RY(n+4)7).

This function varies the speed during positioning operation at the ratio of 1 to 300%. "Positioning operation speed override (RWwm+1, RWwm+9)" is used to execute this function.

This function changes the acceleration/deceleration time during speed change.

This function restores the absolute position of the specified axis.

Speed limit value" setting range.

Pr.7

Pr.18

Speed limit value"

Pr.7

Torque limit setting

Pr.18

Reference

section

12.2.1

12.2.2

12.3.1

12.3.2

12.3.3

12.4.1

12.4.2

12.4.3

12.4.4

12.5.1

12.5.2

12.5.3

12.6

3 - 10

3 SPECIFICATIONS AND FUNCTIONS

Auxiliary function Details

This function temporarily stops the operation to confirm the

Step function

Skip function

M code output function

Teaching function

Other functions

Command in-position function

Stepping motor mode function

Acceleration/deceleration process function

Indirectly specification function

positioning operation during debugging, etc. The operation can be stopped at each "automatic deceleration" or "positioning data".

This function stops (decelerates to a stop) the positioning being executed when the skip signal is input, and carries out the next positioning.

This function issues an auxiliary work (clamp or drill stop, tool change, etc.) according to the code No. (0 to 32767) set for each positioning data.

This function stores the address positioned with manual control into the positioning address having the designated positioning data No (

At each automatic deceleration, this function calculates the remaining distance for the D75P2 to reach the positioning stop position, and when the value is less than the set value, turns ON the "command in-position signal". When using another auxiliary work before ending the control, use this function as a trigger for the auxiliary work.

This function makes settings for using a stepping motor. 12.7.6

This function adjusts the control acceleration/deceleration. 12.7.7

This function specifies indirectly and starts the positioning data No.

Common functions

The outline of the functions executed as necessary are described below.

Common functions Details

Parameter initialization function

Execution data backup function

LED display function

Clock data function

(Refer to "SECTION 2" for details on each function.)

This function returns the "setting data" stored in the D75P2 flash ROM to the default values. The following two methods can be used.

1) Method using sequence program

2) Method using AD75 software package

This functions stores the "setting data", currently being executed, into the flash ROM.

1) Method using sequence program

2) Method using AD75 software package

This function displays the D75P2 operation state, signal state and error details on the 17-segment LED on the front of the main module. The display details can be changed with the mode switch on the front of the main module.

This function sets the PLC CPU clock data in the D75P2. This used for the various history data.

Cd.5

MELSEC-

Reference

section

12.7.1

12.7.2

12.7.3

12.7.4

12.7.5

12.7.8

Reference

section

13.2

13.3

13.4

13.5

3 - 11

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-

3.3.4 Combination of D75P2 main functions and auxiliary functions

With positioning control using the D75P2, the main functions and auxiliary functions can be combined and used as necessary. A list of the main function and auxiliary

Main functions

Zero point return control

Main positioning control

Manual control

: Always combine, : Combination possible, : Combination limited, : Combination not possible, –: Setting invalid

The operation pattern is one of the "positioning data" setting items.

Change the current value using the positioning data. Disable for a start of positioning start No. 9003.

function combinations is given below.

Machine zero point return control

Data setting method zero point return control

High-speed zero point return control

1-axis linear control

2-axis linear interpolation control

Position control

Speed control

Speed/position changeover control

Other control

JOG operation

Manual pulse generator operation

1-axis fixed-dimension feed control

2-axis fixed-dimension feed control (interpolation)

2-axis circular interpolation control

Current value change

JUMP command

Combination with operation pattern.*

(Continuous path control

cannot be set)

(Continuous path control

cannot be set)

(Only independent positioning

control can be set)

(Continuous path control

cannot be set)

(Continuous path control

cannot be set)

(Independent positioning

control cannot be set)

uxiliary functions

Functions characteristic

to machine zero point

return

function

Zero point return retry

– –

Zero point shift function

3 - 12

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-

Functions that

compensate

control

Backlash compensation

function

Electronic gear function

– – – – – –

Functions that limit control

Near pass mode

function

Speed limit function

Torque limit function

Software stroke limit

function

Functions that change

control details

Hardware stroke limit

function

Speed change function

Override function

Acceleration/ decelerat-

ion time change function

Torque change function

Step function

Skip function

– – – – – – – – – – –

Other functions

M code output function

Teaching function

Command in-position

function

Stepping motor mode

function

Acceleration/decelera-

tion process function

Indirectly specification

function

–

REMARK



The "common functions" are functions executed as necessary. (These are not combined

with the control.)



"Advanced positioning control" is a control used in combination with the "main positioning

control". For combinations with the auxiliary functions, refer to the combinations of the "main positioning control" and auxiliary functions.

3 - 13

3 SPECIFICATIONS AND FUNCTIONS

3.4 Specifications of input/output signals for master module

3.4.1 List of input/output signals

The D75P2 uses 128 input points and 128 output points for exchanging data with the master module. The input/output signal assignment and signal names are shown below. Device RX refers to the signals input from the D75P2 to the master module, and

Device No. Signal name Device No. Signal name

RXn0 D75P2 READY RXn1 Axis 1 start complete RXn2 Axis 2 start complete RXn3 Use prohibited RXn4 Axis 1 BUSY RXn5 Axis 2 BUSY RXn6 Use prohibited RXn7 Axis 1 positioning complete RXn8 Axis 2 positioning complete

RXn9 Use prohibited RXnA Axis 1 error detection RXnB Axis 2 error detection RXnC Use prohibited RXnD Axis 1 M code ON RXnE Axis 2 M code ON

RXnF Use prohibited

RX(n+1)0 Axis 1 speed limiting flag RY(n+1)0 Axis 1 positioning start RX(n+1)1 Axis 1 speed change processing flag RY(n+1)1 Axis 2 positioning start RX(n+1)2 Axis 1 drive unit READY RY(n+1)2 Use prohibited RX(n+1)3 Axis 1 zero point signal RY(n+1)3 Axis 1 stop RX(n+1)4 Axis 1 in-position signal RY(n+1)4 Axis 2 stop RX(n+1)5 Axis 1 near-point dog signal RY(n+1)5 Use prohibited RX(n+1)6 Axis 1 stop signal RY(n+1)6 Axis 1 forward run JOG start RX(n+1)7 Axis 1 upper limit RY(n+1)7 Axis 1 reverse run JOG start RX(n+1)8 Axis 1 lower limit RY(n+1)8 Axis 2 forward run JOG start RX(n+1)9 Axis 1 external start signal RY(n+1)9 Axis 2 reverse run JOG start

RX(n+1)A

RX(n+1)B Axis 1 deviation counter clear status

RX(n+1)C Axis 1 speed controlling flag

RX(n+1)D

RX(n+1)E Axis 1 command in-position signal RX(n+1)F Axis 1 zero point return request flag

device RY refers to the signals output from the master module to the D75P2.

