Mitsubishi MELSEC-A A1SD71-S2 User Manual

REVISIONS

'

The manual number

is

given on the bottom left

of

the back cover.

Prlnt Date

Nov., 1992

*Manual Number

IB

(NA) 66399-A

First

Revision

edition

INTRODUCTION

Thank you lers. Please read this manual carefully manual should be forwarded

for

choosing the Mitsubishi MELSEC-A Series of General Purpose Programmable Control-

to

the end User.

so

that the equipment is used

to

its

optimum. A copy

of

this

INTRODUCTION

1.

INTRODUCTION

MELSEC-A

This manual explains the specifications, handling, and programming methods of the AlSD7142 positioning module (hereafter called the AlSD71) used with a MELSEC-A series A1 SCPU.

In this manual, the term "Positioning control" includes speed/positioning con-

trol and speed control. The following are called peripheral devices

The AD71TU teaching unit is referred to as the AD71TU.

0

AGGPP graphic programming panel

0

AGPHP plasma handy graphic programmer fPeripheral device

0

AD71TU teaching unit hAD71TU

Refer to the following manuals:

0

SWOGP-AD71 P Operating Manual

0

AGGPP User's Manual

0

AD71TU Operating Manual

0

Manual Relevant drive unit instruction manuals

0

AlSCPU User's Manual

in

this manual:

Modules

Itemr

I

Number

Applicable PC CPUs

tions in the data link system

Positioning modes

I

Positioning acceleration and

deceleration times Inching

Internal current consumption Sizes mm (inch)

Weights

of

I/O points 148 points (empty 16 points + 32 points) I32 points

installation

kg

(Ib) 10.38 (0.84) 10.63 (1.39)

POsi-

The functions and specifications of AlSD71 are the same as those of the AD71

(Sl)

except for the following:

AlSD7142

AlSCPU

Master station, local Station Positioning control mode

Speed/positioning control Select either Switching mode Speed control mode

64

to

5oooo

(msec)

Disabled

5

VDC, 0.8 A

x

130(H) (5.12

69.5(W) x 93.6(D)

x

2.74 x 3.69)

In this manual AlSD71

at parameter.

1

I/O

numbers assigned from the PC CPU assume

that the AiSD71 is loaded in slots

All MELSEC-A series PC CPUs except the A2CCPU

Master station, local station, remote station

Positioning

I64 to 4999 (msec)

Operation using manual pulse generator

5

VDC, 1.5 A

x

250(H) (9.84

x

1.48 x 4.76)

0

and 1 of the main base.

AD71(S1)

control

mode

37.5(W) x 121(D)

110

I

1-1

2.

SYSTEM CONFIGURATION

2.

SYSTEM CONFIGURATION

2.1

OveraH

Configuration

Battery

(AGBAT)

MElsEGA

m

AlSCPU

n

u

Main base (AlS3EB)

I

This manual covers this range.

I

I-

-

--

lr

r-

l

I

-I----

Drive

unit

I

Positioning module

(AlSD71-S2)

L

--

1

I

Extension cable

(A1SC::::B)

I

a

Extension base

(A1S::::B)

Cable

(AC::::R4)

I

n

Servo motor

I

The respective drive unit

I

manuals give details.

Pulse motor Stepping motor

I

i

Fig.

2-1

2.1

Overall Configuration

2.

SYSTEM CONFIGURATION

AD71

MELSEGA

TU

3

AGGPP

SWOGP-AD71 P

n

AGPHP

I

L

Cable

(AClOMD)

Cable

(AC30R2)

L

General-purpose

CRT

Printer

2-2

2.

SYSTEM

2.2

Applicable Systems

-"

.

.l*, MELSEGA

CONFIGURATION

(I) The AlSD71 is only applicable to an AlSCPU module.

(2)

The number of AlSD7I used with an AISCPU module must be within the

range

(3)

The AlSD71 can be installed following must always be considered:

of

the number

(a)

If

possible, avoid installing the AlSD71 (AlS52B, A1S55BI AlS58B) module, since the power supply capacity may be insufficient.

(b)

If

it is necessary to install the AlSD71 in an extension base unit

which does not have a power supply mpdule, select a power supply module, main and extension base units, and extension cables taking into consideration (a) the power supply capacity unit, and (b) the voltage drop across the main and extension base units and extension cables.

(See the AISCPU User's Manual for details.)

of

I/O

points

in

any

of

the AISCPU.

two-slot area of a base unit, but the

in

an extension base unit

not

equipped with a power supply

of

the main base

2-3

2.

SYSTEM

2.3

Programming Equipment

CONFIGURATION

MELSEC-A

Programming unit

The following table indicates the equipment available

A1

Description

Software

package

Intelligent GPP

Plasma handy programmer

SD71.