Signal direction: D75P2 master module Signal direction: Master module D75P2

RYn0 to

RYnF

Axis 1 speed/position changeover signal

RY(n+1)A

Axis 1 speed/position changeover latch flag

n: Address assigned to the master module by station number setting

RY(n+1)F

MELSEC-

Use prohibited

3 - 14

3 SPECIFICATIONS AND FUNCTIONS

Signal direction: D75P2 master module Signal direction: Master module D75P2

Device No. Signal name Device No. Signal name

RX(n+2)0 Axis 1 zero point return complete flag RY(n+2)0 Axis 1 servo ON RX(n+2)1 Axis 1 warning detection RY(n+2)1 Axis 1 ABS transfer mode RX(n+2)2 Axis 1 speed change 0 flag RY(n+2)2 Axis 1 ABS request flag

RX(n+2)3

RX(n+2)4

RX(n+2)5 Axis 1 ABS data bit 0 RY(n+2)5 Axis 1 restart command RX(n+2)6 Axis 1 ABS data bit 1 RY(n+2)6 Axis 1 M code OFF request RX(n+2)7 Axis 1 transmission data READY flag RY(n+2)7 Axis 1 speed change request

RX(n+2)8

RX(n+2)9

RX(n+3)F

RX(n+4)0 Axis 2 speed limiting flag RY(n+4)0 Axis 2 servo ON RX(n+4)1 Axis 2 speed change processing flag RY(n+4)1 Axis 2 ABS transfer mode RX(n+4)2 Axis 2 drive unit READY RY(n+4)2 Axis 2 ABS request flag RX(n+4)3 Axis 2 zero point signal RY(n+4)3 Axis 2 deviation counter clear RX(n+4)4 Axis 2 in-position signal RY(n+4)4 Axis 2 error reset RX(n+4)5 Axis 2 near-point dog signal RY(n+4)5 Axis 2 restart command RX(n+4)6 Axis 2 stop signal RY(n+4)6 Axis 2 M code OFF request RX(n+4)7 Axis 2 upper limit RY(n+4)7 Axis 2 speed change request

RX(n+4)8

RX(n+4)9

RX(n+4)A

RX(n+4)B Axis 2 deviation counter clear status RY(n+4)B Axis 2 external start valid

RX(n+4)C Axis 2 speed controlling flag

RX(n+4)D

RX(n+4)E Axis 2 command in-position signal RX(n+4)F Axis 2 zero point return request flag RX(n+5)0 Axis 2 zero point return complete flag RX(n+5)1 Axis 2 warning detection RX(n+5)2 Axis 2 speed change 0 flag

RX(n+5)3

RX(n+5)4

RX(n+5)5 Axis 2 ABS data bit 0 RX(n+5)6 Axis 2 ABS data bit 1 RX(n+5)7 Axis 2 transmission data READY flag RX(n+5)8 Axis 2 restart acceptance complete flag RX(n+5)9

RX(n+5)F

Axis 1 zero point absolute position overflow flag

Axis 1 zero point absolute position underflow flag

Axis 1 restart acceptance complete flag

Use prohibited

Axis 2 lower limit

Axis 2 external start signal

Axis 2 speed/position changeover signal

Axis 2 speed/position changeover latch flag

Axis 2 zero point absolute position overflow flag

Axis 2 zero point absolute position underflow flag

Use prohibited

MELSEC-

RY(n+2)3 Axis 1 deviation counter clear

RY(n+2)4 Axis 1 error reset

RY(n+2)8

RY(n+2)9

RY(n+2)A

RY(n+2)B Axis 1 external start valid

RY(n+2)C

RY(n+3)F

RY(n+4)8

RY(n+4)9

RY(n+4)A

RY(n+4)C

RY(n+5)F

n: Address assigned to the master module by station number setting

Axis 1 speed/position changeover enable flag

Axis 1 manual pulse generator enable flag

Axis 1 zero point return request flag OFF request

Use prohibited

Axis 2 speed/position changeover enable flag

Axis 2 manual pulse generator enable flag

Axis 2 zero point return request flag OFF request

Use prohibited

3 - 15

3 SPECIFICATIONS AND FUNCTIONS

Signal direction: D75P2 master module Signal direction: Master module D75P2

Device No. Signal name Device No. Signal name

RX(n+6)0

to RX(n+7)7 RX(n+7)8 Initial data processing request RY(n+7)8 Initial data processing complete RX(n+7)9 Initial data setting complete RY(n+7)9 Initial data setting request RX(n+7)A Use prohibited RX(n+7)B Remote station READY

RX(n+7)C RX(n+7)D

RX(n+7)E

RX(n+7)F Use prohibited RY(n+7)8 Use prohibited

Use prohibited

Intelligent device station access complete

POINT

Do not output (turn ON) the use prohibited signals among the output signals provided from the master module to the D75P2. Doing so can malfunction the PLC system.

MELSEC-

RY(n+6)0

RY(n+7)7

RY(n+7)A

RY(n+7)D

RY(n+7)8

n: Address assigned to the master module by station number setting

Use prohibited

Intelligent device station access request

3 - 16



3 SPECIFICATIONS AND FUNCTIONS

3.4.2 Details of input signals (D75P2 Master module)

MELSEC-

Device

No.

RXn0 D75P2 READY OFF : READY complete

RXn1 RXn2

RXn4 RXn5

RXn7 RXn8

RXnA RXnB

RXnD

RXnE

RX(n+1)0 RX(n+4)0

RX(n+1)1 RX(n+4)1

Axis 1

Start complete

Axis 2

Axis 1

BUSY (*

Axis 2

Axis 1

Positioning complete

Axis 2

Axis 1

Error detection

Axis 2 Axis 1

M code ON OFF : No M code setting

Axis 2

Axis 1

Speed limiting flag

Axis 2

In speed

Axis 1

change

Axis 2

processing flag

The ON/OFF timing and conditions, etc., of the input signals are shown below.

Signal name Details

ON : Not ready/WDT

error

OFF : Starting incomplete ON : Start complete

OFF : Not BUSY

)

ON : BUSY

OFF : Positioning

incomplete

ON : Positioning

complete

OFF : No error ON : Error occurrence

ON : M code set

OFF: Speed not limited ON: Speed being limited

OFF: Speed change

processing complete

ON: Speed change

being processed

When the remote station READY (RX(n+7)B) turns from OFF to ON, the

parameter setting range is checked, and if there is no error, D75P2 READY complete turns OFF.

When the remote station READY (RX(n+7)B) turns OFF, D75P2 READY

turns ON.

This is used for the interlock with the sequence program, etc. When the positioning start (RY(n+1)0, RY(n+1)1) turns ON, and the

D75P2 starts the positioning process, start complete turns ON. (The start complete signal also turns ON during zero point return control.)

Turning OFF Positioning start also turns OFF Start complete.

Positioning start

Start complete

This signal turns ON at the start of positioning, zero point return or JOG,

and turns OFF after the " stop. (This signal remains ON during positioning.) This signal turns OFF when stopped with step operation.

During manual pulse generator operation, this signal turns ON while the

"Manual pulse generator enable flag (RX(n+2)9, RX(n+4)9)" is ON. This signal turns OFF at an error complete or stop. This signal turns ON for the time set in parameter "Positioning complete

signal output time" from the time that each positioning data No. positioning

control is completed. (This does not turn ON when parameter "Positioning

complete signal output time" is 0.) If positioning is started (including zero point return), JOG operation or

manual pulse generator operation start is executed while this signal is ON,

the signal will turn OFF. This signal will not turn ON when speed control or positioning is canceled

midway. This signal turns ON when an error listed and turns OFF when the error is

reset.

In the WITH mode, this signal turns ON when the positioning data is

started, and in the AFTER mode, this signal turns ON when the positioning

data positioning is completed. This signal turns OFF with the M code OFF request on the rising edge of

(RY(n+2)6, RY(n+4)6). When there is no M code designated (when "

signal will remain OFF.

With using continuous path control for the positioning operation, the

positioning will continue even when this signal does not turn OFF.

However, a warning will occur. (Warning code: 503) When the Remote station READY signal (RX(n+7)B) turns OFF, the M

code ON signal will also turn OFF. If operation is started while the M code is ON, an error will occur. (Error

code: 536) Since the speed changed by speed change or positioning operation speed

override has exceeded the speed limit value, this signal turns ON during

operation at the speed limit value. This signal turns OFF when the speed decreases to within the speed limit

value or the axis stops. (* This signal turns ON during speed change processing.

This signal turns OFF at start of deceleration by the stop signal during

speed change processing or after completion of speed change processing.

)

n: Address assigned to the master module by station number setting

: Updated every 56.8ms. (Not updated when processing is completed within 56.8ms.)

: When position control of movement amount 0 is executed, the BUSY signal also

turns ON. However, since the ON time is short, the ON status may not be detected in the sequence program.

(RY(n+1)0) (RY(n+1)1)

(RXn1) (RXn2)

Da.8

)

OFF

Dwell time" has passed after positioning

M code" is 0), this

Da.9

3 - 17



3 SPECIFICATIONS AND FUNCTIONS

Device

No.

RX(n+1)2 RX(n+4)2

RX(n+1)3 RX(n+4)3

RX(n+1)4 RX(n+4)4

RX(n+1)5 RX(n+4)5

RX(n+1)6 RX(n+4)6 RX(n+1)7 RX(n+4)7

RX(n+1)8 RX(n+4)8

RX(n+1)9 RX(n+4)9

RX(n+1)A RX(n+4)A

RX(n+1)B RX(n+4)B

RX(n+1)C RX(n+4)C

RX(n+1)D RX(n+4)D

Axis 1

Drive unit READY

Axis 2

Axis 1

Zero point signal

Axis 2

Axis 1

In-position signal

Axis 2

Axis 1

Near-point dog signal

Axis 2

Axis 1

Stop signal OFF: Stop signal OFF Axis 2 Axis 1

Upper limit OFF: Upper limit signal Axis 2

Axis 1

Lower limit Axis 2

Axis 1

External Axis 2

start signal

Axis 1

Speed/ Axis 2

position

changeover

signal

Axis 1

Deviation Axis 2

counter clear

signal

Axis 1

Speed Axis 2

controlling

flag

Axis 1

Speed/ Axis 2

position

changeover

latch flag

Signal name Details

OFF: Drive unit READY

signal OFF

ON: Drive unit READY

signal ON

OFF: Zero point signal

OFF

ON: Zero point signal

OFF: In-position signal

OFF

ON: In-position signal

OFF: Near-point dog

signal OFF

ON: Near-point dog

signal ON

ON: Stop signal ON

OFF

ON: Upper limit signal

OFF: Lower limit signal

OFF ON: Lower limit signal ON OFF: External start signal

OFF ON: External start signal

ON OFF: Speed/ position

changeover signal

OFF ON: Speed/ position

changeover signal

ON OFF: Deviation counter

clear signal OFF ON: Deviation counter

clear signal ON OFF: Position being

controlled ON: Speed being

controlled

OFF: Speed/ position

changeover not

executed ON: Speed/ position

changeover

executed

MELSEC-

This signal turns ON when the drive unit is normal and is ready to accept

feed pulses. (*

This signal indicates the zero point signal at a machine zero point return.

The zero point signal of a pulse encoder, etc. is used generally. (*

This signal indicates ON/OFF of the in-position signal from the drive unit.

)

This signal indicates ON/OFF of the near-point dog signal at a machine

zero point return. (*

This signal indicates ON/OFF of the stop signal. (*1)

This signal indicates ON/OFF of the upper limit signal. (*1)

This signal indicates ON/OFF of the lower limit signal. (*1)

This signal indicates ON/OFF of the external start signal. (*1)

This signal indicates ON/OFF of the speed/position changeover signal. (*1)

This signal indicates ON/OFF of the deviation counter clear signal. (*1)

This flag is ON during speed control and is used to judge whether speed

control or position control is being executed.

During speed/position changeover control, this flag is ON until speed

control is switched to position control by an external speed/position changeover signal.

This flag turns OFF at power-on or at start of position control, JOG

operation or manual pulse generator operation. (*

During speed/position changeover control, this flag turns ON when speed

control is switched to position control and is used as a movement amount change enable/disable interlock in position control.

This flag turns OFF at start of next positioning data execution, JOG

operation or manual pulse generator operation. (*

n: Address assigned to the master module by station number setting *

)

: Updated every 56.8ms. (Not updated when processing is

completed within 56.8ms.)

)

3 - 18



3 SPECIFICATIONS AND FUNCTIONS

Device

No.

RX(n+1)E RX(n+4)E

RX(n+1)F RX(n+4)F

RX(n+2)0 RX(n+5)0

RX(n+2)1 RX(n+5)1

RX(n+2)2 RX(n+5)2

RX(n+2)3 RX(n+5)3

RX(n+2)4 RX(n+5)4

RX(n+2)5 RX(n+5)5

RX(n+2)6 RX(n+5)6

RX(n+2)7 RX(n+5)7

RX(n+2)8 RX(n+5)8

RX(n+7)8 Initial data

Axis 1 Axis 2

processing request

Command

in-position

signal

Zero point

return

request flag

Zero point

return

complete

flag

Warning

detection

Speed

change 0

flag

Zero point

absolute

position

overflow flag

Zero point

absolute

position

underflow

flag

ABS data bit

Transmissio

n data

READY flag

Restart

acceptance

complete flag

Signal name Details

OFF: Outside in-position

range ON: Within in-position

range

OFF: Machine zero point

return complete ON: Machine zero point

return being

requested OFF: Before machine

zero point return

completion ON: After machine zero

point return

completion OFF: Without axis warning ON: With axis warning

OFF: New speed value is

other than 0 ON: New speed value is

OFF: Overflow not

occurred ON: Overflow occurred

OFF: Underflow not

occurred ON: Underflow occurred

OFF: bitOFF ON: bitON

OFF: Trans-mission data

being prepared ON: Trans-mission data

ready OFF: Restart not accepted ON: Restart accepted

OFF: No initial data

processing request ON: Initial data

processing being

requested

n: Address assigned to the master module by station number setting

: Updated every 56.8ms. (Not update when processing is completed within 56.8ms.)

: Refer to section 12.6 for the zero point absolute position.

: Used for maintenance of the absolute position detection system. Unusable for normal operation.

MELSEC-

This signal turns ON when the remaining distance falls within the

"command in-position range" set in the parameter.

This signal turns OFF when the axis of the corresponding operation

moves.

A command in-position check is performed every 56.8ms during position

control. During speed control or during speed control of speed/position changeover control, a command in-position check is not performed. (*

This flag turns ON when any of the following conditions occurs, and turns

OFF at completion of a machine zero point return. (* (a) When the drive unit READY signal turns OFF (b) When the remote station READY signal turns ON

(c) When a machine zero point return starts This flag turns ON at normal completion of a machine zero point return. This flag turns OFF at a machine zero point return start, positioning

operation start, JOG operation start or manual pulse generator operation

start or when the drive unit READY signal turns OFF. (*

This signal turns ON when an axis warning occurs. This signal turns OFF when the axis error is reset. (*1)

This signal turns ON when Speed change request (RY(n+2)7, RY(n+4)7)

is turned ON at a new speed value of 0. This signal turns OFF when Speed change request is turned ON at a new

speed value of other than 0. (* This signal turns ON when the zero point absolute position (*2) has

overflown due to a current value change. (*

This signal turns ON when the zero point absolute position (*2) has

underflown due to a current value change. (*

This signal indicates the low-order bit of ABS data. (*3)

This signal indicates the high-order bit of ABS data. (*3)

This signal indicates the preparation condition of transmission data in the

ABS transfer mode. (*

This signal indicates a restart acceptance condition.

Initial data processing request

After power-on or after a hardware reset, the D75P2 turns ON Initial data

request to request initial data setting.

This signal turns OFF when Initial data processing complete (RY(n+7)8)

turns ON.

)

3 - 19



3 SPECIFICATIONS AND FUNCTIONS

Device

No.

RX(n+7)9

RX(n+7)B

Initial data setting

complete

Remote station

READY

Signal name Details

OFF: Initial data setting

incomplete

ON: Initial data setting

complete

OFF: Positioning

operation disable

ON: Positioning

operation enable

MELSEC-

This signal turns ON at completion of initial data setting after Initial data

setting request (RY(n+7)9) has turned ON.