Table

SWOGP-AD71 P

AGGPPE-SET

AGPHPE-SET

2.1

Programming Equipment

~~~~~ ~

AD71(Sl)/AD72/AlSD71 software package

Consists of the following:

I

Type Remarks

I

AGGPPE Equipped with ROM writer,

SWLIGP-GPPA A series system disk SW[: GP-GPPK K series system disk SWO-GPPU user disk (3.5 inch, formatted) AC30R4 Cable for connecting AlSD71 and AGGPPE.

Consists of the following:

AGPHPE

SWLIGP-GPPA A series system disk SW::GP-GPPK K series system disk

I

SWO-GPPU

I-

IAC30R4

Programming unit with CRT

interface functions.

Equipped with

memory cassette functions.

I

User disk (3.5 inch, formatted)

I

Cable for connecting AlSD71 and AGPHPE. 3 m (9.84 ft) length.

Remarks

FDD,

for

programming the

FDD

and printer

printer interface and

1

I

Jrinter

User disk

RS-422 cable

Composite video cable

Cleaning disk SWO-FDC

Printer

RS-232C cable

Printer paper

KGPR ink ribbon

Teaching unit

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

AC300R4

AClOMD

KGPR(S1) KGPR-K

K7PR(S1) A7PR A7NPR

AC30R2

KGPR-Y

KGPR-R

AD71TU

Cable for connecting CPU and AGGPPE. 3 m (9.84 ft) length. AC30R4

for

Cable Cable for connecting GPP screen monitor display.

length. Floppy disk for cleaning floppy disk drive.

For print out of program ladder diagrams and lists

Cable for connecting AGGPPE and printer (KGPR(S1). KGPR-K, K7PR(S1), A7PR, A7NPR, general-purpose printer with RS-232C interface). 3 m (9.84 ft) length.

Paper for KGPR and KGPR-K printer. 9 inch. Available in units of 2000

Replacement ink ribbon for KGPR and KGPR-K.

AD71(Sl)/AD72/AlSD71 teach box.

connecting CPU and AGGPPE.

pcs.

30

m (98.4 ft) length.

1

m (3.28 ft)

2-4

3.

SPECIFICATIONS

.

3.

SPECIFICATIONS

3.1

General Speolficatlons

Table

3.1

General Speclflcations

-

,

J

RAELSEGA

Itom

Operating ambient

I

temperature Storage ambient

I

temDerature

I

::,y:;tg

I

Storage humidity

Vibration resistance

I

Shock resistance

Dielectric withstand voltage

Insulation resistance ternal terminals and ground

ambient

to

55

oc

-20

to

75

oc

I

10

to

90

%RH,

non-condensing

I

10

to

90

%RH,

non-condensing

I

1

Enforms

t

II@r.nn+

I

Conforms to By noise simulator of

to

60

500

V AC for 1 minute across DC external terminals and ground

1500

V

5

MQ

Frequency Acceleration Amplitude Sweep Count

I

10 to

55

4

I

'JIS

Hz

noise frequency

DC for 1 minute across AC external terminals and ground

or larger by

HZ

C 0912 (98 m/s2(10 g)

1500

500

V

Specitications

1

-

1

0'07'

mm

(0.003

I I

x

3

Vpp noise voltage,

DC insulation resistance tester across AC ex-

I

inch)

times in 3 directions)

1

ps

noise width and

times

25

I

Class

3

Grounding

Operating ambience

Cooling method

'JIS

:Japanese Industrial Standard

One octave marked

For example, any of the changes from

Hz,

and 20

Hz

Free of corrosive gases. Dust should he minimal.

Self-cooling

'*

to

10

Hz

grounding

indicates a change from the initial frequency to double or half frequency.

are referred to as one octave.

:

If

appropriate grounding

the grounding wire to the electric panel.

10

Hz

to 20

Hz,

from

20

is

not available, connect

Hz

to

40

Hz,

from

40

Hz

to

20

3-1

3.

SPECIFICATIONS

3.2 Performance Specifications and Functions

3.2.1 Perfonmncespeclfkations

Table 3.2 Performance Speciflcations

MELSEC-A

Item

rlumber rlumber

nterpolation Jositioning

jata

?AM memory backup Lithium battery guarantees power failure backup for a total of

Modes

'osiioning

of

110 points

of

control axes

Setting method

Method

Positioning units

Positioning speed

Acceleration and deceleration

48 points' (number of occupied 2 (simultaneous or independent)

Linear interpolation (for simultaneous 2 axes)

400 points per axis Capacity

Input from AGGPPE, AGPHPE or sequence program 15 minutes without battery (25 "C)

300 days. Battery guaranteed for five years.

Positioning control mode

Speed/positioning switching mode

Speed control mode Absolute and/or incremental method

Speedlpositioning control switching mode

Incremental method (current address

starting.)

to

16,252,928 (PULSE)

1 Max. 162 (m)

Max. 16200 (inch)

Max. 16200 (degree)

I

10

to

I

10

to

1

to

I

1

to

I

Automatic trapezoidal acceleration and deceleration

Performances

(command unit: (command unit: 1

(command unit: 1

200000 (PLS/sec) (command unit:

120000 (mm/min) (command unit: 10 mmlmin)'

12000 (inch/min) (command unit: 1 inch/min) 12000 idegreelmin) (command unit: 1 degreelmin)

0.1

x x

aad

Specifications

slots : 2)

Select using parameters.(Same mode

to

the X and Y axes.)

1

is

switched

to

10 pmlPLS)

to

0.001

inch/PLS)

los5

to

0.001

degreelPLS)

10

:

PLSlsec)

is

applied

to

0

when

Acceleration

deceleration times Backlash

compensation

Error compensation

!ero return

log operation function

4

function nternal current consumption External supply voltage,

:went size mm (inch)

Neight kg (Ib)

I

REMARK

I/O

allocation for the 2

First half Second half Section 6.1.1 gives details about the first half

slot

and

I64

I

0

(0

The AlSD71 may be calibrated rors in the positioning control mode and speedlpositioning control switching mode.

With zero address change function. Zero return direction and speed depend on setting.

Jog operation by jog start signal input.

M

5

4.75

130(H)

0.38(0.84)

slots

are as follows:

........

Empty

slot:

slot

...

Special-function module:

to

50000

to

65535 x position command unit

to

255 Dulses

code output

V

DC, 0.8 A

to

26.4

x

16 points

(msec)

if

unit

is

PULSE)

to

allow for mechanical er-

V,

max.

50

mA

69.5(W) x 93.6(D) (5.12 x 2.74 x 3.69)

32

points

slot.

3-2

3.

SPECIFICATIONS

. . .

.7

-1.

WSEGA

3.2.2

Functions

The AlSD7I has functions used for positioning and positioning control during

two-axis independent operations and two-axis linear interpolation operations.

These functions are utilized as follows:

'

By

test

operation of a peripheral A peripheral device

device or teaching unit connected

to

an AlSD71, and posi-

or

AD71TU is

tioning is executed using the peripheral device This is used during program checks

or

AD71TU.

or

test operations.

By

a sequence program

\

For

use

of

the peripheral device, refer

Manual.

For

use of the AD71TU, refer

-..-...............

Positioning is executed using a pro-

gram built

to

in

the PC CPU.

to

the SWOGP-AD71P Operating

the AD71TU Operating Manual.

Positioning control functions are shown below.

Sequence Program or A6GPP

Function

I

Error detection

I

Set data read and write

Present value and speed read

Two-axis independent

operation

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

AlSD71 set data (parameters, zero return data, positioning data) can be read and written.

Present value data and speed data can be read from the AlSD71. (Present value can be read and monitored during positioning.)

is

provided by the AlSD71

Two-axis interpolation

operation

if

a data setting

8.)

After manual positioning. present value can be written as Teaching (positioning data write)

position data.

(Data is written to both axes in the case of two-axes inter-

polation operations.)

The positioning functions of the AlSD71 are shown in Table

3.3.

3-3

3.

SPECIFICATIONS

MELCFlGA

Functlona Two-area Indapondant opratlon

JOG

operation function

Zero return

m

One-tlme

E

positioning

-

e.

C

n-times

8

positioning

cD

C

.-

.E

';

0

(pattern change)

Fa

Speed control mode

Table

3.3

AlSD71

Mothod

JOG

operations can be done when a operation command from tho peripheral device) is turned

Returns by a zero return start command

from

tho

PC

The current value is corrected address after zero return is completed.

Positioning

from the lo the

position.

Changes speed in acwrdance with the positioning data set by a one-time start signal, and executes positioning.

Changes speed in acwrdance with the Positioning accompanied positioning data set by a one-time start by a change in speed signal, and executes positioning.

Starts operations in accordance with the positioning data sat signal. switches to positioning control by an external control switching signal, and executes positioning.

Starts operations in accordance with the positioning data set by a one-time start signal and stops operations due to a stop signal from the PC CPU, external STOP

the

signal,

from the AD71TU. Operations con-

signal tinue until a stop signal is received. The

current value management is not performed.

Positioning

wlth

a

aequanca

pdphud

udng

PC

CPU

ON.

CPU

(or

parphersl device).

to

the zero

is

executed

at a set

by

a one-time start

--

peripheral device, or a

program

JOG

speed

setting

stop

Functions

or

nmthod(taat oporatlon)

dovisa

(or

AD7lTU)

Two-axea lnterpolatlon operation

Unavailable

(or

Unavailab'e

Positioning m executed at a swed with two

axas

mving in limr diredions from

the

ourrmt

(linear interpolation). Positioning by linear interpolation can be

executed continuously as well two-axis independent operation.

Unavailable

An operation that independent operation can start and stop simultaneously with two axes.

position to the

setting

is

similar to a two-axis

position

os

with the

(1)

If

positioning is done using a sequence program in the positioning control mode or speed/positioning control switching modes, a PC CPU can output the set

M

code from an

AlSD71

when positioning starts or after positioning is completed. (Peripheral devices do not output during positioning.)

(2)

Current values in an

AlSD71

can be changed (rewritten) by a sequence

program or peripheral device before positioning is started.

(3)

Positioning can

number

339)

(4)

The error compensation function and the backlash compensation func-

to

in an

be

done continuously by setting a positioning start data

20

points in the buffer memory

A1

SD71

before positioning starts in the position control mode.

(X

axis:

0

to

39,

Y

axis:

tion are valid in the parameter settings indicated below.

L

Error

Compensation Backlash

JOG

Position control

.-

C

Speed/positioning control switching

.O

-.

.-

Speed

a

*1

If

control

the travel direction changes during restarting, backlash compensation

0

o

0

o

'2

'1

'2

=

is executed. When starting for the first time, backlash compensation is not executed.

*2

If

a stop instruction is received during backlash compensation travel,

controlled

so

that positioning is stopped after traveling the amount of the

backlash.

M

codes

300

~ ~~~

valid

it

to

is

3-4

3.

1.

SPECIFICATIONS

1

fWt3EC-A

3.3 General Desariptlon

This section gives a general description of the positioning system.

3.3.1 Positioning system

Fig.

PC CPU module

(AlSCPU)

Program

Positioning

A1SD71

4

-

Set

o:

data

c)

a

i

.-

-

:

U-

h;-,

Forward pulse Drive unit string

.

Reverse pulse string

of

PosRhlng System Operations

using

an

AlSD71

3.1

shows

:the operation of an

---------

-wu

I

Error

counter

*

7

'

---------

write+

-

D-A

converter

A1

SD71

Speed

command

interface

t

AlSD71

in a positioning system.

Feedback pulse

-LnnT

and its use in a

Servo

motor

--

Peripheral

device.

AD71TU

Servo

motor speed

I

Fig. 3.1 Posltioning System Operation

The

AlSD7l's

When pulse strings are output, pulses are converted into error counters. Deviation counter pulse values are converted into

D-A

converter, and changed into speed commands. The drive unit gives a speed command. The motor begins to rotate and the pulse generator in proportion to the revolutions of the motor to subtract accumulated pulses. The motor rotation continues maintaining the constant deviation counter pulse value. When the command pulse output from the counter pulse value decreases, and the speed slows down. Then, when the deviation counter pulse value becomes Thus, the motor's rotary speed is proportional to the frequency

,

mand pulse, and degree

the number

Therefore, transmission can be done to a position that is proportional number The pulse frequency is equal to the number speed)

of

output

is

a pulse string

of

command pulse output pukes.

pu1se.s

the

of

motor.

a pulse string by

Time

t

the angle

Block

Diagram

DC

PG

AlSD71

of

the motor's rotation

specifying

the feedrate per pulse.

of

revolutions (transmission

analog voltages by a

gives feedback pulses

ceases, the deviation

0,

the motor stops.

of

the com-

is

proportional to

to

the

3-5

3.

SPECIFICATIONS

MECSEGA

General design

Servo

motor

of

positioning system

V

PO

A : Position detection increment (mm/p)

vs

:

Command pulse frequency

n:

Number of pulse generator slits (slits/rev)

L:

Feed screw lead (mm/rev) Reduction ratio

R:

v:

Moving part speed (mm/s)

N:

Motor speed (rpm)

K:

Position loop gain (sec-') Deviation counter pulse value

E:

PO

:

Zero point (pulse)

P:

Address (pulse)

Position detection increment

(1)

L

A=-

Command pulse frequency

(2)

vs

=

Rxn

v

(PIS)

(mwP>

(PIS)

ew

Deviation counter pulse value

(3)

VS

E

=

-

(pulse

K

Expression

x

A. Using expression

work speed and position detection increment. Expression

(1)

indicates the travel per pulse, i.e. the number of output pulses

(2),

calculate the command pulse frequency from the

(3)

indicates the

relation between the command pulse frequency and deviation counter pulse

value. Any of the four positioning units, (mm), (inch), (degree), and (PULSE), may

be selected individually for the According

to

the target positioning address, a pulse string is output, and

X

and Y axes.

positioning is executed by the AlSD71 by setting data such as the travel distance and

acceleration/deceleration

time per pulse, the positioning speed,

and the positioning address in a positioning command unit.

3-6

3.

SPECIFICATIONS

MWSSGA

3.3.2

Signal communications

Fig. 3.2 shows a function block diagram for signal communications between each unit connected drive unit.

I

AlSCPU

PC

Y2D

xll

y27,

y29

y28,

Y2A

x16, x17

y23,

y24

xlc,

XID

ready

AlSD71 ready

Forward jog start Reverse jog start

Zero return request Zero return start Zero return complete

between

Communication between PC CPU and AlSD71 Control signals and data communications via base unit, they consist of:

Control signals

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

Data

Communication between peripheral device (or AD71TU) and AiSD71

Data write, AlSD71 test, AlSD71 monitor, etc. via

connector. Communications between drive unit and AlSD71

Control signal communication to and from the drive unit and pulse train output from the AISD71. (For the

7-

-

IC

!

*

I

an

AlSD71

to

.....

AlSD71

and

each

unit

an AlSD71, an AlSCPU, peripheral device, and the

I/O

signals given in Section 3.7.

Written to and read from the buffer memory by the PC

CPU. Detailed in Section 3.5.

the

AlSD71’s RS-422

I/O

interface, refer to Section 3.8.)

-1

External inerfaw

Drive unit ready

Starl Deviation counter clear

Pulse

train

Drive unit

c

I

X12,

X13

X14, X15

x18,

x19

Y25.

Y26

X1E.

X1F

Y2B,

Y2C

x10 X1A

x1

Start corn

I---

M

B

code

ON

lete

I-

Fig.

Interface

PC

with

3.2

AlSD71

I

Control switching signal Enable signal

I

External

signal

1

u-

J

Function Block Diagram

/I

r

Positioning

data

writdread

4

3-7

3.

SPECIFICATIONS

MELS€GA

3.3.3

I

AlSD71

operation

Operating data write?

L=

AlSD71 buffer memory all clear

I

Set parameters

zero

Set

Set positioning data

START

I

1

return data

1

descripaion

Fig.

3.2

PC

.

'.

. . .

. . . .

initiated positioning procedure

,

, ,

. . .

,

Clear the AlSD71 buffer memory using the peripheral device.

. . . . .

See

'

. .

section 3.5.1.

.

See

section 3.5.2.

. .

See

section 3.5.3. , must be set with a sequence program.

'

Although data may be set by the sequence program, it is recommended to set the data (especially parameters and data) using the peripheral device

However, those parameters (acceleration/de-

celeration time, deceleration time for gency stop, and positioning mode) that cannot

be set

zero

point return

or

in

the peripheral device or AD71TU

AD71TU.

an

mer-

Zero

Write positioning start data No.

b

return start signal(Y23, Y24)

Yes

into buffer memory.

Next position required?

END

.

, , ,

. . . .

Write start data numbers into X-axis addresses 0 and Y-axis

addresses 300.

(1)

Section 6 gives details about

(2) Table 3.4 shows the data needed for control signals (positioning functions) from the PC CPU.

zero

return start and positioning start conditions.

3-8

Data

Unit setting

Table

Functions

3.4

Data

operation

JOG

Needed

for

Posltlonfng

Zero

return

0 0

Functlons

positioning

control

0

~ ~~

Positioning

8p..d/podtiontng

control

rrltchlng

0

Sped

Control

0

'arameter

Iero eturn data

Travel per pulse Speed limit value

Jog

speed limit value Starting bias speed

Backlash compensation Upper stroke limit Lower stroke limit Error compensation

Acceleration and deceleration times

Positioning complete signal output time

Pulse output mode

Rotation direction setting Positioning method

M

code

ON/OFF

Deceleration time for emergency stop

Positioning mode

Zero return direction

Zero return method Zero return address Zero return speed

Zero return creep speed Zero return dwell time Torque limit

timing

0 0

0

0 0

IoIoIoIoIo

0

lolot

0

0 0

~

~-

0

~ ~~~ ~

I

0

I

0

lololololo

0

IoIoIoloIo

0

I I

0

I

0

Io

0

0 0

0

0 0 0

Io1

0 0

101

0

0 0

10'1

0

0 0

0

I

0

I

'ositioning lata

Xhers

Positioning information Positioning speed

Positioning address Dwell time

I

Start data number area

Speed change data

Jog speed

*

Indicates functions used

I I

I

O*

0

I

3-9

0

IOIOI

0

O*

to

change the speed during

0.

.

,:,

0

Of

AlSD71

0

~ ~~~

0

0'

positioning.

3.

SPECIFICATIONS

3.4

Types and Functlons

of

Setting Data

MELSEC-A

Setting data is data that is necessary for an AlSD71 control. Setting data is the general term for the following three kinds of data:

Section

Setting data is written using the following two methods:

1) By a peripheral device

2)

It

Master axis

I

Slave axis

r

POINTS

3.5

gives details about storing set data in the buffer memory.

Parameter

data

or

AD71 TU Operating Manual SWOGP-AD71 P give de-

By a sequence program

is necessary

Definition of a master axis and a slave axis during interpolation positioning

Axis with a fast positioning

I

Axis with a slow positioning speed I Axis whose travel distance is

Zero return data

t

Positioning data

.......

to

set data for two

Speed control mode

The Operating Manual and the AD71TU

tails. Section 6 gives details.

(X

and

Y)

axes.

Positioning control mode

speed

Axis

whose travel distance

I

(1 ) All-clear data

Before writing setting data, use a peripheral device processing of the memory. However, all clear of the following data cannot be done by using a peripheral device: Therefore, write in these cases.

1) Deceleration time for an emergency stop

2)

Positioning mode

(2)

Data setting when using either the X or Y axis When using either the X or

data

to

the axis not used.

Writing data must be a value in the setting range given in the User's Manual. However, even is set by a parameter, there is no problem.

If

zero return is done without writing data, an error occurs, and the

error detection signal (X1

"0"

in the sequence program

Y

axis, write parameter and zero return

if

an initial value (default value)

B)

goes

ON.

to

do positioning

is

to

do allclear

to

clear the memory

long short

I

3.4.1

Parameters

Parameters are the basic data which enable the AlSD71 control. The data in Table

Initialization of parameters

If

all parameters are not set by parameter checking, the AlSD71 will be controlled using the initial values shown in Table

However, parameter area data remains as user-set values. Parameters are checked when:

3.5.

3-

3.5

is contained in parameters.

or

an error outside the setting range is detected

10

to

do positioning

3.

SPECIFICATIONS

I

._/

.

-A

1) The power is turned

2)

Parameters are sent from a peripheral device

3)

A PC CPU ready signal from the PC CPU

OFF

to

ON;

4)

(1) zero return,

ON;

(2)

positioning,

(3)

jog operation,

to

an A1 SD71;

to

the AlSD71 switches from

or

(4)

inching has been

selected in the peripheral device or the AD7lTU.

However, error code and error detection signals are not given (power

ON

parameter check).

for

1) above

Travel per manual pulse during inching is not used with an AlSD71. When setting by a peripheral device

The following parameters in Table

to

(refer

1)

Item

2)

Item

3)

Item

Section

No.

Table

6).

11.1

......