When Initial data request (RX(n+7)8) turns OFF at completion of initial

data setting, Initial data setting complete also turns OFF.

(a) This signal indicates that the D75P2 is ready for positioning operation.

This signal turns ON depending on ON/OFF of Initial data processing

complete (RY(n+7)8) and Initial data setting request (RY(n+7)9).

This signal turns ON when positioning operation, zero point return,

JOG operation or manual pulse generator operation is performed in the test mode of the peripheral device.

(b) When any positioning parameter setting is to be changed, this signal

must be turned OFF depending on the item to be changed.

processing is performed.

Parameter range check The D75P2 READY signal (RXn0) is turned OFF.

(d) When Remote station READY is turned from ON to OFF, the following

processing is performed.

The D75P2 READY signal (RXn0) is turned ON. The operating axes are stopped. The M code ON signal of each axis is turned OFF and the M code

storage area is cleared.

3 - 20



3 SPECIFICATIONS AND FUNCTIONS

3.4.3 Details of output signals (Master module D75P2)

MELSEC-

Device

No.

RY(n+1)0 RY(n+1)1

RY(n+1)3 RY(n+1)4

RY(n+1)6 RY(n+1)8

RY(n+1)7 RY(n+1)9

RY(n+2)0 RY(n+4)0

RY(n+2)1 RY(n+4)1

RY(n+2)2 RY(n+4)2

RY(n+2)3 RY(n+4)3

RY(n+2)4 RY(n+4)4

RY(n+2)5 RY(n+4)5

RY(n+2)6 RY(n+4)6

The ON/OFF timing and conditions, etc., of the output signals are shown below.

Signal name Details

Axis 1

Positioning start

Axis 2

Axis 1

Axis stop OFF : No axis stop

Axis 2

Axis 1

Forward run JOG start

Axis 2

Reverse run JOG start

Axis 1

Reverse run JOG start

Axis 2

Axis 1

Servo ON

Axis 2

Axis 1

ABS transfer

Axis 2

mode

Axis 1

ABS request flag

Axis 2

Axis 1

Deviation counter

Axis 2

clear

Axis 1

Error reset OFF : No error reset

Axis 2

Axis 1

Restart command

Axis 2

Axis 1

M code OFF

Axis 2

request

OFF : No positioning

ON : Positioning start

ON : Axis stop

OFF : JOG not started ON : JOG started

OFF : Servo OFF ON : Servo ON OFF : Non-ABS transfer

ON : ABS transfer mode OFF : ABS data request

ON : ABS data being

OFF : Deviation counter

ON : Deviation counter

ON : Error reset

OFF : No restart

ON : Restart

OFF : No M code OFF

ON : M code OFF

start request

requested

request

requested

mode

acceptance complete

requested

clear request acceptance complete

clear being requested

request

requested

command

commanded

request

requested

n: Address assigned to the master module by station number setting

: Used for maintenance of the absolute position detection system. Unusable for normal operation.

: Used for operation of the absolute position detection system.

: Updated every 56.8ms. (Not updated when processing is completed within 56.8ms.)

Zero point return or positioning operation is started. The positioning start signal is valid at the rising edge, and carries out

starting. When the positioning start signal turns ON during BUSY, the warning “start

during operation” (warning code: 100) will occur.

When the axis stop signal turns ON, the zero point return control,

positioning control, JOG operation and manual pulse generator operation

will stop. By turning the axis stop signal ON during positioning operation, the

positioning operation will be "stopped". Whether to decelerate or suddenly stop for each stop group can be

selected with "

Stop group 3 sudden stop selection". During interpolation control of the positioning operation, if the axis stop

signal for either axis turns ON, both axes will decelerate and stop.

When the Forward run JOG start signal is ON, Forward run JOG operation

will be carried out at the JOG speed. When the Forward run JOG start

signal turns OFF, the system will decelerate and stop.

When the Reverse run JOG start signal is ON, Reverse run JOG operation

will be carried out at the JOG speed.

When the Reverse run JOG start signal turns OFF, the system will

decelerate and stop.

This signal turns ON when servo is to be switched ON. (*2)

This signal turns ON when the ABS transfer mode is to be selected. (*1)

This signal turns ON when ABS data is to be requested in the ABS

transfer mode. (*1)

This signal turns ON when the deviation counter of the servo amplifier is to

be cleared. (*1)

This signal is used to clear the axis error detection, axis error number, axis

warning detection and axis warning number.

This signal turns ON when ABS data is to be requested in the ABS

transfer mode.

This signal changes the axis operation status from error occurrence to

standby. (The signal does nothing during a start.)

This signal executes an error reset on its rising edge. (*3)

Turning ON this signal when the axis operation status is a stop starts

positioning from the stop position to the end point of the positioning data that caused the stop.

This signal executes a restart on its rising edge. (*3)

M code OFF request turns OFF the M code ON signal (RXnD, RXnE).

This signal executes M code OFF on its rising edge. (*3)

Stop group 1 sudden stop selection" to "

Pr.38

Pr.40

3 - 21



3 SPECIFICATIONS AND FUNCTIONS

Device

No.

RY(n+2)7 RY(n+4)7

RY(n+2)8 RY(n+4)8

RY(n+2)9 RY(n+4)9

RY(n+2)A RY(n+4)A

RY(n+2)B RY(n+4)B

RY(n+7)8 Initial data

RY(n+7)9 Initial data setting

Axis 1

Speed change

Axis 2

request

Speed/positi

Axis 1

Axis 2

changeover enable flag

Manual

Axis 1

pulse

Axis 2

generator enable flag

Zero point

Axis 1

return

Axis 2

request flag OFF request

External

Axis 1

start valid

Axis 2

processing complete

request flag

Signal name Details

OFF : No speed change

request

ON : Speed change

requested

OFF: Speed/position

changeover disable

ON: Speed/position

changeover enable

OFF: Manual pulse

generator operation disable

ON: Manual pulse

generator operation enable

OFF: No zero point return

request OFF request

ON: Zero point return

request OFF

requested OFF: External start invalid ON: External start valid OFF: Initial data

processing

incomplete ON: Initial data processing

complete OFF: No initial data

setting request ON: Initial data setting

requested

Fig. 3.1 shows the timings of the input/output signals, such as Initial data processing request and Initial data processing complete, of the D75P2.

(1) Initial data setting

RX(n+7)8

Initial data processing request

Initial data processing complete

RY(n+7)8

RX(n+7)9

Initial data setting complete

RY(n+7)9

Initial data setting request

RX(n+7)B

Remote station READY

(2) Data change or block transmission

RX(n+7)9

Initial data setting complete

RY(n+7)9

Initial data setting request

RX(n+7)B

Remote station READY

MELSEC-

When changing the speed during positioning operation, turn this signal ON

after setting a new speed value.

This signal executes a speed change on its rising edge.

When the speed/position changeover enable flag is turned ON, the

speed/position changeover signal (RX(n+1)A, RX(n+4)A) is made valid.

This signal is used to set whether manual pulse generator operation is to be

enabled or disabled.

This signal turns OFF the zero point return request flag (RX(n+1)F,

RX(n+4)F).

This signal turns OFF the zero point return request flag on its rising edge.

When this signal turns ON, an external start is made valid. Initial data processing complete When Initial data setting request (RY(n+7)9) turns ON after power-on or a

hardware reset, initial data setting is performed, and when it is completed, this signal turns ON.

Initial data setting request flag

This signal turns ON when initial data setting or change is performed.

Executed by D75P2 Executed by sequence program

Perform data (parameter, positioning data, etc.) setting.

Fig. 3.1 I/O signal timings

3 - 22

3 SPECIFICATIONS AND FUNCTIONS

3.5 Remote registers

The D75P2 has remote registers for transfer of data to/from the the master module. This section explains the assignment and data structure of the remote registers.

(1) Remote register assignment

The following table indicates the remote register assignment.

Transfer direction

Master remote

Remote master

Axis 1 Axis 2

RWwm RWwm+8 Positioning start number 0

RWwm+1 RWwm+9

RWwm+2 RWwm+10

RWwm+3 RWwm+11 0

RWwm+4 RWwm+12

RWwm+5 RWwm+13 0

RWwm+6 RWwm+14

RWwm+7 RWwm+15 0

RWrn RW wn+8

RWrn+1 RWwn+9 0

RWrn+2 RWwn+10

RWrn+3 RWwn+11 0

RWrn+4 RWwn+12 Valid M code 0

RWrn+5 RWwn+13 Axis error number 0

RWrn+6 RWwn+14 Axis warning number 0

RWrn+7 RWwn+15 Axis operation status 0

Remote register assignment

Addresses

m, n: Addresses assigned to the master module by station number setting

MELSEC-

Details Default value

Positioning operation

speed override

New current value

New speed value

JOG speed

Current feed value

Feedrate

100

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3 SPECIFICATIONS AND FUNCTIONS

(2) Remote register details

Setting item Setting details

Positioning start No. • Set the start No. for positioning.

Positioning operation speed override

New current value

Set the "override" value when overriding the speed during positioning operation.

*For details of "override", refer to section "12.5.2 Override function".

• Set a new current feed value when changing the current feed value using the start No. "9003".

• The setting value should be within the following range.

Pr.11

Standard

Stepping

motor mode

Pr.1

mode

-1

μm)

(

-2147483648 to

+2147483647

-134217728 to

+134217727

inch

-5

( 10

inch)

-2147483648 to

+2147483647

-134217728 to

+134217727

degree

-5

( 10

degree)

0 to 35999999

MELSEC-

pulse

(pulse)

-2147483648 to

+2147483647

-134217728 to

+134217727

New speed value

• Set a new speed when changing the speed.

• Setting "0" makes a stop.

• The setting value should be within the following range.

Pr.11

Standard

Stepping

motor mode

mode

Pr.1

-2

mm/min)

(

0 to 600000000 0 to 600000000 0 to 600000000 0 to 1000000

0 to 37500000 0 to 37500000 0 to 37500000 0 to 62500

( 10

inch

-3

inch/min)

degree

-3

(

degree/min)

pulse

(pulse/s)

3 - 24

3 SPECIFICATIONS AND FUNCTIONS

Set with a decimal.

Setting value

Set with a decimal.

Setting value

Set with a decimal.

Actual value

New current value

New speed value



Setting value (Decimal)

Example)

When setting "10000.00 mm/min" to a new speed value, set "1000000" to the remote register.

Setting value Default value

Positioning data No.

· 1 to 600

· 7000 to 7010

· 8001 to 8050

· 9001

· 9002

· 9003

· 9900

· 9901

Conversion into integer

10

: Positioning data No. : Block start designation : Indirectly specification : Machine zero point return : High-speed zero point return : Current value change : Absolute position restoration : Data setting method zero point

return

Override value (%)

1 to 300

Unit conversion table (New current value)

Unit conversion table (New speed value)

Unit

degree

pulse

mm/min

inch/min

degree/min

pulse/s

inch

Unit

MELSEC-

Addresses

Axis 1 Axis 2

0 RW wm RWwm+8

100 RWwm+1 RWwm+9

RWwm+2

RWwm+3

RWwm+4

RWwm+5

RWwm+10

RWwm+11

RWwm+12

RWwm+13

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3 SPECIFICATIONS AND FUNCTIONS

Setting item Setting details

• Set the JOG speed for JOG operation.

• The setting value should be within the following range.

Pr.1

Pr.11

JOG speed

Standard

Stepping

motor mode

mode

MELSEC-

degree

-3

(

degree/min)

pulse

(pulse/s)

( 10

inch

-3

inch/min)

-2

mm/min)

(

0 to 600000000 0 to 600000000 0 to 600000000 0 to 1000000

0 to 37500000 0 to 37500000 0 to 37500000 0 to 62500

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3 SPECIFICATIONS AND FUNCTIONS

Setting value Default value

Set with a decimal.

Actual value

JOG speed

Conversion



into integer

10

etting value

(Decimal)

Example)

When setting "20000.00 mm/min" to JOG speed, set "2000000" to the remote register.

Unit conversion table (JOG speed)

Unit

mm/min

inch/min

degree/min

pulse/s

MELSEC-

Addresses

Axis 1 Axis 2

RWwm+6

RWwm+7

RWwm+14

RWwm+15

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3 SPECIFICATIONS AND FUNCTIONS

Storage item Storage details

The currently commanded address is stored. (Differs from the actual motor position during operation.)

The address of the current position is stored.

• Update timing : 56.8ms

Current feed value

Feedrate

Valid M code

Axis error No.

• At completion of a machine zero point return, the zero point address is stored.

• When the current value is changed by the current value change function, a new value is stored.

• By making parameter setting, a software stroke limit can be placed with the current feed value.

The output speed commanded by the D75P2 is stored. (May be different from the actual motor speed during operation.)

At the time of interpolation operation, the feedrates are stored as described below.

• Reference axis (Axis 1) : Composite speed or reference axis speed

• Interpolation axis (Axis 2) : 0

• The average speed per 910ms is stored. Therefore, the update interval is 910ms.

The M code, which is currently valid (set to the positioning data during current operation), is stored.

0 is stored when the remote station READY signal turns OFF.

• Update timing: When the M code ON signal turns ON

At axis error detection, the error code corresponding to the error definition is stored.

• The latest error code is always stored. (When a new axis error occurs, the error code is overwritten.)

• When "error reset" [RY(n+2)4, RY(n+4)4] is turned ON, the axis error No. is cleared (set to 0).

(set in

Pr.21

MELSEC-

)

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3 SPECIFICATIONS AND FUNCTIONS

Monitor with a hexadecimal display.

Monitor value

(High-order remote register) (Lower-order remote register)

E F G H

Monitor value definition

Rearrangement



Low-order remote register

b15 b12 b4 b0b8

High-order remote register

b31 b28 b20 b16b24

Example) RWrn

Example) RWrn+1

Factory

setting

0000H

MELSEC-

Addresses

Axis 1 Axis 2

RWrn

RWrn+1

RWrn+8

RWrn+9

A B C D

Decimal integer

Actual value

Set with a decimal.

Monitor value

Current feed value

Feedrate

Monitor value

ERF G H

Conversion from



hexadecimal to decimal

Unit conversion



R  10

Unit conversion table (Current feed value)

-1

-5

Unit conversion table (Feedrate)

-2

-3

M code numbe

(0 to 32767)

Unit

inch

degree

pulse

Unit

mm/min

inch/min

degree/min

pulse/s

Error No.

For details of the error number (error code), refer to section "14.3 List of errors" in this manual.

0000

RWrn+2

RWrn+3

RWrn+10

RWrn+11

0 RWrn+4 RWrn+12

0 RWrn+5 RWrn+13

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3 SPECIFICATIONS AND FUNCTIONS

Storage item Storage details

t axis warning detection, the warning code corresponding to the warning definition

is stored.

Axis warning No.

Axis operation status The operation status of the axis is stored.

• The latest warning code is always stored. (When a new axis warning occurs, the warning code is overwritten.)

• When warning reset [RY(n+2)4, RY(n+4)4] is turned ON, the axis warning No. is cleared (set to 0).

MELSEC-

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3 SPECIFICATIONS AND FUNCTIONS

Monitor value definition

Set with a decimal.