AcceleratiorVdeceleration

17

.........

18

.........

3.5

Parameter Settings

or

AD71TU, set any value

3.5

must be set with a sequence program

in

the setting range.

time

(When setting a value of

5000

msec

or

Deceleration time for an emergency stop Positioning mode

more)

'

:

Not fixed when shipped from the factory. All clear set to

'1

:

A value

of

5000

msec

or

more

must be

0.

set

with a sequence program.

3-

11

0:

Available

X:

Unavailable

3.

SPECIFICATIONS

MELSEC-A

The actual parameter speed limit values and JOG speed limit values in Table

3.5

are multiplied by 6.1 (PLS/sec).

For

example,

(PLS/sec), even

200

+

6.1 = 32.78688

The actual speed is 6.1 x 32 = 195.2 (PLS/sec).

the

value that is nearest

if

the speed limit value is set

.....(

Decimal point values are rounded

to

200 (PLS/sec) is multiplied by 6.1

to

200 (PLS/sec).

off.)

POINTS

(1) Numbers 2

(2) Number 10 -travel per manual pulse during inching is not used with

I

(3) Numbers 17 and 18 must be set with a PC CPU program.

Parameter data is explained as follows. (1) Unit

(2) Travel per pulse

I

to

12 show the setting range when setting with a

sequence program.

However, parameters whose unit is x10-l or automatically as x10-l a value set in the program.

(Example)

the A1 SD71. However, when setting it by using a peripheral device the value must be set within the setting range.

Selects the units (mm, inch, degree, be set independently for

Specifies the travel distance per pulse as determined by the mechanics

of the system.

Controls the number of pulses contained in the pulse train from the

A1 SD71.

If

the speed limit value is set

2000x10'

or

xlO1

in the A1 SD71 when processed with

=

20000 mm/min

X

and Y axes (e.g. X axis = mm, Y axis =degree).

in

or

pulse) for positioning control. Can

xlO1

are processed

to

200, the value becomes

the AlSD71.

or

AD71TU,

(3)

Speed limit value

Specifies the maximum speed for positioning When the positioning speed called at a given time

speed limit value, the speed is limited When a new speed is called during positioning by the sequence pro-

gram and this is greater than the speed limit value, the speed is limited

to

the value set by the parameter.

(4)

Jog speed limit value

Specifies the maximum speed The jog speed limit value must be within the range shown

and must not exceed the speed limit value. When the jog speed set using the peripheral device

program is greater than the jog speed limit value, the jog speed is kept

to

the limit value.

For

jog operation, refer

3-12

for

jog operation.

to

Section 6.3.6.

(or

zero return).

is

greater than the

to

the value set by the parameter.

in

Table 3.5

or

sequence

3.

SPECIFICATIONS

rr

,-

_"

.

(5)

Starting bias speed

A minimum starting speed is require#for motors (e.g. stepping motors). This

The starting

return. See Fig.

Fig.

3.3

Speed Change When Starting

I.

may

bias

speed is used for positioning, jog operation, and zero

3.3.

Positioning speed

Jog operation speed

Zero

return speed

-

---

Ct speeds

Bias

-

.,.

.

the

smooth operation of some

be set as a starting bias speed.

:

Speed

if

been

:

Acceleration and deceleration

Speed is

starting bias speed has

set

if

starting bias speed

Set

=O

For positioning with interpolation between axes, the starting bias speed set for the axis with the shorter distance

to

travel is ignored.

Definition of a master axis and a slave axis during interpolation positioning

I

Master axis Axis with a fast positioning speed

~~ ~~ ~

ve axis Axis with a slow positioning speed

Speed control mode

Positioning control mode

of

which a travel distance is long

Axis Axis whose travel distance is short

(6)

Backlash compensation

Allows a backlash compensation (see Fig. accurate positioning. Note that there is also an error compensation facility

to

When backlash compensation is set, every time the travel direction changes during positioning in the positioning control mode, a feed pulse occurs which exceeds the backlash compensation amount.

If

the travel direction when restarting positioning ing control switching mode differs from the travel direction at the initial start, a feed pulse occurs which exceeds the backlash compensation

amount. This applies when positioning is stopped, and the travel direction is changed by changing the current value after switching control.

The feed pulse for a backlash compensation amount is generated at by

least one

if

the travel distance

the feed pulse for a backlash compensation amount occurs.

3.4)

to

be programmed

allow for tolerances within the mechanical drive, see note

in

the speed/position-

to

JOG

start signal during the

is

smaller than a backlash compensation amount,

JOG

operation. Therefore, even

in

for

(9).

positioning

3-

13

3.

SPECIFICATIONS

MELSEGA

Backlash compensation

backlash compensation, always zero the system.

I

Fig.

For the backlash compensation amount, the range of the number of

output pulses differs in accordance with the unit

parameter.

Setting Units

PLS

mm

inch

degree

The symbol indicates the value when the travel distance per pulse is

set

to

1.

is

valid after zero return. After redefining the

-

Backlash compensation actual value

3.4

Backlash

Number

of

Output Pulses

0

to

255

'0

to

65535

zero return direction

Compensatlon

to

be set

in

the

(7)

Upper stroke limit

Defines the upper limit value

The stroke limit is checked before each positioning operation and outside the allowed range, positioning is halted.

During jog operation and manual pulser inching, the stroke limit is ignored.

(8)

Lower stroke limit

Defines the lower limit value of machine travel.

The stroke limit is checked before each positioning operation and

outside the allowed range, positioning is halted. During jog operation and manual pulser inching, the stroke limit is ignored.

The lower stroke limit during operations in the speed control mode and

the speed/positioning control switching mode is considered

dently of the parameter set value. However, set the lower stroke limit in the range limit

to

prevent a parameter setting error.

The current values in the AlSD71 buffer

of

machine travel.

memory

area becomes the following numerical values:

of

0,

indepen-

0

to

the upper stroke

if

Operating Modes

Speed control mode Always

Speed,positioning

switching

mode

I

(X

Speed control mode: always Positioning control mode Increases sequentially from

axis: addresses

0

3-

14

Current Values

602

and

603

0

0.

Y

axis: addresses

604

and

605)

I

1

3.

,

SPECIFICATIONS

...

~

,

MEl;!3E&A

(9)

Error

compensatlon

When the set value and an actual feedrate differ is called error compen-

sation.

is

When the unit unit is inches and per

mm, an error compensation per m (per

100

degrees

if

the unit

is

degrees) is set to

the feedrate of any set value is transmitted. (Automatic start) Then, the

actual feedrate

(A)

is measured, and the error compensation amount and

backlash compensation amount are calculated as indicated below.

When the unit is mm

Error

compensation amount (IO-lpm)

=

When the unit is inches

(1

O4

Error compensation amount

inch) = Setvalue(inch)

A (inch)

When a unit is degrees

Error compensation amount

(IO5

degree)

Set value(degree)

=

100

inches

-

0,

107

-

if

the

and

x

,

07

Set the numerical value calculated

backlash compensation amount when there is a machine error.

Backlash compensation= Backlash compensation actual value

(1

0)

Manual pulser inching travel increment

The AlSD71 does not have a manual pulser inching function. Therefore, the travel distance per pulse of a manual pulser is not used. When setting a parameter by a peripheral device occurs

if

a numerical value outside the setting range is set. Therefore,

always set numerical values within the setting range.

(1

1)

Acceleration and deceleration times

Defines the period of time from the start of positioning

speed limit value specified in the parameter is reached. (Refer to Fig.

3.5.)

Parameter speed limit value

in

the following expression as the

or

AD71TU, an error

to

-

:

Speed if starting bias speed has been set

-

:

Acceleration and deceleration

speeds if starting bias speed

Set value

x

A

when the

=

0

.

I

Set acceleration time Set deceleration time

Fig.

3.5

Acceleration and Deceteratlon Times

The acceleration time is the same They cannot be set differently.

The acceleration and deceleration

3-

15

ration time

as

the deceleration time.

ale

controlled at a constant value.

3.

SPECIFICATIONS

MELSEC-A

When the positioning speed is lower than the parameter speed limit, the acceleration and deceleration times are comparatively ahort. Therefore, the maximum positioning speed must be either equal to the parameter speed limit or an approximate value.

The acceleration and deceleration times are valid for zero return, positioning, and jog operations.

For interpolation positioning, the acceleration and deceleration times for a master axis are valid. (The acceleration ane deceleration times for a slave axis are ignored.)

Definition of a master axis and a slave axis during interpolation position-

i

ng

Speed control mode Positioning control mode

Master axis

to

Axis with a slow positioning speed Slave axis

by

50000

is

considered

using an AlSD71.

64

to 4999 msec can be set.

msec, data must be written to

Y

axis: address 7896) using a sequence

of

the "positioning complete signal" from the A1 SD71.

to

be complete after the AlSD71 terminates

is

not output in the speed control mode.

A

type

two

I

Acceleration and deceleration times can be set within the range to 5000 msec

When inputting from a teaching module (peripheral device

AD71 P, AD71TU),

If

the acceleration and deceleration times are set within the range

5000

axis: address 7876 and

program. (Hexadecimal input)

(17) Deceleration time for an emergency stop gives details about an

emergency stop in a shorter time than the deceleration times given

above.

(12) Positioning complete signal duration

Sets the duration Positioning pulse output and the predetermined dwell time has elapsed.

A

positioning complete signal

(I

3)

Pulse output mode Defines the output mode as

Forward pulse or reverse.pulse,

Axis whose travel distance is long Axis with a fast positioning speed Axis whose travel distance is short

the

parameter area

or

B

type.

pulse chains.

+

I

of

64

SWOGP-

of

(X

I

Forward feed pulse

PULSE F

Reverse feed pulse

PULSE

PLS

Feed ulse

&

Direction sign

m

R

+

SIGN

I

mF

PULSE

Forward and reverse feed pulses. Travel direction is

controlled by direction sign

UUUUU/AI

--,-m-u-

m).

I

IU

-

direction

25ms

Low in forward direction. High in reverse direction. (Present value increases in forward direction and

decreases in reverse.)

3-

16

&Pe

I

L

J

3.

%

SPECIFICATIONS

.,

._

.

(1

4)

Direction setting

Selects the'direction for which the present value increases. (Set

using forward pulse output. Set

1

when using reverse pulse output.)

Positioning and zero return follow this direction of rotation.

(I

5)

Positioning mode

Specifies incremental, absolute, modes for

.positioning.

or

incremental/absolute combination

In incremental mode positioning, positions are reached with reference

to the previous position. (See Fig. 3.6.)

Zero

point

A

Flg.

3.6

Incremental

B

When move from A to

Method

0

when

6.

In absolute mode positioning, positions are reached with reference

a Zero

Zero

I I

To use both incremental and absolute modes axis), set of positioning data. (Refer

M

code ON/OFF timing

M

codes are coge numbers

auxiliary functions

point

address. (See Fig. 3.7.)

A

Address

2.

70

Fig.

3.7

In

this case, the mode is controlled by the individual piece

(for

example, damp, drill rotation, stop, and

6

Address

100

Absolute

to

Section 3.5.3.)

(1

to

255)

To

move from

specify address

the destination address

Method

in

the same axis (e.g.

assigned by the user

6

to

70

to

A,

as

X

control

tool

exchange commands, etc. ) at defined points in the positioning cycle. These are used by the

PC CPU

to

co-ordinate the operation of external

equipment and processes.

M

code usehon-use must be specified as well as where ing sequence they are When operation,

ON"

M

code non-use

M

code data in the buffer memory is cleared and the

signal is

not

to

is

output.

be used.

specified or peripheral device test mode is in

When the M code used is specified, the output timing of the M code

in

the position-

"M

code

ON

signal must be specified.

"M

code

ON"

signal output is available in two timing modes, WITH and

AFTER.

(a) WtTH mode

The

"M

code

ON"

signal is given at approximately the same time as

the positioning operation starts.

-

3-

17

3.

SPECIFICATIONS

Positioning control mode

Operation

M

BUSY

M

code

M

code

ON

OFF

Fig.

Pattern

3.8-1

0

1

WITH

Mode

Pattern

I

00

Slgnai Timing

MELSEC-A

I

t/

Speed/Positioning control switching mode

Start

Operation

M

code

BUSY

M

code

ON

M

code

OFF

Control switching signal

Note

:

The

WITH

mode.

code

-

+,

I

Fig.

3.8-2

ON

signal does not turn

I

WITH

I

I I

I

Mode

Dwell

I

I I

I

Signal Tlming

ON

during restarting in the switching

(b)

AFTER

The

"M

mode

code

ON"

signal

is

given after the positioning operation has finished. In this mode, if the operation is stopped before plete the

"M

code

ON"

signal

is

not given.

it

is

com-

3.

SPECIFICATIONS

Positioning control mode

Start

Operation

M

code

BUSY

M

code

ON

M

code

OFF

HtSEf9A

Fig. 3.9-1 AFTER

Speed/Positioning control switching

Start

Operation

I

M

code

BUSY

M

code

ON

M

code

OFF

Control switching signal

POINTS

9

The positioning data is set at

9

The M code is ignored code refer The next positioning operation is not started until the signal is switched off. An error condition arises signal is on The

1.

"M

2. PC

3.

zero return, positioning, jog operation, or inching mode is selected

in the peripheral device or the AD71TU test mode.

The speed control mode.

I

"M

ON"

to

"M

code OFF" signal changes from OFF

ready signal

M

IW

Fig. 3.9-2 AFTER

code

ON"

signal is not given. (For details of the positioning pattern,

Section

code

3.4.3.)

at

the rise of the start signal and positioning is not started.

ON"

signal is turned off when:

ON

signal does not turn

Mode

mode

Dwell

I I

I

Mode

signal is not given

0.

if

the positioning pattern

(Y2D)

is OFF; or

Signal Timing

I\ I

I I I

I

1

Signal Timing

if

the M code data in the

is

"1 1"

and the

"M

if

the

"M

to

ON;

ON

during positioning

I

1

code code

in

I

"M

ON"

the

3-

19

3.

SPECIFICATIONS

Positioning control mode

When positioning processing beginning with pattern

M

code

ON

or pattern

signal goes

01

begins in the WITH mode or when completed

ON

when positioning processing

11

mode.

The

M

code is set before pattern

11

positioning processing begins.

MELSEGA

is executed, the

of

pattern

in

the

00

AFTER

Start

M

code set

00

is set

"M

Fig.

for

at

this poi

code

'M

code

code OFF"

3.10

patte

ON"

ON'

"M

Code

I

ON"

Pattern

11

Signal Timing for Positioning Pattern

"1

1"

Fig.

3.10

is

only

to

be used.

POINT

shows the M code

explain the M code

I

ON

signals in the WITH mode and the AFTER mode. However, this

ON

signal, and either (WITH mode or AFTER mode) can actually

When restart positioning is executed in the speed/positioning control switching mode, the

M

code

ON

signal

of

the WITH mode does not go

ON.

3-20

(1

7)

Deceleration time lor an emergency stop

Sets the deceleration time when there is an emergency stop during tioning operations.

The deceleration time for an emergency stop must be written parameter area (buffer memory addresses

axis: address

When decelerating, designate either deceleration time or the usual

acceleration/deceleration

for an emergency stop to use positioning start data in the emergency stop area (addresses

7908)

using a sequence program. (Hexadecimal input)

time (addresses X axis:

X

axis:

(64

202,

to

50000

Y

axis:

msec, setting unit: 1 msec)

JOG,

zero return, and posi-

in

the

X

axis: address

7876,

502).

7888

Y

axis:

and

Y

7896)

Emergency stop signal

Speed

h

*T

(1

8)

Positioning mode

Sets the control mode when executing positioning. The same positioning mode to the X axis and Y axis in a parameter area

(buffer memory address gram.

Positioning control switching

modes

Section

d

I I

STOP

signal

ON

PC

READY signal (YZD)

Stop signals (Y25, Y26)

Input of the BREAK key from the peripheral device

from an

AO71TU

Positioning control......... Positioning is done in the incre-

mode mental or absolute mode by an

Speed/positioning Operation is started at the posi-

mode positioning data. Then, it is

;

Speed control mode....... The operation is started at the

3.4.4

gives details about the positioning mode.

V

T

TO

I

L-24

(To

I

H

from the drive unit

OFF

ON

from the

7889)

:

Deceleration limit value

:

Accelerationldeceleration

:

Deceleration time for an emergency stop

Deceleration curve during stopping Deceleration curve during an emergency stop

I

PC CPU

must be written with a sequence pro-

c

Time

or

the

address designated by the posi-

tioning data.

tioning speed designated by the

switched to positioning control in accordance with the positioning address when an external con-

trol switching signal is input.

positioning speed designated by the positioning data. The operation continues until a

stop signal

time

STOP

is

key

received.

3-21

3.

SPECIFICATIONS

MELSEC-A

POINTS

When an error occurs in the parameter, the parameter is controlled as by the initial value.

Parameter other

I

x

axis

I

Y

axis initial value.

1

The positioning mode is a parameter that

Y

axes. Axes cannot be The X-axis parameter area does not have a one-word setting area. The Y-axis parameter area does not have a positioning mode area.

When setting a positioning mode causes an error, error buffer memory

90

(memory addresses X axis:

X

and Y axes, and the parameter

Positioning

With an error

mode

1

I

Without an error

With an error and

Without an error

set

I

Switches

I

control mode. The parameter

Y

axes is controlled

to

different positioning modes.

45

and Y axis:

is

to

the positioning

of

is

common

controlled by the initial value.

Without

A

positioning mode is controlled

All

by

the

X

A

by

positioning mode trolled

All

by

to

both the X and

345)

is set

to

both the

an

error

parameter other than the

by

the initial value.

parameters are controlled

the specified values.

parameter other than the

by

the initial value.

parameters are controlled

the specified values.

is

con-

follows

3-22

3.

SPECIFICATIONS

I

~

---.,1

MELsEc.A

3.4.2

Zero

I

Zero

return

2 1

Zero return method

3

Zero return address

4

Zero

return

5

Creep speed

return

direction

speed

data

This defines a home position Zero return data

is

checked when:

1) parameters or zero return data

to

the

A1

SD71;

2)

"PC

ready signal" output from the

OFF

to

ON;

or

zero point for the A1 SD71. Refer

is

transferred from the peripheral device

PC

CPU

to

the AlSD71 changes from

3) Zero return, positioning, jog operation, or manual pulser inching is selected in the peripheral device test mode.

Table

rnrn

sttlng range

10

:

Forward direction (address increases)

1

:

Reverse direction (address decreases)

0 : Pulse generator(PG)zero-point signal

:

Stopper stop

2

:

Stopper stop

0

to

162

x

1 to12000

Unit

x 10'' prn

07

x 10' x1 mm/min

x10' x1

mm,min

ptting range

(1)

and dwell timer time-out

(2)

and signal from drive unit

0

to

162x10'

1 to12000

inch

y;ch/min

inch/min

3.6

Zero return Data

Unit

sttlng rmge

0

inch

to

162 x107

1

to12000

1 to12000

degree

Unit

deg

;;g/min

to

PULSE

setting range

0

to

16252928

'

1 to12000

Table 3.6.

Unit

P LS

0'

PLs/sec x1

0'

pLS/sec

6

Zero

return dwell time

Torque limit 7

0

to 499(x10' msec)

10

to

250(%)

POINTS

(1)

No.

I

3

to

No.

(2) Setting numbers

numbers

"0,

7 can be set by the sequence program.

"0

and

1"

of the zero return direction and setting

1,

and 2" of the zero return method are numbers set

by a peripheral device.

When setting

from the sequence program, refer

to

No.

1

and

No.

2

Section 3.5.6.

The zero return speed and creep speed in Table 3.6 are multiplied by 6.1 (PLSlsec).

For

example, the value that the speed limit value 200

+

6.1 = 32.78688

The actual speed is 6.1

is

nearest to 200 (PLSlsec)