Monitor value

Set with a decimal.

Monitor value

Warning No.

For details of the warning No. (warning code), refer to section "14.4 List of warnings" in this manual.

Axis operation status

-4

: During step error occurrence : During step stop

-3 : During step standby

-2

-1

: During error occurrence

: During standby

: During stop : During interpolation

: During JOG operation

3 4

: During manual pulse generator operation

: During analysis : During special start waiting

: During zero point return

7 8

: During position control

: During speed control

: During speed control of speed/ position control

: During position control of speed/ position control

: During absolute position restoration

: During data setting method zero point return

MELSEC-

Factory

setting

Addresses

Axis 1 Axis 2

0 RWrn+6 RWrn+14

0 RWrn+7 RWrn+15

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3 SPECIFICATIONS AND FUNCTIONS

3.6 Transmission delay time

This section indicates the transmission delay time (time required until data is transmitted).

Cyclic transmission (Common to AJ61BT11, A1SJ61BT11, AJ61QBT11,

A1SJ61QBT11 and QJ61BT11N)

(1) Calculation expression

Details Calculation expression (Unit: ms)

Master module (RY/RWw) D75P2 (RY/RW w)

Master module (RX/RWr) D75P2 (RX/RWr)

SM : Scan time of master module sequence program LS : Link scan time (refer to the Master Module User's Manual)

(2) Calculation example

The following example calculates the time from when the positioning start signal (RY(n+1)0, RY(n+1)1) is turned ON until the D75P2 starts positioning operation.

MELSEC-

SM + LS

3 + 1.6 (internal processing time)

Positioning operation start!

PLC CPU

Master

module

RY(n+1)0, RY(n+1)0 is turned ON.

D75P2

When SM is 20ms, transmission speed is 10Mbps, and only one D75P2 is connected

LS = BT{29.4 + (NI 4.8) + (NW 9.6) + (N 32.4) + (ni 4.8) + (nw 9.6)} + ST +

{number of communication error stations = 0.8{29.4 + (8 = 1787.68μs

1.8ms

4.8) + (8 9.6) + (1 32.4) + (4 4.8) + (4 9.6)} + 1600 + 0

48 BT number of retries}

Transmission delay time = 20 + 1.8 3 + 1.6

= 27[ms]

Therefore, the time from when the positioning start signal (RY(n+1)0, RY(n+1)1) is turned ON until the D75P2 starts positioning operation is 27ms.

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3 SPECIFICATIONS AND FUNCTIONS

Transient transmission

(1) When master module is AJ61BT11, A1SJ61BT11, AJ61QBT11 or

A1SJ61QBT11

(a) Calculation expression

Details Calculation expression (Unit: ms)

Master module D75P2 (write)

Master module D75P2 (read)

SM : Scan time of master module sequence program LS : Link scan time (refer to the Master Module User's Manual)

: Number of read points

1 to 120points 121 to 240points 241 to 360points 361 to 480points

LS LS 2 LS 3 LS 4

bps constant

156kbps 625kbps 2.5Mbps 5Mbps 10Mbps

LS LS 2 LS 4 LS 6 LS 7

N : Number of simultaneously executed commands

(b) Calculation example

The following example calculates the transmission delay time taken when

Md.30

Machine feed value" (2 words) is read from the D75P2.

When SM is 20ms, transmission speed is 10Mbps, and only one D75P2 is connected LS: 1.8ms (for the calculation expression, refer to "(2) Calculation example in Cyclic transmission")

Transmission delay time = {SM

Therefore, the read machine feed value is the data after 67ms. However, when data is read from the buffer memory whose update timing is at

56.8ms intervals

, data after a maximum of 67 + 56.8 = 123.8ms is read as

shown below depending on the read timing.

56.8ms 56.8ms 56.8ms 56.8ms

MELSEC-

{SM

2 + LS 6 (number of write points*1 + 16)/72*2LS + bps constant} {SM

2 + LS 5 (number of read points*1 + 16)/16*2LS + bps constant}

*1: Set in word unit *2: Rounded up to the one place

2 + LS 5 + LS + (2 +16)/16 LS + LS 7} 1

= {20

2 + 1.8 5 + 1.8 + (2 +16)/16 1.8 + 1.8 7} 1 = 40 + 9 + 1.8 + 3.6 + 12.6 = 67[ms]

Md.37

update timing is at 910ms intervals.

D75P2 update timing

Md. 30 Machine feed value

Read execution

67+ 1) (ms)

Read complete

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3 SPECIFICATIONS AND FUNCTIONS

(2) When master module is QJ61BT11N

(a) Calculation expression

Details Calculation expression (Unit: ms)

Master module D75P2 (write (RIWT command)) Master module D75P2 (read (RIRD command))

OT : QCPU dedicated command processing time

QnCPU : 1[ms]

QnHCPU : 0.5[ms] SM : Scan time of master module sequence program LS : Link scan time (refer to the Master Module User's Manual)

156kbps 625kbps 2.5Mbps 5Mbps 10Mbps

6 7 9 11 12

(b) Calculation example

The following example calculates the transmission delay time taken when

Md.30

Machine feed value" (2 words) is read from the D75P2 when the

Q06HCPU is used.

When SM is 20ms, transmission speed is 10Mbps, and only one D75P2 is

connected

LS : 1.8ms (for the calculation expression, refer to "(2) Calculation

example in Cyclic transmission")

Transmission delay time = OT + LS

However, when data is read from the buffer memory whose update timing is at

56.8ms intervals

, data after a maximum of 25.9 + 56.8 = 82.7ms is read as

shown below depending on the read timing.

56.8ms 56.8ms 56.8ms 56.8ms

MELSEC-

OT + LS {BC + (number of write points*1 + 16)/72*21.13}

OT + LS

{BC + (number of read points*1 + 16)/16*21.067}

*1: Set in word unit *2: Rounded up to the one place

{BC + (2 + 16)/16 1.067} = 0.5 + 1.8 = 0.5 + 1.8

{12 + (2 + 16)/16 1.067}

14.134

25.9[ms]

Md.37

update timing is at 910ms intervals.

D75P2 update timing

Md. 30 Machine feed value

Read execution

25.9+1) (ms)

Read complete

3 - 34

3 SPECIFICATIONS AND FUNCTIONS

3.7 Specifications of input/output interfaces with external devices

3.7.1 Electrical specifications of input/output signals

MELSEC-

Signal name

Drive unit READY (READY) In-position signal

Zero point signal (PG0)

Manual pulse generator A phase (PULSE GENERATOR A) Manual pulse generator B phase (PULSE GENERATOR B)

Near-point dog signal (DOG) Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS) External start signal (STRT) Speed/position changeover signal (CHG)

ABS transmission data READY ABS data bit 0

ABS data bit 1

Input specifications

Rated input

voltage/current

24VDC/5mA

5VDC/5mA 4.5 to 6.1VDC

24VDC/7mA 12 to 26.4VDC

5VDC/5mA 4.5 to 6.1VDC

1) Pulse width

2) Phase difference

24VDC/5mA

Working

voltage range

19.2 to

26.4VDC

OFF

4ms or more

2ms or more

(Duty ratio 50%)

A phase

B phase

19.2 to

26.4VDC

19.2 to

26.4VDC

voltage/current

17.5VDC or more/

3.5mA or more

2.5VDC or more/ 2mA or more

10VDC or more/

3mA or more

3s or less 3s or less

1ms or more

2.5VDC or more/

3.5mA or more

2ms or more

When the A phase has advanced more than the B phase, the positioning address (current value)

1ms or more

17.5VDC or more/

3.5mA or more

17.5VDC or more/

3.5mA or more

increases.