is

set to 200 (PLSlsec). (Decimal point values are rounded off.)

....

x

32 = 195.2 (PLS/sec)

is

multiplied

by

6.1 (PLS/sec), even

if

3

-

23

3.

SPECIFICATIONS

Zero return data is explained below:

(1)

Zero return direction

Specifies the direction for zero return.

MELSEC-A

IMPORTANT

Zero return is controlled according to the zero return direction and

speed. Deceleration is started when an actuator is operated. Always ensure that the zero return direction is correct for the drive system used.

(2)

Zero return methods There are three kinds of zero return methods:

The pulse generator

Mechanical stop Mechanical stop

(a) Method by the pulse generator

This method

in Fig. 3.1 1. A

I

(PG)

zero-phase signal method

(1)

(caused by dwell timer time)

(2)

(caused by a signal from the drive unit)

(PG)

zero-phase signal method

of

stopping by a zero-phase signal from the

PG

with a zero-phase signal is necessary. (Refer to Fig. 3.1

,

Zero return speed

Deceleration

by

near-point dog

Creep speed

ON

PG

is shown

2.)

\cr

I

Near-Point dog

M

Drift (in accordance with the drive)

,

..

so

that the near-point dog OFF position

of

the zero-phase signal HIGH.

is

the zero return stop position causes an error equal

of

the servo motor.

turned

Zero-phase signal

J

L

PC

CPU Zero-Phase Signal

i

PG zero-phase signal

Pulse generated

Fig.

uu

eust the actuator

ON

3.11

U

Zero return Using a

One PG rotation

UIU

near the center

If

the near-point dog

is

LOW.

one rotation

OFF

LJ

One servo motor rotation (one PG rotation)

n

I

Fig.

3.12

Feedback Pulse Pattern

I

ON

when the zero-phase signal

~ ~ ~~ ~~ ~~~~~~~~ ~~~

by

PG

is

to

3-24

3.

SPECIFICATIONS

MELeEeA

(b) Mechanical stop

After a near-point dog has operated and the dwell time has passed, zero return is completed. (Refer In this case, if the dwell time has not passed, even

dog goes the cwep speed, limit the servo motor torque (Section details).

If

the servo motor torque is not limited, the servo motor may malfunc-

tion when a stopper is hit.

Zero

return

OFF

speed

*,

Dwell time motor rotation is forcibly

count start

A

Fig.

I

,

I

3.13-1

(1)

(caused

halfway, zero return is not completed. After reaching

Deceleration by stop by stopper

neayint dog

I

Near-point dog

I

Zero return torque limit valid

Zero return

by

a dwell time time-out)

to

Fig.

3.13-1

/

ON

After the dwell time times out. the zero return complete signal goes ON.

/

I

by

Using Stopper Stop

Range in which the servo

stopped by the stopper

Dwell time

Torque limit valid range

.)

if

the near-point

3.4.2(7)

(1)

gives

(c) Mechanical stop

This is the method of stopping by inputting an external stop com-

mand when a servo motor interferes with the stopper. (Refer

3.13-2.)

Forcibly input a zero-phase signal (stop command) signal terminal by an external switch after the near-point dog goes ON. When inputting a zero-phase signal (stop command), the ON/OFF state of the near-point dog is After reaching the creep speed, limit the servo motor torque (Section

3.4.2 (7)

If

the servo motor torque is not limited, the servo motor may malfunc-

tion when a stopper is hit.

gives details).

4

(2)

(caused by an external stop command)

not

problem.

Deceleration by near-point dog ON

Creep speed

Stop by stopper

Stop command to the zerophase signal terminal

Zero return torque limit valid

4

Torque limit valid range

to

the zero-phase

Fig.

3.13-2

If

a stop signal is input before the speed decelerates to the creep speed, excessive power is

to

deljvered

the servo motor and machine system, causing a fault.

Zero return Uslng a Stopper

3-25

3.

SPECIFICATIONS

(3)

Zero return address

This address is set as the present value of the home position upon completion of zero return.

Set the zero return address

in

the parameters.

(4)

Zero return speed

.

Sets the zero return speed. (Refer

(5)

Creep speed

The creep speed is low-speed until stopped after decelerating from the

zero return speed by the zero return point dog being

return. (Refer

The creep speed varies according zero return by a zero-phase signal and collision in the case of zero return by stopper. Therefore, set the creep speed taking the error range and the size of

an impact into consideration.

to

Fig.

to

3.14.)

MELSEC-A

either the upper or lower stroke limit set

to

Fig.

3.14.)

ON

during zero

to

the detected error in the case of

to

the size of an impact during

Zero return speed starts deceleration.

Actuator signal

'Zero return dog" Actuator Drift (according to drive unit)

ON

U

Fig.

3.14

Zero return and Creep Speeds

(6)

Zero return dwell time

The zero return dwell time is the time until zero return is completed after the near-point dog goes

Set the time until stopping by the stopper after the zero return speed decelerates

Even

if

stopper stop

to

the creep speed.

any value (in the setting range) is input at the time other than

(l),

there is no problem.

Creep speed

/

I

OFF

U

-t=

ON

J--

=I-

during zero return by stopper stop

Zero-phase signal Adjust the actuator position is near the center zero-phase signal.

Torque limit valid range

so

that its

of

OFF

the

1).

3-26

(7)

Torque limit

the

set

This is

the

creep speed when zero return.

value

POINTS

A

D-A

converter is necessary for torque limit.

Be

sure

to

set

it

2).

Even

if

any value (in the setting range)

limited, there is no problem.

to

limit

the

torque of a servo

motor

after reaching

when doing a zero return operation by stopper stop

is

input when torque

is

not

Torque limit value

converter unit

bv Droaram

Pulse Drive unit

(Analog amount)

3-27

3.

SPECIFICATIONS

MELSEC-A

3.4.3

Positioning data

'ositioning nformation

Positioning data is used control other than zero return, inching and jog operation). Refer to Table Table

X

The block of data used for positioning is dictated by the number set in the positioning start area

Positioning data is checked when positioning is started.

3.7

shows one block of positioning data.

and Y axes, respectively.

-r

b15 b8b7

d

in

the

AlSD71

of

the buffer memory.

Table

3.7

Positioning Data List

Sotting

bO

J

Positionin pattern

00 : Positioning terminated

01

:

Positioning continued

11

:

Speed changed and positioning then continued

I

Positioning method

0 : Absolute

1

:

Incremental

[

Valid only when incremental/absolute combination

specified in parameter.

to execute positioning control (i.e.

400

blocks can be set for the

Data

3.7.

is

'ositioning speed

'ositioning Iddress

)well time

Positionin direction (valid in incremental mode only)

0 : Forward direction (address increase)

1

:

Reverse direction (address decrease)

+

Unused (may be

w

M

code

M

(0

code

I

1

Set

mm

range

setting

1

to

12000 mmlmin 12000 inch/rnin 12000 deg/min

3

to 499(x10' msec)

I

POINT

No.

2

xi

I

to

Unit

0'

I

1

No.

4

can be set from the sequence program.

Setting Setting Setting

range

to

inch

I

Unit

x1

0

or

1)

to 255)

=

0

when M code is not specified

degree

range

to

I

x1

Unit

I

1

range

1

to

20000

PULS

1

x1

PLSlsec

Unit

0'

I

3

-28

3.

SPECIFICATIONS

MEWCIA

Data which can be used in the positioning mode is as

Iy

positioning dat Control Control

I

Positioning pattern

I

Positioning method Positioning direction

M

code Positioning speed Positioning address Dwell time

*1

After switching Therefore, the same control is executed whether the absolute method the incremental method is used.

*2

When

Data without the 0 symbol

ignored.

"M

I

Po;d$&g

1

o

I

0 0 0 0

0

to

positioning control, the current value begins with

code not used" is set by parameter, this data is not used.

41

SpoedlPositioning During Speed During Control Positioning Switching Control Speed

I I I

'2

in

the table is not checked.

0

Fixed to pattern

I

follows.

0

'1

0

'2

0

0 0

0

shows data

~~ ~~~~~

00.

I I

to

All

values are

0

be used.

0.

or

The data

(1)

Positioning information

to

Separate the information Positioning information consists of

b15 b8b7 bO

be set as positioning data is explained below.

for

the X and Y axes.

16

bits and includes the following.

Positioning method

Positioning direction

Unused

M

code

3

-29

3.

SPECIFICATIONS

MEtSEC-A

(a) Positioning pattern

Specifies positioning completion in accordance with the positioning data that corresponds to the data number or positioning continuation by the next data number by using the positioning pattern. The positioning continuation pattern is as follows:

1)

Positioning is completed in accordance with the specified ad-

dress, and positioning is continued by the next data number

(positioning address).

2)

Positioning is continued after changing speed at the specified

address.

Fig.

3.1

6

shows how

the positioning pattern.

to

specify bits in the buffer memory

to

specify

This pattern data is specified by the first two bits of

the

positioning

information.

Bit

1

Bit

0

Positioning pattern

00

:

Positioning end

01

:

Positioning continued (in any direction)

:

Speed changed and positioning then continued

11

(in the same direction)

10

:

No

setting

Fig. 3.16 Positionlng Pattern

Positioning end Drives to the specified address, positioning is complete after the dwell time

has elapsed.

-

Start

(Y20)

Positioning commenced (X18)

BUSY (X14)

Speed graph

I

For

pattern

00

Fig. 3.17 Pattern

3-30

00

FlCATlONS

9

Positioning continued

The positions are reached consecutively in the order specified by their data numbers positioning.)

by

a

.single start signal. (The

BUSY

MLSEGA

signal remains on during

Positioning commenced(X18)

BUSY(X14)

Speed graph

P

=

address

V = speed

t

=

dwell time

Pattern

operations.

Pattern patterns for the patterns are checked before operation and any error will stop position-

ing.

00

should be set for the last position in a series

01

may be set for interpolation positioning. In this case, the

X

2

I

Po

v1

P1

v3

'\I

1

k

Fig.

3.18

and Y axes should be the same. The X and Y axis

tl

Pattern

01

Pattern

01

t2

&

'

Pattern

of

P3

j

I

t3

00

continuous

3

-31

3.

SPECIFICATIONS

MELSECIA

Positioning continues with speed change

The positions are reached consecutively in the order specified by their data

numbers by a single

changed but the direction remains the same. (Refer

..

Positioning

commenced (X18)

BUSY(Xl4)

M

code

M

code

ON

start

signal. During positioning, the speed may be

4

I

Po (Pattern 11) (11)

P1

P

V

t

=

= =

to

Fig. 3.19.)

P2

P3

(01)

address (pulse) speed (P/S) dwell (in 0.01 second increments)

I

!

1

I

Fig.

3.19 Pattern 11

Table 3.8 shows the positioning data for Fig. 3.19. The following conditions

apply:

M

code ON/OFF timing

Incremental/absolute method

:

AFTER .mode

:

Incremental and absolute combined

Table 3.8 Posltionlng Data

106

107

108

3

-32

In the method column, method and Inc. incremental method.

Abs.

indicates absolute

3.

SPECIFICATIONS

.?.1.

.

ysra-;Bc;rrA

POINTS

(1)

I

For

continuous positioning, pattern 11 should not be used more than nine times consecutively. Where a large number of consecutive 11 patterns are being used, they must be broken down by

placing 01 pattern data every nine 11 patterns. (e.g. pattern 11

times, pattern

(2)

Always set pattern

(3)

While pattern 11 is continuing, the direction of movement and the

01

=

1 time, pattern 11

00

in the final data block.

=

9

times, pattern

00

positioning method should remain unchanged, only after pattern 01 or

00

may these be changed. eration has started, the new speed is ignored and, has been set in WITH mode, the

(4)

During positioning using pattern 11, dwell time data and M code will

If

the speed is changed after decel-

if

"M

code

ON"

signal is not given.

be ignored.

(5)

Interpolation positioning cannot be specified when pattern I1 is being used.

(6)

Pattern 11 and pattern 01 cannot be used in the speed/positioning control switching mode.

If

positioning patterns 11 and 01 are set during positioning control in the speed/positioning control switching mode, all positioning patterns will be executed as pattern

Example 1) When positioning pattern

00.

11

is set in the speed/posi-

tioning control switching mode

=

9

=

1 time).

the M code

During setting During execution

Pattern

11

1)

/

,,

Pattern

00

r">

During speed Dhng position

control control

Set

so

that the positioning cuted in the positioning

speed changes to

Example

l),

2),

and

3).

2)

When positioning pattern tioning control switching mode

During setting During execution

Pattern

Set

after executing positioning

01

Pattern

to execute positioning

00

of

2)

1

).

Positioning pattern

and positioning is completed.

01

is

set in the speed/posi-

Pattern

Positioning pattern completed without executing positioning

00

of

00,

and positioning is

of

2).

/

'1

00

is exe.

1)

is executed in

Execution

is disabled

of

l),

Execution

is disabled

3

-33

3.

SPECIFICATIONS

MELSEC-A

(b) Positioning methods

The positioning method specified in positioning data becomes valid only when a parameter positioning method was specified

incremental and absolute mode positioning. (If the parameter positioning method incremental and absolute mode positioning, the specification of the positioning method in positioning data method

follows

the setting in the parameter.)

is

not specified

is

ignored, and the positioning

to

use both

to

use both

POINT

I

While pattern changed. When use of both incremental and absolute mode positioning is specified, positioning methods can be changed after pattern

(c) Positioning direction

For incremental mode positioning, the direction of travel relative

the previous address must be specified.

increasing address numbers and

address numbers.)

In absolute mode, the positioning direction

Set the operation direction when starting positioning in the

speed/positioning control switching mode and the speed control mode. (During

address numbers and

numbers.)

(d) M code

Specifies an

11

is continuous, positioning methods cannot be

(0

1

specifies reverse, decreasing

is

ignored.

JOG

operations, setting

1

specifies reverse, decreasing address

"M"

code relevant

to

0

specifies forward, increasing

to

that position address. (range:

00

or pattern

specifies forward,

01.

255)

The code should be set During interpolation positioning, the X and code, buffer address

Y

axes. (X-axis M code, buffer address

to

=

346.)

0

if

it

is

not required.

M

codes are given individually for

=

46.

Y-axis

0

to

M

3-34

3.

".

SPECIFICATIONS

,

~

.

.e

I

(2)

Positioning speed

Specifies the speed at which the next position is

MEL8W-A

to

be approached.

Before operation, the parameter speed limit is checked and positioning speed exceeds the speed limit value, the parameter speed limit value is used.

Positioning speed for linear interpolation During linear interpolation positioning, the speed

fuFthest

as follows.

An example

I

Parameter

I

Positioning data set value : positioning speed

To move from point A (address is less than Y-axis travel

(This speed exceeds the speed limit value which is ignored in this case.)

to

travel takes precedence and the speed of the other axis is derived

(Short travel axis speed)

=

(long travel axis speed)

of

this is given in Fig.

set

value

X-axis positioning speed

:

speed limit value

so

Vy

=

x

(

short

(

3.20

0, 0)

to

=

50

kp/s has precedence.

50

x

travel

long travel distance)

which uses the following data:

point

B

100

-

=

200

25

set

distance)

X

Axis

I

20

KPLSlsec

I

20

KPLSlsec

(100

kp,

KPLS/sec

for the axis with the

I

1

200

kp), X-axis travel

50

KPLSlsec

50

KPLSlsec

Y

if

Axis

the

I

(kP)

i'

Tzl

0

AO

X

100

I

Fig.

I

In the case of linear interpolation, the setting speed of the axis whose

1

travel distance is smaller is ignored. Therefore, when the combination of travel distance and speed differs

greatly between the X and be larger than the setting speed. (The speed limit value is ignored.)

In the case of linear interpolation, Mitsubishi recommends setting the

same positioning speed and speed limit value to both the X and

3-35

-

WkP)

3.20

Linear interpolation

Y

axes, the travel speed of either X or Y may

Y

axes.

I

3.

SPECIFICATIONS

MELSEGA

Positioning speeds

For

example, when a positioning speed is 200 (PLSkec),

AlSD71

200

Therefore, the maximum speed

(3)

is

as

=

6.1 x n.. ..n = 32.7868..

Positioning address

Set the positioning address

are

follows:

multiplied by

..

is

6.1 x 32 = 195.2 (PLSlsec).

6.1

(PLS/sec).

the

maximum speed

in

accordance with the positioning method.

When using the incremental method, set the travel distance in the position control mode. When using the absolute method, set the target position.

Set the travel distance after receiving a control switching signal in the

speed/positioning control switching mode.

(4)

Dwell time

The dwell time is the period of time indicated in Fig.

BUSY

(X14)

Speed graph

I I I I

I

3.21

U

Dwell

00

Fig.

~ ~

3.21

Pattern

During interpolation positioning, the longer dwell time value is valid irrespective of the distance travelled (e.g.

1.5

sec,

1.5

sec is valid.)

if

X

axis

=

1

to

be output

from

below.

For

pattern

00

sec and Y axis=

3-36

3.

SPECIFICATIONS

.

-.-A

3.4.4

Positioning

mode

An

AlSD71

Positioning control mode

Speed/positioning control

switching mode mode by a one-time start signal. Then,

Speed control mode

(1)

Positioning control mode Section

can be operated in the three following positioning modes:

3.4'.3

......

.....

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

gives details.

Positioning functions are the same as for an

AD71

The

AlSD71

when an external control mode switching

signal is input, it switches ing control mode.

The

AlSD71

stop signal goes

operates in the speed control

to

the position-

continues operating until

ON.

a

3

-37

3.

SPECIFICATIONS

MELSEC-A

(2)

Speed/positioning control switching mode The

AlSD71

signal. Then, when a control mode switching signal is input while inputting the external enable signal,

operates in the speed control mode by a one-time start

it

is switched

to

the positioning control mode.

X

axis

Start signal

Positioning commenced

Positioning

complete

BUSY (X14)

M

code

M

code

M

code OFF

(Y20)

(X18)

(X12)

ON

Direction

0

(forward direction)

--

L

(WITH)

(AFTER)

Positioning data

Dwell lime

II

Speed change

I

Address

P2

I,

Speed

v2

No.82

\

I

\

I

I I

I I I I I

I

12

I

I I

I

--

I

Current value

Setting travel distance

Control switching signal

Enable signal

to

:

Positioning complete signal time

(Note)

If

ON,

Fig.

3.22

Switch Timing in the Speed/Positioning Control Switching Mode

I

a control switching signal goes

speed control will

3

-38

be

switched

I

ON

when the enable signal is

to

positioning control.

I

3.

SPECIFICATIONS

,

.

._

r.-.

POINTS

I

Interpolation operation is disabled. When it is switched

cuted. The current value is set to

to change when positioning control is started.

If

a restart is executed in positioning control, the current value continues from

the stop address.

If

a restart is executed in speed control, the pulse outputs from current value of a current value

is an address increase direction, and it is represented as an absolute value (absolute address).

The maximum number of output pulses during speed control is about

16,000,000

After outputting the maximum number of output pulses, pulse output is

automatically stopped. The switching signal after starting automatic deceleration in speed control or after starting deceleration by a stop signal input becomes invalid.

When executing restart, the start data number must be the same as the

execution data number when it stops halfway.

If

a control switching signal is received when traveling within backlash, the

remaining amount After a start completion signal goes

control switching signal becomes valid. (It becomes invalid even switching signal is input after that.)

is

PLS.

to

positioning control, an error compensation is exe-

"0"

when starting. Then, the current value begins

"0".

represented as follows: The positioning control starting point

is

"0".

The positioning control direction

of

travel distance will fluctuate.

ON

when a

BUSY

of

a current value

signal is

ON,

if

a control

The

the

Start

--

BUSY

Positioning

commenced

Positioning error in the speed/positioning control switching mode An external control switching signal is received during speed output and is switched to positioning control in the speed/positioning control switching mode. However, since a little time is needed for the to positioning control after receiving the signal, the number of pulses output during switching becomes a positioning error.

Control switching

Setting travel

@@!

distance

position

Error

If

the time needed for control switching is

by using the following:

Position error

Because the time (t-max. 1 msec) needed for the control change differs with

each

product, always take this factor into consideration.

(PLS)

=

b--=,

I,

,I

I,

+

signal

It

Control

signal

Output speed (PLS/sec)

(

Control switching signal valid range

200 psec

OS

to

complete the switching

Time

t

needed for control switching

switching Switching

is received.

tmsec,

1

o6

control

to

positioning

is

completed.

the position error is calculated

xt]*

1

3-39

3.

SPECIFICATIONS

(a) Changing a positioning address (travel distance)

If

data is written in a travel distance change area (buffer memory

address,

504)

be changed during

X

axis travel distance change area

Address

*03

F]

204

Control switching signal

X

axis: addresses

before a control switching signal

BUSY.

Positioning address

203,204

Travel distance change (PI)

and Y axis: addresses

is

input, a travel distance can

MELSEC-A

503

and

Setting travel distance area

Fig.

3.23

Positioning

POINTS

I

When data is written in a travel distance change area from a PC with a sequence program, the quest.

A

travel distance change

during

If

address that corresponds is used as the travel distance.

BUSY

data is not written

in the speed/positioning control switching mode.

is

to

the travel distance change area, a positioning

to

0

Address

OS

recognizes a travel distance re-

valid until a control switch signal is input

the data number specified when starting

x

Switch

P1

Timing

CPU

3

-

40

3.

SPECIFICATIONS

"

1

,

..

x--

(b)

Temporary

stop and restart

When a stop signal control switching signal, processing will and Y axis:

stop

505)

to

is

input,

and

if

"1"

is

start.

Switching signal

MELC1A

and processing

the

remaining travel distance is output,

set

to

a restart setting area

I

Stop signal

I

stops

after inputting a

(X

axis:

205

Start signal

Restart area

Current value

PI:

Positioning address

Note When a stop signal

comes valid. Except for this case, does not lake place.

Fig.

I

X

3.24

axis

0

(P'l+P"l)

is

given after a control switching signal is input, restart

Timing

1

(decrease direction)

Travel distance Changes to

V

I

1

x-

if

restart is set an error occurs and starting

of

Temporary Stops and Restarts

P'1

-

P1

Positioning data

Direction Dwell time

Control switching signal

3000.

Address

5000

Speed

V

Restart

'

0

by

t2

is set

OS.

be-

Current value

Setting travel distance area address

609 609

Fig.

0

3.25

Example

3-41

-

of

a Temporary Stop and Restart

1000

t

3000

c

3.

SPECIFICATIONS

MELSEC-A

POINTS

]

The following data is checked when restarting.

1)

Start data number (same as the execution number when stopping)

2)

Dwell time

3)

Positioning speed

The travel direction when restarting is as follows:

1)

Current value e setting travel distance

2)

Current value > setting travel distance

Note) When the current value is changed (Positioning data positioning direction is not used.)

Positioning data positioning address is not used. The travel distance is decided by the current value and the setting travel distance. Travel distance

M

code is set again.

When the M code is used in the WITH mode, the M code ON signal does not go When the AFTER mode is used, the M code goes ON when positioning

is

completed.

ON.

=

I

Setting travel distance - current value

.......

Direction is the same

as before stop

(address increase)

.......

Direction is the same

as before stop

(address decrease)

I

3

-42

3.

SPECIFICATIONS

(3)

Speed control mode The operation is started by a one-time start signal and processing

continues until a stop signal comes in.

Positionino data

MELSEC-A

Address

X

Positioning commenced (X18)

0

yl

axis start (Y20)

Stop

signal (Y25)

BUSY(X14)

1

I

I I

i

Direction

0

(forward direction)

Speedchange

No.50

Speed

v1

I

I/

I I

I I I I

I

I I I

I

I I I

I

\.

I

!

I

I I

I

Note

The stop signal from the PC CPU, external STOP signal, and input of the BREAK key from an AD71TU and peripheral device are judged to be stop signals. Section

Fig.

3.26

6.3.10

gives details.

Speed Control Mode Setting Example

Processing continues until a stop signal

in Section

I

The current value

6.3.10

do not occur, an automatic stop will not occur.

is

set to 0 when starting and does not change during

operations. The positioning complete signal M code The speed can be changed.

I

If

a stop command

controls

it

so

is

received during traveling within backlash,

that processing stops after traveling the backlash

amount backlash.

is

received.

ON

signal does not go

If

the stop factors

I

ON.

OS

3-43

3.

SPECIFICATIONS

MELSEC-A

Interpolation operations in the speed control mode

to

Interpolation operations are executed eration timing of the two axes.

The positioning axis whose positioning speed is faster becomes the priority axis (master axis), and the speed is adjusted in accordance with the speed

acceleration/deceleration

Positioning

I

speeds

50 20

curve

KPPS

I

of

X

axis (master axis)

match the speed acceleration/decel-

the axis.

I

Fig.

3.27

Example

of

a Master Axis During interpolation

3

-

44

3.

SPECIFICATIONS

3.5

Buffer Memory

The AlSD71 has a battery backed buffer memory for communication of data with the AISCPU. The memory map is shown in Fig.

Data can be read from the buffer memory as follows:

3.28.

1

Data can be written

(The writing General write conditions are shown in Fig. Section

Reading data using the sequence program

One word read application instructions.

Reading data using the peripheral device

Data can be read in the various modes of a peripheral device.

For details, refer

of

3.5.1

Writing data from the sequence program

One word

write application instructions.

Writing data from the peripheral device

Data can be written by storing data device and transferring data in blocks from the peripheral device the AlSD71 buffer memory. Data writing by the peripheral device shown in Fig.

the above-mentioned method is used.

(16

bit) or two word data can be read by using the buffer

to

the SWOGP-A1 SD71 P Operating Manual.

to

the buffer memory as follows:

data may be restricted depending on the status

to

3.5.5.)

(1

6

bit) or two word data can be written by using the buffer

of

the AI SD71.

3.28.

For further details, refer

to

a memory area in the peripheral

3.22

is valid when

to

An

additional function allows individual pieces

to

the buffer memory

AD71 P Operating Manual.

For buffer memory access instructions, refer

if

the AlSD71 is busy. For details, refer

to

Chapter 6 'Programming.'

3-45

of

positioning data

to

the

be written

SWOGP-

3.

SPECIFICATIONS

MELSEGA

to

X-axis positioning start

I

3::

Y-axis positioning start

I

505

767

Positioning

4271

information

sitioning speed

data

For

OS

I

Dorcriptlon

I

Area for positioning start data numbers, etc. (For X axis)

Unused

Area for positioning start data

numbers, etc (For Y axis)

Unused

OS

RAM.

lowed.

-

Unused

X axis positioning data area des-

cribed in Section 3.5.3 (Maximum

400

Data format as

Writing here is notal-

positions)

follows:

‘Positioning

Positioning

Dwell time: Positioning

information

speed

address

2

2 bytes (16 bits) 2 bytes (16 bits)

4 bytes (32 bits)

:

bytes (16 bits) any

:

Depends

,

Depends

I

Write

I

Write enabled at

time

on

data

-

on

data

-

disabled

-

Source

of

Periphoral dovlco

Write enabled when

both X-axis and Y-

axis BUSY signals

are off.

Write enabled when

both X-axis and Yaxis BUSY signals are

Write disabled

Block transfer of positioning data from peripheral device to A1 SD71 is only enabled when PC ready signal is off.

data

off.

AD7lTU

o

Dwell

time

I

>

X-axis parameters Y-axis parameters

X-axis zero return data

Y-axis zero return data

Y axis positioning data area described in Section 3.5.3 (Maximum Write enabled at 400 positions)

Data format as for

Parameter area explained in Sec-

tion 3.5.1 (X axis)

Parameter area explained in Sec-

tion 3.5.1 (Y axis)

Zero return data area described in Section 3.5.2 (X axis)

Zero return data area described in Section 3.5.2 (Y axis)

Fig.

3.28

Buffer

X

axis.

The above data may be read at any time. Addresses are expressed in decimal

Memory

any time

Write only enabled Write only enabled

1

when

PC

ready sig-

.-

off

nal is

when PC ready sig-

nal

I

(1

address = 2 bytes (16 bits))

Map

is

off

3

-

46

3.5.1

Positioning

start

data

The positioning start data area is shown in Fig.

3.29.

The arrangement of the

data is the same for both X and Y axes, only addresses are different.

POINT

X-axis I Y-axis

address

1

Both the X-axis and Y-axis BUSY signals must be off into the

0

1

2 3

4

Ill 111 Ill Ill

37 30 330 39 40

41

42

43 44 45 345 46 47 40 49

Ill

I1

I I Ill

260

201

202

203

204

205

AI

SD71

I

address

I

300

I

301

I

302

I

I I

303

:

304

I

337

:

339

I

340

I

341

I

342

I

:

343

I

344

1

I

346

I

347

I

340

8

;

349

I:

I

5b0

I

501

I I

I

502

I

503

I

504

I

505

from the peripheral device.

Start data Start data

Start axis

Start data

Start axis

Start data

Start axis

Speed change data

Present value change

Jog speed Error code

Executing data

16 bytes

x

19 comments

No.

I

No.

Pointer

1

2nd point

3rd

20th 'point

I

Addresses marked

M

code the AlSD71 OSonly.

No.

T

Error reset

Emergency stop

Travel distance

change area

I

501 is unused.

st point

point

I

Start data

to

No.

*

are written

write this data

area.

to

by

1

Fig.

3.29

Positioning Start Data

3-47

J

Area

3.

SPECIFICATIONS

MELSEGA

(1)

Speed change area To change the speed of traverse during positioning, jog operation or zero

return, write the new speeds shown data. Speed change is illustrated in Fig. 3.30 below.

in

Table 3.7) This data overrides the speed set in the positioning

Fig.

(X

axis :address 40, Y axis :address 340)

to

these addresses. (To be within the range

3.30

Speed Change Example

Acceleration and deceleration cycles use regardless of any forced speed change. The speed cannot be force changed under the following circumstances:

after a deceleration start point; after a stop command or after the jog signal is turned off:

0

during interpolation positioning.

(2)

Present value change area

(X

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

To

change the present value data in the AlSD71, write the new value

these addresses.

I

POINT

(3) Jog speed area

I

The present value cannot be changed while the AISD71 is Present value data

Specify the jog speed by writing speed data may be written at any time.

JOG

speed data set when the

is

two words long, one word data cannot be written.

(X

axis :address 44, Y axis :address 344)

JOG

the

positioning data speed

to

these addresses. This data

start becomes valid.

or

BUSY.

to

3-48

3.

.

SPECIFICATIONS

__

I.,

I

s.*"

. =.:

1

"

-w-

(4) M code comment area

Up

to

16

ASCli

(X

axis :address 49

characters may be entered as

(using the peripheral device or sequence program).

Comments

.may

be

written to M code numbers 1

axes.

How

to use:

1)

Monitoring by a peripheral device

2)

Reading using a sequence program, and displaying it externally.

(5)

Status area

Is

reserved for the information shown in Fig. 3.31 and is set by the

AlSD71

.

Set

to

0.

OS.

(X

axis :address 43, Y axis :address 343)

bO

Bit

ON

Battery alarm

Zero return request

During dwell time

During positioning BUSY

c

b

(but not zero return jog and inching operations)

Zero return complete

to

200,

Y

axis :349

M

code comment data

to

19

for

All

except bit conditions

to

500)

both X and

Bit

OFF

conditions

ON

Y

-----+I

L

-4

Do

not write data to this area.

Fig.

Zero return dog ON

Drive unit ready signal

STOP signal

3.31

ON

from drive unit

Status Area

ON

I

3-49

3.

SPECIFICATIONS

(6)

Error

code area

The code number

addresses by the

(X1

8).

(X

axis :address

of

any

error

OS.

Use in conjunction with the error detection signal

45,

Y

axis :address

detected by the

A1

SD71

MELSECd

345)

is written to these

POfNTS

I

0

The error code area is used by the

AlSD71

OS

and data must not

be written here.

0

The most recent error code any error is indicated by a

It

takes

20

to

30

msec

detection signal

For error codes, refer

7)

M

code area

The

"M

code" specified in the positioning data for the current positioning

operation is written

to

co-ordinate external equipment and processes.

I

IE

b15 b7 bO

f

to

0.

Set

(X1

B).

(X

axis :address

to

these addresses. The M code number can be used

to

is

written to this area. The absence of

"0"

in this address.

to

set an error code after outputting an error

Chapter

8.

46,

Y

axis :address

Lower 1 byte

M

code specified

M

code

346)

=

M

not

specified

code

=

1

to

255

=

0

Fig.

3.32

M

Code

Do

not write data

to

these addresses.

For M code data timing details, refer

Area

to

Section

3.4.1

(1

6)

3

-50

3.

.

,,

SPECI.FICATIONS

a.

(8)

Current data number area The number

written

of

the positioning data block currently being processed

to

these addresses by the

(X

axis

:address

AlSO71

until the next positioning operation begins. (Refer

48, Y axis :address 348)

OS.

This number

to

Fig. 3.33.)

is

retained

is

Positioning complete

Control switching signal

I

/I I

0,

POINTI

Do

not write data

I,

;

j

Fig.

3.33

Current Data

to

these addresses.

I

k

I

No.

Update Timing

I

~~

I

3

-51

3.

SPECIFICATIONS

J

.MELSEGA

(9)

Start data number area

(X

axis :address

0,

Y

axis :address

300)

Specify positioning data numbers during positioning start. Positioning processing is executed on the basis of positioning data of numbers specified in this area.

The start data number and pointer of the 20th point are valid in the

positioning control mode.

Only the start data number of the first point is valid in the speed/positioning control switching mode and speed control mode. The pointer value

is

invalid.

Positioning is executed sequentially by data number using a one-time start signal in the positioning control mode, and positioning operations are completed by positioning To execute the above series

END

of positioning pattern

of

positioning operations continuously, the

00.

first data number (start data number) and the start axis of the positioning operation series are registered. This area is called a start data number area.

A

start data number area with a maximum of 20 points can be set as

shown in Fig.

3.34.

X-axis j Y-axis

address

I

address

0

I

300

I

1

I

301

I

2 3 4

111

Ill

111

Ill

Ill Ill

37 38 338 39 339

302

I

303

I

304

I

337

I

I I I I I I I I I I I I I

Start data Start data

Start data

Start axis

Pointer

No. No.

No.

......

1

st

point

.......

Start axis for this start data depends on start signal (Y20

3rd point

J

....

For 2nd data For start axis details, refer to page 3-52.

to

No.

20th points,

and axis.

7

J

20th

point

..

Set

ries in a positioning operation.

Example

Every time a point increases, the pointer value decreases by When positioning is completed normally, the pointer becomes O.(except when positioning was stopped). The set value goes ON.

J

the number of switching times

hen executing only 1st point positioning

When executing positioning to the 4th point

r

1.

is

cleared to 0 when the power

Pointer = 0 Pointer

set

of

the se-

No.

start

=

to

\

3

/

Fig.

0

When positioning completed, positioning not

0

(however, an error code is set).

0

The

BUSY

signal remains

positioning of the

3.34

Start Data Number Area

of

the start data number of the 20th point is

is

completed even

ON

during switching to the next point after

1st

point has been completed.

3

-52

if

the value

of

a pointer is

(a) Start axis area details

Use

the

two

least

significant bits of these addresses

start axis. (See Fig.

3.35.)

to

define the

b2 to

blS

(ignored by

may

OS).

The following occurs

in

one:

..

1) both axes stop positions.

2)

only the axis with the error stops axes have started.

(b)

Data setting precautions

1)

When both axes are setting

00

data matches

stop

if

the data does not match. Refer

X

Address

0

1

I

be

1

or

Flg.

if

J

0

00

:Interpolation start

01

:X

axis start

10

:Y

axis start

11

4

3.35

Start Axis Area

if

both axes are started and an error is found

:Both-axes start

(No

interpolation)

the error has occurred between consecutive

if

the error occurred after both

to

be started together (Le. interpolation

or independent setting 11) ensure that the start axis

for

both X and Y axes at that point. Processing will

to

Fig.

3.36.

axis

200

Address 300

I

30

Y

axis

I

100

1

st point

2nd point

In the above example,

2nd point 3rd point 4th point

When positioning with

the

Y

Fig.

3

-53

304 305 306

X

axis

Interpolation start

Both-axes start

X

axis start

is

axis and positioning

3.36

switched to the 4th point, an

Start Data

Y

axis

Interpolation start

Both-axes start

Interpolation start

of

the Y axis is stopped.

Example

1

3rd point

4th point

error

+

OK

+

OK

+

Error

occurs

3.

SPECIFICATIONS

MELSEGA

2)

If

the start axis in the X-axis start data number area is set at the

Y axis

and the next point is processed. (Refer to

If

X axis

Address

the

0

1

2 3 4 5

6

(lo),

the point data is ignored (positioning is not executed)

Fig.

3.37.)

start

axis in the Y-axis start data number area is set at the

(Ol),

X

axis

Start axis

the next point

Y

axis

specification

0

1

is

processed.

Address 300

30 302 303 304 305 306

Y

axis

100

I

1

hl)--

Start axis

1

0

4

If

the 2nd and 3rd points

above, the 2nd and 3rd points are ignored and the positioning

is

point The 3rd point cause the 3rd point

processed.

is

ignored, and positioning is switched

of

the X axis are

of

the Y axis is set at the X axis

set

to

the Y axis

(1

to

the 4th point

(01).

0)

as shown

of

the 4th

1

st

point

2nd point

3rd point

specification

4th point

be-

X

axis

Start data

No.

105

Fig.

3.37

Point update

No.

300

30

'00'

Dwell Dwell Dwell

Positioning is switched to 3rd point but immediately switched to 4th point because start axis

Start Data Example

is

set

2

to

1

X

Dwell

axis.

3

-54

3.

SPECIFICATIONS

MELSEGA

3)

When the start axis is set start

(11)

and the other axis is not set starts positioning automatically using the start data number set at the point that is the same as its own axis (refer

If

the M code

ON

signal

error occurs.

X

axis

Address

0

I I

2

'H

to

interpolation start

of

the

other

Address 300

302

to

BUSY,

axis goes

Y

axis

(00)

or

both-axes

the other axis

to

Fig.

3.38).

ON

at this time, an

1

st

point

2nd point

(Y

axis start)

Assumes that The

X

3rd point of the

Y

axis

X

axis

Y

axis start

Y

axis busyJ

X

axis busy

303 210 304 (interpolation

4P?l

7-

Y

axis starts positioning automatically from the 3rd point because the

is

set to interpolation start when the Y axis completes positioning

1st

and 2nd points.

Start

7-

axis has started.

No.

50

Dwell Dwell

The X axis starts automatically at this time and executes switching of start data numbers in accordance with the

self pointer value. Only positioning data number 40 is executed in the example given above.

I

I1 I1

11

I1

II

I1 I1 I1

I1

I

t

3rd point start)

40

00

"

of

__

Dwell

I

I I

I

I I

I

I I

I

'

Fig.

3-55

3.38

Start Data Example

3

3.

SPECIFICATIONS

MELSECIA

4)

Processing will stop if interpolation (00)

operations have been called and the other axis is under different

jog

control (e.g. Zero return

(See Fig.

3.39)

o

2

operation

X axis

11-

-1

.

)-

1-

4

It

is

assumed that the X-axis start signal goes processing is executed. The

X

axis does not start interpolation positioning

ing

zero

when positioning of the

return, a

registered, and positioning processing

JOG

operation,

X

or

axis is switched

BUSY using a manual pulse generator

ON,

to

the 3rd point. Then, an error is

is

stops.

or

independent

or

inching).

1

st

point

2nd point

3rd point