OFF

voltage/current

7VDC or less/

1.7mA or less

0.5VDC or less/

0.5mA or less

3VDC or less/

0.2mA or less

1VDC or less/

0.1mA or less

7VDC or less/

1.7mA or less

7VDC or less/

1.7mA or less

Input

resistance

Approx. 4.7k

Approx. 0.5k

Approx. 3.5k

Approx. 1.5k

Approx. 4.7k

Approx. 4.7k



Response

time

4ms or less

0.8ms or less

1ms or less

4ms or less

3 - 35

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-

Signal name

Deviation counter clear (CLEAR)

Servo ON Proportional control (ABS data transfer mode) Torque limit (ABS data request)

Open collector connection Pulse output F (PULSE F) Pulse output R (PULSE R)

Differential driver connection Pulse output F (+/-) (PULSE F+/-) Pulse output R (+/-) (PULSE R+/-)



Select the PULSE/SIGN type, CW/CCW type, and A phase/B phase type using the parameter ( Pr.5 Pulse output mode) according to

the drive unit specifications.



The relation of the pulse output with the " Pr.5 Pulse output mode" and " Pr.24 Logic selection for pulse output to the drive unit":

Pr.5 Pulse

output mode*1

Open collector connection



The voltage of a terminal having the PULSE COM terminal as a reference is shown.

(The transistor output becomes OFF to High and ON to Low.)

PULSE PULSE F

Output specifications

Rated load

voltage

5 to 24VDC 4.75 to 30VDC

Differential driver equivalent to AM26C31

Terminal

name

Operating load

voltage range

Forward run Reverse run Forward run Reverse run

Max. load

current/inrush

current

0.1A/1 point/0.4A 10ms or less

50mA/1

point/200mA 10ms

or less

Pr.24 Logic selection for pulse output to the drive unit

Positive logic Negative logic

Max. voltage

drop at ON

1VDC (TYP)

2.5VDC (MAX)

1VDC (TYP)

2.5VDC (MAX)

0.5VDC (TYP) 0.1mA or less —

Leakage

current at

OFF

0.1mA or less

Response

time

2ms or less

(resistance

load)

2ms or less

(resistance

load)

SIGN PULSE R

CW PULSE F

CCW PULSE R

A phase PULSE F

B phase PULSE R

Differential driver connection



The voltage of a terminal having the differential driver common terminal as a reference is shown.

PULSE

SIGN

CCW

A phase

B phase

PULSE F+ PULSE F-

PULSE R+ PULSE R-

PULSE F+ PULSE F-

PULSE R+ PULSE R-

PULSE F+ PULSE F-

PULSE R+ PULSE R-

1: For details on " Pr.5 Pulse output mode", refer to "Section 5.2.1, Basic parameters 1".

3 - 36

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-

POINT Set the parameters, " Pr.5 Pulse output mode" and " Pr.24 Logic selection for pulse output to the drive

unit", in accordance with the specifications of a connected servo amplifier. If not, the motor may rotate in the opposite direction or may not rotate at all.

Connection examples with a MELSERVO-J2 series servo amplifier are shown below.

Open collector connection

AJ65BT-D75P2-S3

Pr.5 Pulse

output mode

CW/CCW

( Pr.24 Logic

selection for pulse

output to the drive

unit)

Negative logic Negative logic

Positive logic Positive logic

Logic of MR-J2

servo amplifier

PULSE/SIGN

A phase/

B phase

Differential driver connection

Pr.5 Pulse

output mode

CW/CCW

PULSE/SIGN

Negative logic Negative logic

Positive logic Positive logic

Negative logic Negative logic

Negative logic Positive logic

Positive logic Negative logic

Positive logic Positive logic

AJ65BT-D75P2-S3

( Pr.24 Logic

selection for pulse

output to the drive

unit)

Negative logic Positive logic

Positive logic Negative logic

Negative logic Positive logic

Positive logic Negative logic

Negative logic Negative logic

Logic of MR-J2

servo amplifier

A phase/

B phase

Negative logic Positive logic

Positive logic Negative logic

Positive logic Positive logic

3 - 37

3 SPECIFICATIONS AND FUNCTIONS

3.7.2 Signal layout for external device connection connector

The specifications of the connector section, which is the input/output interface for the D75P2 and external device, are shown below. The signal layout for the D75P2 external device connection connector (for one axis) is shown. (The signal layout for the external device connection connector is the same for axis 1 to axis 2.)

Pin No.

36 Common COM 35 Common COM 34 ABS transmission data READY TLC 33 Common (ABS IN) COM – Drive unit 32 Common (ABS OUT) COM – Drive unit 31 ABS request ABSR

30 ABS transfer mode ABSM 29 Servo ON SON 28 Manual pulse generator PULSER B–

27 Manual pulse generator PULSER A–

26 Common COM 25 Zero point signal common PG0 COM 24 Zero point signal (+5V) PG0 (5V) 23 Deviation counter clear common CLEAR COM 22 Pulse sign (differential driver –) PULSE R– 21 Pulse output (differential driver –) PULSE F–

20 Pulse sign common

(Open collector)

19 Pulse output common

(Open collector) 18 ABS data bit 1 ZSP

17 ABS data bit 0 D01 16 External start signal * STRT 15 Speed/position changeover signal CHG 14 Stop signal STOP 13 Lower limit signal RLS 12 Upper limit signal FLS

11 Near-point dog signal DOG 10 Manual pulse generator PULSE B+

9 Manual pulse generator PULSE A+

8 In-position signal INPS

7 Drive unit READY READY 6 Zero point signal (+24V) PG0 (24V) 5 Deviation counter clear CLEAR 4 Pulse sign (differential driver +) PULSE R+ 3 Pulse output (differential driver +) PULSE F+ 2 Pulse sign (Open collector) PULSE R

1 Pulse output (Open collector) PULSE F

Pr.43

Signal name

PULSE COM

External start function selection".

Pin layout

1836

119

* The signal application follows "

Signal direction

D75P2 – external

MELSEC-

Connection destination

(External device) (External device) Drive unit

Drive unit

Drive unit Drive unit Manual pulse

generator Manual pulse

generator Drive unit Drive unit Drive unit Drive unit Drive unit Drive unit

Drive unit

Drive unit (External device) (External device) (External device) Limit switch Limit switch

Near-point dog Manual pulse

generator Manual pulse

generator Drive unit

Drive unit Drive unit Drive unit Drive unit Drive unit Drive unit

Drive unit

3 - 38

3 SPECIFICATIONS AND FUNCTIONS

3.7.3 List of input/output signal details

The details of each D75P2 external device connection connector (for 1 axis) signal are

Signal name Pin No. Signal details

Common

ABS transmission data READY 34

Common (ABS IN) 33

Common (ABS OUT) 32

ABS request 31

ABS transfer mode 30

Servo ON 29

Manual pulse generator (B phase –) Manual pulse generator (A phase –)

shown below.



Signal that indicates that transmission data is ready in the ABS transfer

mode.



Common for near-point dog signal, upper/lower limit, stop signal,

speed/position changeover signal, and external start signal.



Common for ABS data bit 0, ABS data bit 1 and ABS transmission data

READY.



Common for servo ON, ABS transfer mode and ABS request.



Signal that requests ABS data during ABS transfer mode.



Used to select the ABS transfer mode.



While this signal is ON, the "ABS data bit 0", "ABS data bit 1" and "ABS

send data READY" signals are valid.



Signal that powers on the base circuit of the servo to make it ready to

operate.



Input the pulse signal from the manual pulse generator A phase and B

phase.



If the A phase is advanced more than the B phase, the positioning

address will increase at the rising edge and falling edge of each phase.



If the B phase is advanced more than the A phase, the positioning

address will decrease at the rising edge and falling edge of each phase.