and X-axis positioning

if

the Y axis is perform-

(1

1)

Y-axis zero return start

V

Start

t-

No.

108

Fig.

[Pointupdate)

I I

\-

l/

Dwell Dwell

3.39

Start Data Example

(-1

I

I I

t./

X

axis is switched to 3rd point and processing axis is zero return.

is

stopped because Y

4

-t

3-56

3.

SPECIFICATIONS

.,

m

"3EC-A

5)

In

a situation where interpolation

(00)

or independent

(1 1)

has been defined atone axis and the other axis is still positioning,

processing

will

vary as described below.

start

X

axis

An axis will wait for the other its busy signal

X

axis

Start data

No.

54

to

turn off. This

302

n

r-

I

1

st

sequence

to

finish its current process

is

illustrated in Fig.

Y

axis

number but processing waits until

1

st

seauence.

Start data

No

-I-

i2nd sequence

I

f

Start dat

3.40

1

st

point

2nd point

Y

axis completes

300

or

for

below.

I

II

Y

axis

.

X

axis busy

Y

axis busy

~

I

I I

I

I I

I

--

1

-.

st sequence

I

2nd sequence

The execution start number remains at its previous value while

for

waiting When the point of the other axis becomes the same

of

the one axis and interpolation or both-axes start

execution

the other axis.

start

number is updated.

Fig.

3.40

Start Data

Example

5

as

is

enabled,

the point

..

the

I

I I

I

3

-57

3.

SPECIFICATIONS

MELSEC-A

Start data

X

axis

Y

axis

X

axis start

X

axis busy

Y

axis start

Processing will stop

if

one axis proceeds ahead of the other

and dual axis processing is called. See Fig. 3.41.

X

axis

1

2 302

3p1

4

1st

point

I

1

I I I

I

I I

3-

I

I I I I I

I

I I

I

2nd point

140*l

&ell

Y

axis

:I_

I

I I

I1

I

I1

ll

11

I1

11

58

"01"

3rd point

*2

Dwell

1st

point

1

st

2nd point

Point update

59

'7';

,w,Dyel~

I

I I I

I I

I

I I I I I

point

I

Y

axis busy

I

Y

axis switches to 2nd Doint but

X

axis

has

reached stait point 3.

Positioning stops.

*1 Since the 2nd point of the X axis is specified

start, number 140

*2

Data number executing positioning of the positioning for the both-axes start of the

of

Y-axis 2nd point data starts.

58

is started by a Y-axis start command during

X-axis

3rd point after completing

X

Fig.

3.41

Start

Data

Example

to

the both-axes

and Y axes.

6

I

3-58

3.

SPECIFICATIONS

(IO)

Error reset (Address 201) The error codes for both axes can be reset by writing a

significant X1

B.

The

OS

a

0

to

bit

of this address. This also resets the error detection signal

then acknowledges that error signals have been reset by writing

this bit.

#meEeA

I

to

the least

bl to b15 may be 1 or (ignored by

OS

sets

OS).

0.

Fig.

(1 1) Emergency

stop

area (X axis:

Either emergency stop or normal stop can be selected

0

1

:Error reset request

(set by sequence program)

0

:Error reset processing complete

(set by

3.42

Error Reset Area Details

202, Y

axis: 502)

OS)

in

during zero return, JOG, and positioning (refer to Section 3.4.1 (1

1

:

Emergency stop

0:

Normal stop

~~______

I

Fig.

~~

3.43

Emergency Stop Area Details

~

The either

15

1

bits

or

0.

of

bl to

15

this area. Valid

7)).

can be

set

at

POINTS

I

When setting an emergency

stops

every time an emergency stop signal is input.

It

can be decelerated and stopped by turning

even

if

a stop signal was not input during the JOG operation. In this

case,

if

an emergency stop area

stop

area

to

is

set, it decelerates and stops in

emergency stop (bo

OFF

the

accordance with the emergency stop curve.

The master axis emergency stop area becomes valid during an

interpolation operation. The slave axis emergency stop area

slave axis will be ignored.

3-59

JOG

=

l),

signal

of

it

a

3.

SPECIFICATIONS

MELSEC-A

(1 2)

Travel distance change areas Use this area to change the setting travel distance (positioning address)

during Section

BUSY

3.4.4).

in the speed/positioning control switching mode (refer

(X

axis:

203,

204,

Y

axis:

503

to

504)

to

POINTS

I

0

Two words in the travel distance change area

0

Travel distance change is valid only before control switching. Travel distance change is ignored after control switching.

~~ ~ ~

(13)

Restart areas

(X

axis:

203

and

204,

Y

axis:

503

and

504)

Use this area to set restart when stopped halfway after a control change in the speed/positioning control switching mode (refer

1

:

Restart setting

(setting with

0:

Restart processing completed

(setting by the AlSD71

bl to

b15

can be set either 0 or 1.

0

when set

Area

Fig.

3.44

(Set to

Restart

to

Section

a

sequence program)

OS)

by

the

OS.)

3.4.4).

3

-

60

3.

SPECIFICATIONS

3.5.2

OS

date

area

(Addresses

512

to

767)

Addresses Data shown in Fig. (Section

512

to

767

6.3.2

gives details about the reading method.)

Address

512

60

1

603

602

1

I

t

I

605

604

t

606

11

X-axis torque limit value

607

609

61

Y-axis torque limit value

1

are used by

3.45

can be read and used with a sequence program.

OS.

The user cannot write data

I

T

A.

X-axis output speed When stopped,

X-axis current value

Higher

16

bits

Lower

16

bits

Y-axis current value

Higher 16 bits

I

X-axis setting rank travel distance area

Y-axis setting rank

put speed is stored during BUSY. When

0

-1(FFFFH) is stored.

The value is stored during the torque limit in the zero return

j

EE;

I

The setting travel distance after the control change is stored during

-

execution in the speed/positioning control switching mode.

output speed

stored in other cases.

in

this area.

0

is

stored. The out-

<

1,

4-

Fig.

3.45

OS

[REMARK[

The output speed axes, and the torque limit value become numerical values set as setting data.

Data

Area

of

the X and Y

POINTI

0

is stored in the setting travel distance area when starting. The value of an address written change area after a switching signal input is set by the can confirm the setting travel distance by reading this area.

to

a positioning address

or

a travel distance

OS.

The user

3-61

3.

SPECIFICATIONS

MRSECIA

3.5.3

Positioning data

X-axis : Y-axis .ddress :address

I

3872 3873 3874

4271 : 6271

-____I

4272 4273

4274

4671 i 6671

5072 j 7072 5073 : 7073 5074 7074

5075

5076 7076

5872

:

5873

:

5874

III ,,I I

I

,

I

I,,

III ,I

i

6272

:

6273

1

6274

,I, I,, ,,I

I

,I*

III

*.

I.

j

7075

I,

a;

Data No.

area

(X

axis

:address

This area stores the positioning data explained in Section

3872 to 5871,

Y

axis

:address

5872 to 7871)

3.4.3.

The positioning data consists of positioning information, positioning speed, dwell time, and positioning address as shown in Fig.

3.46.

For the conversion of expressions

from a data number to a buffer memory address, refer to the next page. As an example, for

X

axis data number

=

2,

data is stored in the following

areas:

Data No.=l

Data No.=3

Positioning information :Address Positioning speed :Address Dwell time :Address Positioning address :Address

Positioning information details

Positioning information

b15

b8

b7

=

3873

=

4273

=

4673

=

5074 5075

(lower (upper

16

bits),

bits)

€€€€ €€€€€

Data

No.=l

Data No.=2

Data No.=l

Data No.=3

Data No.=l

Data No.=2

Data No.=3

=

400

I'

Positioning speed

1.

"r

I

Dwell time

Positioning address

Positioning pattern

00

01 :Positioning continued

11 :Pattern change

L

Positioning method

0

:Absolute

1 :Incremental

alid only when incrementaVabso-

s

lute combination is specified in parameter.

-Positioning direction (Valid only in incremental mode)

0

:Fornard direction

(address increase)

1

:Reverse direction

(address decrease)

-Unused

b

M

Set M code = 0

code

:O

(0

:Positioning terminated

or

1

to

255)

when not used.

Data No.

=

400

Fig.

3.46

Positioning Data

3 -62

Area

3.

SPECIFICATIONS

-

..

3.5.4 Parameter area

Method

of

converting from a data number to the buffer memory

address

When using a sequence program to set positioning data that corresponds to

data numbers,

chvert

data numbers

into

a buffer memory address by the

following:

I

Positioning

information or A = 3871 + (data

I

Positioning

speed

Dwell

Positioning

address

time

I

1

I

A

=

A = 4272 + (data

or

A

L

A

=

or

A

=

Lower 16 bits

=

A2

or

A2 = 5070 + (data

X

Axis

3872 + (data

4271 + (data 4672 + (data

4671 + (data

5072 + (data

A1 =A?+

No.

No.)

No. No.)

No.

No.)

No. No.)

1

I

-

1) A = 5872 + (data

-

1) A = 6272 + (data

-

1).

-

1)

x

2

1

or

A

1

or A = 6271 + (data

A = 6672 + (data

or A = 6671 + (data

x

2 A2 = 7072 + (data

Lower 16 bits

or A2

Upper 16 bits Upper 16 bits

Y

=

5871 + (data

=

7070 + (data

A1 =A2+

Axis

No.

No.) No.

No.)

No. - 1) No.)

No.

-

No.)

1

-

1)

-

1)

1) x 2

x

2

IREMARK]

A conversion table is given in Appendix

(X

axis

:address 7872 to 7889,

Stores the parameters described in Section 3.4.1 See Fig. 3.47.

Y

5.

axis

:address 7892

to

7908)

I

1

X-axis 1 Y-axis

address ;address

I

7872 7892 7873 7893

I

7874 I 7894

I

7875 I 7895

I

7876

I

7896

I

7877

I

7897

I

7878 7898

I

7879

I

7899

I

7880 7881 7901 7882 7883 7884 7904 7885 7886 7887 7907 7888

7889

7891 7d11

7900

I

7902

I

7903

I

7905

I

7906

I

7908

I1

I

Ill

Parameter data

Travel Der Dulse

Speed limit value (ignored

-

-1

Jog speed limit value

Accakration

deceleration

Backlash compensation

Upper stroke limit

Lower stroke limit

Error compensation

Unused area

(should not be used)

Starting bias speed

Positioning complete

signal

Deceleration time

Unused area

(should not be used)

output

and

time

1

I

b15

b7

.I

1-

by

os)

-Positioning method

-M

Readlwrite using a sequence program.

(Disabled by using a peripheral device

AD71

or

TU)

Unit setting

00

:mm

01

:inch 10 :degree 11 :PULSE

Rotating direction

0

:Forward pulse output

=

present value increase

1

:Reverse

I

00

:Absolute

01

:Incremental

10 :Incremental/absolute combined

c

code usedhot used

0

:M

1

:M

c

code ON/OFF timing

0

:WITH mode

1

:AFTER mode

c

.Pulse output mode

0

:PLS

1 :Forward or reverse pulse (A type)

c

pulse

=

present value decrease

code not used code used

+

SIGN

output

(B

type)

Fig. 3.47 Parameter Area

3-63

3.

SPECIFICATIONS

MELSEC-A

3.5.5

Zero return data area

3

4

6

I

!

I

{

I

1

I I

I

i

I

I1

i

X-axis I Y-axis

address

791 2 791 791 791 5 791 791 7 791 8 791 9

7921

address

7922 7923 7924 7925 7926 7927 7928 7929

7931

(X

axis

:address

7912 to 7918,

Y

axis

:address

Stores Zero return data described in Section 3.4.2.

Fig.

See

Zero address

Zero return speed

Zero return creep speed

Zero return dwell time

Torque limit

Zero return information-

3.48.

b15

M

ttt

Unused area

(should not

be

used)

LC

7922

to

7928)

bO

L

Return method with mechanical stop

0

:Mechanical stop

1

:Mechanical stop

Zero return direction

0

:Forward direction

(address increase)

1

:Reverse direction

(address decrease)

ii

Zero return method

0

:PG

zero-point signal

1

:Mechanical stop

c

(1) (2)

Fig.

3.48 Zero Return Data Area

3 -64

3.

SPECIFICATIONS

3.6

i/O

Sign8+S

io

and

From

A1S

MELSEGA

CPU

The AlSD71 uses 16 inputs and 14 outputs

munications with the A1 SCPU.

I/O

signal assignment and functions are given

for

below. Table

3.9

shows

I/O

signals with the AlSD71 in

slot

main base unit. Device X indicates an input signal from the AlSD71 Device Y indicates an output signal from the A1 SCPU

Signal Direction: AlSD71 to AlSCPU

r

-

Device

number

X0 to XF

x10 x1 1

x12 X13 X14 X15 X16 X17 X18

x19 X1A X1

B

x1c X1D

E

X1 X1 F

Watchdog timer error

X axis

X

axis

Y

axis

X

axis

Error detection

Y

axis

X

axis

-1

Y

axis

Signal

Positioning complete

Zero return request

Zero return complete

M

code

ON

Table

3.9

I

i/O

Signal

Sipnal Direction: AlSCPU

Device

number

Y10 to Y1F

Y21

List

Not used

Used by system. Unavailable to the user.

X

axis

non-numerical com-

No.0

and

No.1

to

the AlSCPU.

to

the AlSD71.

to

AlSD71

Signal

I

of

the

1

20 to X2F

Jnusable

1

I

E

~~ ~~

X axis

Y25 X axis

Y

Y26

Y

2A

axis X axis Forward X axis Reverse jog start Y axis Forward jog start Y axis Reverse

X axis

PC ready Used by system. Unavailable to the

user.

Zero return start

jog

start

ioa

start

~~ ~~

M

code OFF

IMPORTANT

Y2E, Y2F, X20

or

for special applications which are detailed later.

to

X2F, and Y10

to

Y1 F are reserved

for

use by the

When the above devices are used (turned ON/OFF) using a sequence program, normal functioning of the A1 SD71 cannot be guaranteed.

3-65

OS

3.

SPECIFICATIONS

MELSEC-A

Detailed explanation of

This section explains ON/OFF timing tions. The numbers

I/O

in

signals

of

1/0

signals and

( )

shows the device number that corresponds

I10

signal condi-

Table 3.9.

Fig 3.49 gives details about ON/OFF timing of

I/O

signals.

(1) Watchdog timer error signal (X10)

Switches ON when a WDT error occurs by using the AlSD71 self-diagnostic function.

(2) AlSD71 ready signal (X1

Switches

ON

according (Y2D). However, following time be turned

ON

after checking parameter and zero return data when the

1)

to

the ON/OFF state

(t),

the AlSD71 ready signal (X1

of

the

PC

ready signal

PC ready signal (Y2D) goes ON.

Use this signal for the interlock in the sequence program.

PC

ready signal

AlSD71

(3)

Positioning complete (X12, X13)

ready signal

(Y2D)

(X1

1)

I, I1

I,

IUI

t

=

1.5

sec

Switches on for a period set in the parameters after each position is reached. (Ignored

if

the positioning complete signal output time Switched off at positioning start, Zero return start, inching start, jog start, and power on.

If

positioning is stopped midway, the positioning complete signal does not switch on. Positioning complete signals do not go on in the speed control mode.

(4) BUSY (X14, X15)

Switches on at positioning start, Zero return start, inching start, and jog start. Switches off after pulse output and dwell time have elapsed.

(Refer Switches

to

Fig. 3.49.) (Remains on during positioning.)

on

while the test function is being used on the peripheral device

or the AD71TU.

1)

=

to

must

0.)

3

-66

3.

SPECIFICATIONS

(5)

Zero return request signals (X16, X17) Switches

ON

when either of the following conditions occurs, and

when zero return is complete.

When the power supply is turned When thedrive unit READY signal After the

PC

ready signal (Y2D) goes

ON

to

the AlSD71 module

(READY)

ON,

it takes about 1.5 seconds

goes OFF during BUSY

When a parameter and a zero return data are written from the peripheral device When zero return starts When the following are selected

in

test mode of a peripheral device:

1) Zero return

2) Positioning

3)

JOG

operation

4)

Manual pulser

(6) Positioning commenced signals (X18, X19)

When the AlSD71 starts positioning processing by positioning (zero return and the

ON,

these signals go

JOG

operation are contained) and the start signal turns

ON.

Then, these signals go OFF when the start

signal turns OFF.

OFF

Positioning start signal

Positioning commenced signal

Not

turned

ON

in

the test mode by a peripheral device or AD71TU.

(Y20)

(X18)

(7) Battery error (X1 A)

Switches on when battery voltage drops.

(8) Error detection (X1 B)

Switched on by any error is reset. For resetting, refer

(9)

Zero return complete (X1 C, X1

of

the errors in Chapter 8. Switched off when the

to

Section 3.3.2 (7).

D)

Switches on to indicate the completion of zero return. Switched off at the start of the next process.

(10)

M

code

ON

signals (X1

These are turned When positioning is completed, they are turned When an

If

the M code is not designated (when M code is set

M

code OFF signal goes

signal remains OFF

E,

X1

F)

ON

when starting in the WITH mode.

ON,

the M code

.

ON

in the AFTER mode.

ON

signal goes OFF.

to

0),

the M code

This signal remains OFF in the test mode when using a peripheral device or AD71TU.

ON

I

Remark

M

code consists of the code numbers (for example, clamp, drill rotation, stop, and using an The relay ladder by using this

PC

CPU

I

(1

to

255)

AlSD71.

can execute specified auxiliary tasks by creating programs to go

M

code.

3-67

allocated by a user to execute auxiliary functions

tool

exchange command) after positioning control

ON

and

OFF

a

3.

SPECIFICATIONS

MELSEC-A

Positioning start (Y20, Y21, Y22) Become valid at the leading edge of this signal.

Zero return start (Y23, Y24)

Become valid at the leading edge of this signal. Stop (Y25, Y26)

ON

One of these signals being operations. (If these signals are turned OFF.) After an operation stops, operations can be restarted by a positioning start signal. (Section 6.3.10 gives details about concrete examples.)

JOG

operation (Y27

When these signals go decelerated and stopped automatically by turning OFF this signal.

M

code OFF (Y2B, Y2C)

The leading edge of these signals makes the

PC ready signal (Y2D) Sends the correct PC CPU operation

At the start of positioning, zero return jog operations (other than those

carried out in a peripheral device or AD71TU) this signal must be

However, device, the leading edge of the PC ready signal is ignored. Then, when both axes are not

The following time must go

if

one axis is in BUSY in the test mode when using a peripheral

1) Parameter checking and initialization

2)

Zero return data check

3) Zero return request

ON

to

Y2A)

ON,

(t)

the signal of 3) after a PC ready signal goes

process 1) and 2).

stops zero return and positioning and

ON

during BUSY, the M code

a

JOG

operation is executed. Operations are

M

code

to

the AlSD71.

in

BUSY, execution takes place.

ON,

AlSD71 ready signal

ON

signal goes

ON

signal go OFF.

ON

JOG

ON.

ON

PC

ready signal

Zero return request signals (X16 and X17)

If

the PC ready signal goes OFF when AlSD71 is BUSY, positioning is stopped. Then, the cleared. However, even using a peripheral device or AD71TU in the test mode, positioning does not stop.

AlSD71

ready signal (X1

M

code

if

3-68

(Y2D)

1)

I

ON

signal goes OFF, and the

the PC ready signal goes

OFF

M

code is

in

BUSY when

3.

SPECIFICATIONS

Jog

Speed graph

operation

Jog

MELSEGA

speed

[Positioning control

Speed graph

PC ready

AlSD71

Zero

return complete

Positioning complete

ready

PC ready

Zero

A1 SD71

return complete

ready

Positioning complete

Forward jog Reverse jog

Positioning commenced

BUSY (X14))

mode]

Pattern

n

I

(Y2D)

(X1

1)

(XlC)

(X12)

(Y2D)

(X1

1)

(xlcj--;

(X12)--;

Stop

(Y25)

(Y27)

(Y28)

(X18)

Positioning operation

01

Pattern

11

f

1

Dwell

I1

I, I I, I

I

Pattern 1 1

I1

It

I’

I!

:I

II

t;

11

I!

1:

1

DWe,II

I

Stop

Positioning commenced

BUSY (X4)

Start positioning

M

code

ON

M

code

OFF

Note

*

(Y25)

(X15)

(Y20)

code

(XlE) (Y2B)

:If

positioning operation is shorter than the positioning complete signal output time in the

parameter, the positioning complete signal may be output continuously.

:

When a signal with a * symbol is

*

symbol goes

the

OFF

when

ON

the

before the positioning start signal goes

positioning start signal goes

ON.

ON,

3-69

the signal with

3.

SPECIFICATIONS

[Positioning operation]

MELSEC-A

Speed/positioning control switching mode

Speed graph

PC ready signal (Y2D)

AlSD71 ready (X11)

Zero return complete (XlC)

Positioning complete (X12)

Stop (Y25)

External Control switching signal signal

[

Positioning commenced (X15)

Positioning start (Y20)

Enable signal

BUSY (X14)

M

code

Speed data speed change data area.

I

is

written to a

M

code ON (XlE)

M

code

OFF

(Y2B)

Note 1 When a positioning operation is shorter than the output time

the positioning complete signal is sometimes output continuously.

[Zero return]

Speed graph

I

PC ready signal (Y2D)

AlSD71 ready (X1 1)

Zero return complete (XlC)

Positioning complete (X12)

Stop (Y25)

Positioning commenced (X1

BUSY (X14)

Zero return request (X16)

Zero return start (Y23)

*

When a signal with a * symbol

OFF

goes

when the positioning start signal goes ON.

3

---;--A

1

8)

j

1

I

is

ON before the positioning start signal goes ON, the signal with the * symbol

of

a parameter's positioning complete signal,

Zero return speed

I

3

-70

3.

SPECIFICATIONS

4.

.I

...

3.7

I/O

Interface with External Equipment

3.7.1 AlSD71 electrical specifications

Table 3.10 AlSD71 Electrical Speclfications

MELSEC-A

I/O

Input

(5

to 24

VDC)

Input

(5

VDC)

output

Signal

Supply power

Drive unit ready Stop signal Near-point signal

Supply power

Control switching signal Enable signal

Start signal

Error detector clear

Forward feed pulse Reverse feed pulse

(READY)

(STOP)

(m)

(START)

(CLEAR)

(PULSE)

(m)

Description

5

to

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

50mA (maximum)

-

1

High :(Supply power voltage

Low :(Supply power voltage

High :(Supply power voltage

Low :(Supply power voltage Pulse width

Pulse rise time :3 Pulse fall time :3

5

HIGH level :Voltage 4.5

LOW level :Voltage Pulse width

Output form :Open collector Load voltage Load current Max. drop voltage when Leakage current when OFF

Output form :Open collector

Load voltage :4.75 Load current :50mA (maximum)

(Input current :0.3mA or less)

(Input current :2.5mA or more)

(Input current :0.3mA (Input current :2.5mA or more)

VDC (Prepare 4.75

:50

ps

or more

ps

or less

ps

or less

to

5.25 V stabilized power supply.)

Current Current

:1

msec or more

Response time from OFF to

Section 3.7.2 gives details about the pulse leading/ trading edge time.

3 mA or more

1

.O

0

ON

to

26.4V DC

or

less)

V

or more

V or less

mA

:4.75 to 26.4V DC :10mA (maximum)

:0.6V or

:O.

1

mA or less

V) or more

-

3V) or less

-

1V) or more

-

3V) or less

ON

less

:lmsec

3-71

3.

SPECIFICATIONS

MELSEC-A

3.7.2 Pulse ieading/traiiing

The pulse IeadingArailing edge times of AlSD71 output signals and output

ratio duty are shown below.

c

50

200

100

10

<

0.1

edge

0.4

times

of

AlSD71 output signals

46

48 0.4

<

0.1

0.5

46

48

Unit

<

0.1

Unit

tf,

tr

:

0.5

:

ps

Duty

45

48

50 0.5 50 0.5 50

Duty

:

Oh

I

o/o

50

200

100

10

0.1

0.3

52 52 50 0.3

Pulse IeadingArailing edge

3.7.3 input/output Interface specifications

The input/output interface specifications of the AlSD71 and an external device are given in Table 3.1

0.1

of

the AlSD71 and an external device

0.3

52

50

1.

0.1

0.3 03

0.3

52 52 50

3 -72

3.

SP,EClFlCATlONS

_.-

I

MELSEC-A

Input

Internal

circuit

Table

3.11

AlSD71

Pin Number

X

axis

5A

I\

t

I

\

-

8A

-

\

-

88

7

t/O

Interfaces

Signal

Common

Drive unit ready

(READY)

Stop signal

(STOP)

Zero-point

signal

(DOG)

Description

5

to

24

VDC

(external supply)

(1)

LOW indicates the servo drive unit is serviumblc and the

fad

(2)

The prior to start. zero return request.

(3)

Arrange for drive unit errors, e.g. a oontrol powe

error, to set this signal

(4)

Switching the signal to stops the operation. Resetting the signal will no

restart the operation.

(1)

LOW to stop positioning. Signal duration or more.

(2) AlSD71

switches thestartsignalOfF ing from

(1)

Used to detect near-point during zero return Switched to LOW by using the near-point actuator The grid point is resolver phue angle

(2)

When zero return by using the zero-phase signal the zero point is away from the dog and becomes the firat grid point after detecting the near-poin

dog.

puke is wtabk.

AlSD71

chacks

the drlvo unit ready signa

11

not ready, the

stops positioning by using this signal anc

HIGH

to

LOW,

AlSD71

HIGH.

HIGH

during positioning

(HIGH).

positioning is not started.

Whenswitch

0.

~~

outputs

20

msec

I

-

3A

38

t

4A

-

40

-

1

OA

1

OB

-

Enable signal

Control switching signal

Zero-phase signal

(PGO)

(1)

Selects the control switching signal enableldisable

(2)

LOW sets enable.

11)

Used as the control Switching command in the speedd/positioning control switching mode.

:2)

LOW switches control.

:1)

Used as the zero signal at zero return. The zero.

phase grid signal of the pulse encoder is normally

used. LOW at zero.

:2)

Used when the zero return method uses stoppel

stop

and zero return complete is externally input.

3

-

73

3.

SPECIFICATIONS

MELSEGA

-

110

3utput

Table 3.1 1 A1 SD71

-

f

-

110

interfaces (Continued)

axia

13A

138

14A

148

20A

20

B

18A

Signal Description

Start

:START)

Error counter clear

:+)

24

v

to

power

:+)

(1)

LOW

while

(2)

ON (LOW) during

Used

mechanical brakes. Feed pulse is output atter this aignal goes ON.

Given before and after

lions in

5

to

24

178

and

17A

and

Forward and reverse feed pulses The opera

lion direction follows thedirection sian (SIGN).

-

poritioning.

feed

as

a

brake release aignal for sewos with

the

SONO

VDC (external supply)

208

for

5

20A

for

24

pulse output and dwell.

zero

to

12

VDC

return.

VDC.

error counter.

Resets

-.

devia.

.

-

Select the A or B type by parameter setting. (For details, refer

3.8 Battery Specifications

Table

I

Total power failure time

t

3.12

gives the specifications of a battery used for an AlSD71.

Table 3.12 Battery Specifications

Nominal voltage

Guarantee period

-

18B

-

19A

-

19B

-

feed pulse

feed pulse sign

PULSE

I

P

25

ms

..

+

direction travel - direction travel

PULSE F

Reverse Direction

R

SIGN

Y

E

PULSE

mUu-

R

-v-u-~

to

Section 3.4.1

.)

AGBAT

3.6 VDC

5

years

300

days (7200 hours)

I

Application

Size (mm)

I

3-74

Back-up

$

16 (dia)

for

setting data

x

30

I

4.

HANDLING

4.

HANDLING

4.1

Handilng instructions

This section explains the handling (installation preparations) and nomenclature of the AlSD71.

Since the body case is made of plastic, protect the

AI

SD71 from dropping

and sudden impacts. Keep conductive debris out of the unit. Turn the PC CPU power supply

to

or from the base.

Turn the PC CPU and drive module power supply

OFF

before installing or removing the unit

OFF

before connecting or disconnecting the drive unit connector. After confirming the correct insertion direction, insert the connector directly from the front. Then, tighten the two fixing screws. When the drive unit is not connected, keep the connector area cover

closed.

When the AlSD71 is not BUSY, connect a peripheral device or AD71TU

to

the A1 SD71. After confirming the correct insertion direction, insert the connector directly from the front. Then, tighten the two fixing screws. When a peripheral device or AD71TU is not connected, keep the connec-

tor

area cover closed.

To install the module

to

a

base unit, first put the module mounting

hook

in the module mounting hole, and then tighten the two module mounting screws

to

secure the module. To remove the module, loosen and remove the two module mounting screws first, and then disengage the module mounting hook from the module mounting hole.

Module

Module mounting

connector

I

Module mounting

hole

Mod&

screws

mounting

hook

4-1

4.

HANDLING

4.3

Settings

MELSEGA

4.3.1

Internal setting of the

Battery connection

The battery backs up the disconnected before shipment to prevent battery drainage.

Always connect the battery leads before using the (Refer

AlSD71

to

Section 9 for details about batteries.)

Blue line: - side

is as shown below.

IC-RAM

during power failures. The leads are

AlSD71.

I

IMPORTANT

I

The components on the printed circuit board may be damaged by static electricity. When handling the printed circuit board:

1)

Ground all

2)

Do

I

tools,

not touch conductive areas or electrical components.

the work bench, etc.

I

4-3

5.

LOADING AND INSTALLATION

5.

LOADING AND INSTALLATION

This section explains the methods for loading and installation and the precautions

to

take

to

efficiently.

5.1

Unit Wiring Precautions

increase system reliability and

MELSEC-A

to

use the functions most

5.2

5.2.1

Wlring

Wlrlng precautlons

When the base), heed the following:

(1) Do

(2)

The following describes (a) precautions when doing wiring between the

AlSD71

tor.

Precautions when doing wiring between the (including a drive unit) are described below. in Appendix

(1)

(2)

AlSD71

not connect it

(AlS513

(This is because the

If

the board temperature exceeds

the

PC CPU

and external devices, and

3.

Length of connection cable between the

The length of the connection cable between the

unit is generally depends on the drive unit specifications. Make sure

I/O

signal wiring

Do

not put the connection cable next

If

the connection cable has

the ducts or use conduct.

If

the cables must

ground them on the

If

the cables are wired with conduct, make sure

Keep

AlSD71

If

the connection cable is

cable, noise may cause a malfunction.

is connected

to

the extension base without a power supply module

extension base).

5

board.

1

to

confirm the correct specifications.

be

wiring and other electric wires at least

to

the base (main base unit and extension

VDC

current consumption is very high.)

55

OC,

(b)

how

to

3

meters

bundled together, use a batch-sealed cable and

PC CPU

(3

to

10

to

be brought close

side.

too

long, and is

consider forcible ventilation of

use the external wiring connec-

AlSD71

A

connection examples is given

AlSD71

feet). However, the distance

the power or main circuit cable.

too

and external devices

and drive unit

AlSD71

to

them, either separate

to

ground the conduct.

close

and the drive

10

cm apart.

to

a main circuit

5-1

5.

LOADING AND INSTALLATION

MEkSEGA

Control box

Examples (bad example at top,

UChange

good

example at bottom)

-

Wiring conduct

-

Wiring conduct

When there pulse string output terminal from the from other shielded cables.

is

a lot of noise between the

X

axis Y axis

I

F)

R)

c

15A,

15B,

16A, 168,

Pulse string output (PULSE

AlSD71

AC

Bring the plifiers closer to the

AlSD71

bles are minimized in length and separated

from the other wiring

(run outside the wiring

conduct).

and servo amplifier, provide wiring from the

using shielded twisted-pair cable that is different

Servo amplifier

servo am-

so

that their ca-

r

5-2

5.

LOADING AND INSTALLATION

(3)

24

VDC wiring notes

When a servo drive unit has a built-in power supply of wraparound circuit is made by the state of a power supply. A malfunction will occur do not use the built-in power supply and external power supply together.

[Wraparound circuit]

r--"--------'----

I

I I

I I I I I

I I I

I I

I

El

>

E2

Even

if

the pulse output of AlSD71

servo unit pulse input line.

if

a separate power supply

1

I

-

"

r-+----

I

;[

I

--*---,

A

TI

i!

E2 External power

:<

supply

-------------

I

.I-------+-----

-

MELSEC-A

24

is

supplied externally. Therefore,

r"'-------------------------

T

is

OFF,

the power supply flows in a

VDC,

a

1

I

5-3

5.

LOADING AND INSTALLATION

.

-.I

.

WLSEGA

5.2.2

Connecting external wirlng

The AlSD71 has the following connectors: When connecting an electric wire, disassemble as shown The disassembly and assembly procedures are as follows:

1) Loosen the four screws, and remove them.

2) Open the cover from the connector side.

3) Connect the electric wire (refer

4)

Put connectors into the cover.

5) Pull open the fixed screws.

6)

Put the covers together.

7) Fasten the four screws. Use longer screws for cable clamping. Always keep track

in

Fig. 5.1.

to

Section 5.2.3(1)

of

small screws and nuts when disassembling.

to

(3)).

5.2.3

Connecting electric wiring

Connector pin wiring is shown in Fig. 5.2. Connect in accordance with the numbers (refer

(1)

Use 0.3 mm2 or less wires. Thicker wires cannot pass through the cable

clamps.

(2) Solder the wires

careful not Wires should be threaded through an insulating tube.

(3) Secure the electric wire in the cable clamp of a cover.

When there are several connecting electric wires, wrap them together with tape.

Fig.

to

Section 3.7.2).

to

the pins. Remove electric wire insulation carefully. Be

to

cause a short circuit.

Soldering

ire

+t

5.1

Connector

Pin arrangement seen from the connection side Connection pins include

A1

to

A20

and

B1

to

820.

I/O

5-4

Fig.

5.2

Connection

6.

PROGRAMMING

6.

PROGRAMMING

6.1

Program Creatlon

MEL3EC-A

6.1.1

using a

peripheral

device or

Program composition

AlSD71

are classified as

Zero return

~~

4

Positioning mode

I

programs are usually incorporated in an overall program. Programs

follows,

Speed control operation

and a program example is shown.

1

axis

1

axis, simultaneous 2 axes

Interpolation

1

axis

1

axis, simultaneous 2 axes

'c_7

Interpolation

1

axis, simultaneous 2 axes

1 axis

1

axis

2 axes simultaneous

I

Refer to the SWOGP-AD71 P Operating Manual or AD71TU Operating Manual.

I

Operation

using programs

Data read and write

Jog

operation

Current value change

Spoedlpositioning

H

IL

switchino

control

Speed

control

operation

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

1

axis

1 axis, simultaneous

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

2

axes

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

1-

1

axis

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

I

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

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

1

axis

1

axis

1

axis

2 axes simultaneous

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

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

Refer to Section 6.3.2.

Refer to Section 6.3.8.

....

Refer

Refer to Section 6.3.3.

Refer to Section 6.3.4.

Refer to Section 6.3.5.

Refer to Section 6.3.6.

Refer to Section 6.3.7.

Refer to Section 6.3.9.

Refer to Section 6.3.2.

to

Section 6.3.3.

6-1

6.

PROGRAMMING

*j.'L

MELSEC-A

Unless otherwise specified,

located at

slot

0

and 1 of the main base.

Fig. 6.1 AlSD71

The number of devices

POINTS

(1)

1

There are

(M,

48

two slots. Therefore, execute I/O allocations using the as follows:

First half

slot

Second half slot

(2)

When executing an AlSD71

number of the second half

I/O

numbers used in thes manual

Used

For

Location

D, T, etc.) used in the program example can be changed freely.

for

the

Following Examples

assume

numbers:

details, refer to Table

that the AiSD71

I

X0

to

2F,

YO

to

3.9.

2F

A1 SO71 input/output points and the module occupies

GPP

function

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

Empty slot

.........

Special-function module

FROM/TO

slot

of

AlSD71 is used.

:

16

points

:32

points

instruction, the head I/O

is

Therefore, the number comes the head

(3)

If

the first half

by the The

GPP

I/O

AI

function,

number

same number as the first

to

be set by the FROM/TO instruction be-

I/O

number allocated

SD71 slot is set

16

first half slot points are saved.

to

be set

6-2

in

the FROM/TO instruction becomes the

I/O

number allocated

to

the AlSD71

to

empty slot 0 in the I/O allocation

to

+

010~.

the AlSD71.

6.

PROGRAMMING

6.1.2 Precautions when creating programs

(1)

Sequence program conditions

Use the AlSD71

M9038

+I

X1A (Battery error

M9006 (CPU battery error

(cpu

RUN)

ting

M9039

__(I

Deceleration time setting command for the xlsitioning mode and

W

mes emergency

stop

positioning mode and

wy

stop

command

emergency

Iy

AI

)

for the

)I

Interlock

IY

AI

+I

to

provide the program shown in Fig.

Resets

an AlSD71 error by

initialization after CPU

Battery error

W

n

(Y2D)-

W

PC ready

MELSEGA

6.2

to

the system.

RUN.

AlSD71 sequence program

M1

-I1

x1

1

-I+

X1 B

+

TO H1

TO

F

Lm711

TO H1

A1 SD71 ready Provide start interlock.

Error detection

be

Can

used for stop, etc.

MOV

H1

K7908

K7889

K7888

Kif[:

DO

Dl K1

D2 K1

DO

K

Set

the

positioning mode.

'

Set the following values to 1.

0:

Positioning control mode

1: Speed/positioning switching

control mode

2: Deceleration control mode

Set the deceleration time for an emergency stop of the

The setting range of 2 is from

64

to

50000.

Set

the

emergency stop of the Y axis.

deceleration time for an

The setting range of

64

to

50000.

X

axis.

(Setting unit: 1)

3

is

(Setting unit: 1)

from

1

I

If

the CPU is reset when AlSD71

is

BUSY,

the AlSD71 may detect an error.

Therefore, reset the error by using this ladder.

Fig. 6.2 Necessary Program

6-3

6.

PROGRAMMING

MEkSEGA

PC ready reset

When an error is detected in the sequence program, create a program that the PC ready signal

AI

SD71

ready

Following time

after checking parameter and zero return data when a

(Y2D)

When switching the positioning mode, the PC ready signal be turned OFF. (When the mode data is written Therefore, after switching the positioning mode, the positioning start time will be delayed.

Zero return Be sure

(The current values of the positioning module cannot be guaranteed when turning the power

Limit switch for near-point dog

Use a limit switch with high contact reliability. is not input during zero return, the movement continues at the zero return speed.

Overrun processing Overrun is prevented in the upper/lower strokes by limit setting. However,

this applies when the Mitsubishi recommends setting a marginal limit switch and external circuit that turns OFF power goes

Emergency stop The STOP input signal is a positioning deceleration stop signal which

cannot be used for an emergency stop. Stop the drive unit by external contact in the case of an emergency stop.

Upper/lower stroke limit values Confirm whether correct upper/lower stroke limit values have been set. Speed limit value Confirm whether a proper speed limit has been set

Do

Execute operations at the low JOG speed. Speed during interpolation operations The speed during interpolation operations is decided with the

axes. Therefore, set the speed of both axes correctly operates at the setting speed or lower.

is switched from OFF

PC

AlSD71 ready signal

to

ON.

not set the high speed at the JOG speed.

(1)

is needed

ready signal (Y2D)

execute zero return when turning the power

to

(X1

the

ON.)

(Y2D)

is reset by detecting the error.

to

turn

to

ON.

1)

-F

PC

ready signal

AlSD71.)

AlSD71

to

the motor power when the limit switch

ON

the

AlSD71

II

ll

#

is operating normally. For safety,

t-

1.5~~

(Y2D)

If

the near-point dog signal

ready signal

PC

ready signal

(Y2D)

goes OFF, positioning

ON.

to

a parameter.

so

that either axis

X

so

(X11)

must

and

Y

6-4

6.

PROGRAMMING

6.2

Operations

Using

a Peripheral Device or

MELSEC-A

AD71TU

AlSD71

peripheral device

(1)

(2) Operations are enabled independently of the ON/OFF state of the

(3) Data cannot be read and written from/to the peripheral device

(4) ON/OFF of the

positioning operations can be executed

or

AD71TU.

Install a peripheral device

ready signal (Y2D) and

during BUSY when operating a peripheral device or mode.

M

code will be ignored. (Buffer memory M code area

axis: 46, Y axis: 346) is cleared.)

Operating conditions are as follows:

or

AD7lTU

AlSD71

in the

ready signal

in

the test mode using a

AlSD71.

(X1

1).

AD71TU

or

AD71TU

in the test

PC

(X

6-5

6.

PROGRAMMING

6.3 ACPU Programming

MELGfEGA

6.3.1

Data

Wand

Positioning

operation

Start

wrtte

precautions

Data read from and written minimum for optimum program scan time. The majority of the AlSD71 data must therefore be written device

or

the AD71TU.

The parameters and zero return data is checked at power the PC ready signal (Y2D) changes from

Positioning data is checked immediately before will cause the error signal

to

positioning

Pattern

00

[I1

I

I I I I

stop.

Dwell

Pattern

I

to

01

PI

Dwell

the sequence program should be kept

to

the buffer memory by the peripheral

on

and when

OFF

to

ON.

it

is processed. Any error

(XIB)

to

switch on and, in most cases,

Pattern

I I

I

11

Pattern

00

Dwell

I

I I I

I

to

a

BUSY

Data

I

d

[I]

check Data

Fig. 6.3 Positioning

An error is flagged

I

d

[2]

check Data

if

the total distance requested exceeds the upper

d

Data

l

[3]

check

Check

stroke limit when incremental position addressing is used.

(or

lower)

6-6

6.

PROGRAMMING

MELSEGA

6.3.2

Data communkatbn

(1) Read and write instructions

[Format]

I

Symbol

I

n1

I

n2 I Buffer head address of stored data

I

D

I

n3 I Number of words

with

PC

program

(a)

Read from AlSD71 FROM instruction: Also FROMP, DFRO, and DFROP

Execution condition

I

Upper 2 digits of the 3-digit head AlSD71 has been assigned (e.g. ber is

X,Y040)

I

Head number of devices to which data will be written

Flg. 6.4

to

be read

Description

I/O

number to which the

4

when the head

Read lnstructlon

~ ~~~~

FROM

I/O

num-

1

Device

1

I

1

T,

C,

I

K,H

K, H

D,

W,

K,

H

R

Example:

Execution condition

To

read one word from buffer memory address

to

put speed) and

Y

140

x131

(AlSD71 ready)

D2 with the AlSD71 assigned to X130

to

Y

14F.

Flg.

6.5

Read Example

600

(X axis out-

to

Xi 3F

6-7

6.

PROGRAMMING

Mti;$EGA

(b) Write

[Format]

I

~

I

Symbol

nl

n2

[

n3 I Number

Example:

to

AlSD71

TO instruction: Also TOP, DTO, and DTOP.

Execution condition

to

be written

Fig.

6.6

Description

110

number to which

Write Instruction

110

TO

the num-

T,

I

to

I