[When increased] [When decreased]

MELSEC-

A phase

Manual pulse generator (B phase +) Manual pulse generator

B phase

(A phase +)

Positioning address

Common 26

Deviation counter clear common 23

Zero point signal common 25



Common for drive unit READY and in-position.



Common for deviation counter clear.



Common for zero point signal (+5V) and zero point signal (+24V).



Input the zero point signal for machine zero point return.

+1+1+1+1+1+1+1+1 -1 -1 -1 -1 -1 -1 -1 -1

Use the zero point signal of the pulse encoder or the like. Zero point signal (+5V) Zero point signal (+24V)



Use this signal when the zero point return method is the stopper stop

method and the machine zero point return complete is input from an

external source.



The zero point signal is detected at turning from OFF to ON.

Pulse sign Pulse output (differential driver –)

Pulse sign Pulse output (differential driver +)

22 21



Output the positioning pulses and pulse sign for the differential driver

compatible drive unit.

A phase

B phase

Positioning address

3 - 39

3 SPECIFICATIONS AND FUNCTIONS

Signal name Pin No. Signal details

Pulse sign common Pulse output common (Open collector)

Pulse sign Pulse output (Open collector)

ABS data bit 1 ABS data bit 0

External start signal 16

Speed/position changeover signal 15

Stop signal 14

Lower limit signal 13

Upper limit signal 12

Near-point dog signal 11

In-position signal 8

Drive unit READY 7

20 19



Output the positioning pulses and pulse sign for the open collector

compatible drive unit.



ABS data to be transferred from the servo to the D75P2 during the ABS

operation mode. bit 0 indicates the lower-order bit, and bit 1 the high-

order bit.



Use as the positioning start, speed change request and skip request

input signal from an external source.



Set which function to use the external start signal with in "

External start function selection".



Input the control changeover signal for the speed/position changeover

control.



Input when positioning is stopped.



When this signal turns ON, the D75P2 will stop the positioning being

executed.

After that, even if this signal turns from ON for OFF, the system will not

start.



This signal is input from the limit switch installed at the stroke lower limit

position.



Positioning will stop when this signal turns OFF.



When zero point return retry function is valid, this will be the lower limit

for finding the near-point dog signal.



This signal is input from the limit switch installed at the stroke upper limit

position.



Positioning will stop when this signal turns OFF.



When zero point return retry function is valid, this will be the upper limit

for finding the near-point dog signal.



Use this for detecting the near-point dog during machine zero point

return.



The near-point dog signal is detected at turning from OFF to ON.



Input the in-position signal from the drive unit.



This signal turns ON when the drive unit is normal and the feed pulse

can be accepted.



The D75P2 checks the drive unit READY signal, and outputs the zero

point return request when not in the READY state.



When the drive unit is inoperable, such as if an error occurs in the drive

unit's control power, this signal will turn OFF.



If this signal turns OFF during positioning, the system will stop. The

system will not start even if this signal is turned ON again.



When this signal turns OFF, the zero point return complete signal will

also turn OFF.

MELSEC-

Pr.43

3 - 40

3 SPECIFICATIONS AND FUNCTIONS

Signal name Pin No. Signal details



Output during machine zero point return. (Note that this signal is not

output during the count method 2).)

(Example) When carry out machine zero point return with stopper stop

Deviation counter clear 5

CLEAR



The deviation counter clear is output for approx. 10ms.



When the D75P2 turns this signal ON, the drive unit uses this signal to

reset the droop pulse amount in the internal deviation counter.

(Note) The deviation counter clear is a signal output by the D75P2

MELSEC-

metohd 2)

Speed

Zero point return speed

Pr.48

Near-point dog

Zero point signal

Creep speed

Pr.49

After feed pulse output stop

Stopper

10ms

Time

OFF

during machine zero point return. It cannot be output randomly by the user.

3 - 41

3 SPECIFICATIONS AND FUNCTIONS

3.7.4 Input/output interface internal circuit

The outline diagram of the internal circuit for the D75P2 external device connection interface is shown below.

Input/out

-put

class

Input

External wiring

Input

* The terminal connected to the common line may be either positive or negative.

Internal circuit Signal name Details

No.

14 Stop signal STOP

(+)

(–)

(+)

(–)

Near-point dog signal

Upper limit

signal

Lower limit

signal

Speed/

position

changeover

signal

External

start signal

Common COM • Input voltage 24VDC.

Manual

pulse

generator A

phase

Manual

pulse

generator B

phase

Drive unit

READY

In-position

signal

26 Common COM • Input voltage 24VDC.

Zero point

signal

25 Common PG0 COM

: Wiring is necessary in positioning. : Perform wiring when necessary.

• Near-point dog detection signal for a

DOG

FLS

RLS

CHG

STRT

PULSER

READY

INPS

PG0

machine zero point return

• Signal for the limit switch provided at the upper limit of the stroke.

• Also used for the zero point return retry function.

• Signal for the limit switch provided at the lower limit of the stroke.

• Also used for the zero point return retry function.

• Signal that stops positioning externally

• When stopping positioning, this signal turns ON in 4ms or more.

• After this signal has been turned ON, positioning is not restarted if this signal is turned from ON to OFF.

• Signal that changes from speed control to position control in speed/position changeover control.

• Signal that performs an external positioning start/speed change/skip request.

• To make an external start valid, keep this signal ON more than 4ms.

• Set which function will be used in the detailed parameter.

A+

• Terminal to connect a manual pulse

A–

generator.

• Introduced product: MR-HDP01 (Mitsubishi Electric make)

B+

B–

Signal for judging whether the drive unit is normal or abnormal. ON : Drive unit normal. Positioning

control enabled.

OFF : Drive unit abnormal. Positioning

control disabl ed.

• Enter the in-position si gnal from the

drive unit.

• The ON/OFF status can be monitored

with the remote input (RX).

• Zero point signal for a machine zero

point return.

• Generally, the zero point signal of a

pulse encoder, etc. is used.

Input voltage 24V/15V/5VDC Pin No. 6-25 24V/15VDC Pin No. 24-25 5VDC

MELSEC-

ON/OFF status

External

wiring

D75P2

OFF

OFF (STOP)

OFF

ON (STOP)

OFF

Need for

wiring

3 - 42

Mitsubishi Electronics AJ65BT-D75P2-S3 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

CONDITIONS OF USE FOR THE PRODUCT

REVISIONS

INTRODUCTION

CONTENTS

ABOUT MANUALS

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES

USING THIS MANUAL (1)

USING THIS MANUAL (2)

USING THIS MANUAL (3)

GENERIC TERMS AND ABBREVIATIONS

ENCLOSED PARTS

1.1 Positioning control

1.1.1 Features of D75P2

1.1.2 Purpose and applications of positioning control

1.1.3 Mechanism of positioning control

1.1.4 Outline design of positioning system

1.1.5 Communicating signals between D75P2 and each module

1.2 Flow of system operation

1.2.1 Flow of all processes

1.2.2 Outline of starting

1.2.3 Outline of stopping

1.2.4 Outline for restarting

1.3 Outline of communication

1.3.1 Cyclic transmission

1.3.2 Transient transmission

2.1 General image of system

2.2 List of configuration devices

2.3 Applicable system

2.4 Precautions for use

3.1 General specifications

3.2 Performance specifications

3.3 List of functions

3.3.1 D75P2 control functions

3.3.2 D75P2 main functions

3.3.3 D75P2 auxiliary functions and common functions

3.3.4 Combination of D75P2 main functions and auxiliary functions

3.4 Specifications of input/output signals for master module

3.4.1 List of input/output signals

3.5 Remote registers

3.6 Transmission delay time

3.7 Specifications of input/output interfaces with external devices

3.7.1 Electrical specifications of input/output signals

3.7.2 Signal layout for external device connection connector

3.7.3 List of input/output signal details

3.7.4 Input/output interface internal circuit