~~~~~ ~ ~ ~ ~~

Upper 2 digits of the 3-digit head AlSD71 has been assigned (e.g. 4 when the head ber is X,Y040)

Buffer head address for written data

of

Head number (may also be a constant)

of

To

write positioning information to buffer memory address 3872,

with the AlSD71 assigned to X20 to X2F and Y30

devices from which data will be written

words

Available

Device

K, H

K,

H

C, D,

W, R,

K, H

K,H

3F.

1

I

X-axis data

16 bits

arrangement

Execution condition x21

No.

1

positioning information example

I

Positioning pattern

Positioning method Positioning direction

(Only incremental method)

I

M

code

b15 bO

0000110100000111

Item Setting Data

Continue with speed

I

change

-

I

Incremental I1

I

Forward

13 13

-

TOP K3872 HD07 K1 H2

(A1

SD71 ready)

1

lo

Positioning pattern Positioning method Positioning direction

M

code

Hexadecimal

H

DO7

Pi

'4

Fig.

6-8

6.7

Write

Example

Mitsubishi MELSEC-A A1SD71-S2 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

REVISIONS

INTRODUCTION

CONTENTS

INTRODUCTION

SYSTEM CONFIGURATION

Overall Configuration

Applicable Systems

Programming Equipment

SPECIFICATIONS

3.2 Performance Specifications and Functions

Functions

Parameters

Zero return Data

Positioning data

Buffer Memory

Positioning Start Data

3.8 Battery Specifications

HANDLING

Settings

Battery connection

LOADING AND INSTALLATION

Unit Wiring Precautions

Wlring

Connecting electric wiring

PROGRAMMING

Program composition

6.1.2 Precautions when creating programs

6.3 ACPU Programming