Mitsubishi Electric MELSEC iQ-R-RD75P4, MELSEC iQ-R-RD75P2, MELSEC iQ-R-RD75D2, MELSEC iQ-R-RD75D4 User Manual

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MELSEC iQ-R Positioning Module User's Manual (Application)

-RD75P2

-RD75P4

-RD75D2

-RD75D4

SAFETY PRECAUTIONS

WARNING

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION

Indicates that incorrect handling may cause hazardous conditions, resulting in minor or moderate injury or property damage.

(Read these precautions before using this product.)

Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle

the product correctly.

The precautions given in this manual are concerned with this product only. For the safety precautions of the programmable

controller system, refer to the MELSEC iQ-R Module Configuration Manual.

In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".

Under some circumstances, failure to observe the precautions given under " CAUTION" may lead to serious

consequences.

Observe the precautions of both levels because they are important for personal and system safety.

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

[Design Precautions]

WARNING

● Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller. Failure to do so may result in an accident due to an incorrect output or malfunction. (1) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting

operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured external to the programmable controller.

(2) When the programmable controller detects an abnormal condition, it stops the operation and all

outputs are:

• Turned off if the overcurrent or overvoltage protection of the power supply module is activated.

• Held or turned off according to the parameter setting if the self-diagnostic function of the CPU module detects an error such as a watchdog timer error.

(3) All outputs may be turned on if an error occurs in a part, such as an I/O control part, where the

CPU module cannot detect any error. To ensure safety operation in such a case, provide a safety mechanism or a fail-safe circuit external to the programmable controller. For a fail-safe circuit example, refer to "General Safety Requirements" in the MELSEC iQ-R Module Configuration Manual.

(4) Outputs may remain on or off due to a failure of a component such as a relay and transistor in an

output circuit. Configure an external circuit for monitoring output signals that could cause a serious accident.

● In an output circuit, when a load current exceeding the rated current or an overcurrent caused by a load short-circuit flows for a long time, it may cause smoke and fire. To prevent this, configure an external safety circuit, such as a fuse.

● Configure a circuit so that the programmable controller is turned on first and then the external power supply. If the external power supply is turned on first, an accident may occur due to an incorrect output or malfunction.

● For the operating status of each station after a communication failure, refer to manuals relevant to the network. Incorrect output or malfunction due to a communication failure may result in an accident.

[Design Precautions]

WARNING

● When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely. For other forms of control (such as program modification, parameter change, forced output, or operating status change) of a running programmable controller, read the relevant manuals carefully and ensure that the operation is safe before proceeding. Improper operation may damage machines or cause accidents.

● Especially, when a remote programmable controller is controlled by an external device, immediate action cannot be taken if a problem occurs in the programmable controller due to a communication failure. To prevent this, configure an interlock circuit in the program, and determine corrective actions to be taken between the external device and CPU module in case of a communication failure.

● Do not write any data to the "system area" and "write-protect area" of the buffer memory in the module. Also, do not use any "use prohibited" signals as an output signal from the CPU module to each module. Doing so may cause malfunction of the programmable controller system. For the "system area", "write-protect area", and the "use prohibited" signals, refer to the user's manual for the module used.

● If a communication cable is disconnected, the network may be unstable, resulting in a communication failure of multiple stations. Configure an interlock circuit in the program to ensure that the entire system will always operate safely even if communications fail. Failure to do so may result in an accident due to an incorrect output or malfunction.

● To maintain the safety of the programmable controller system against unauthorized access from external devices via the network, take appropriate measures. To maintain the safety against unauthorized access via the Internet, take measures such as installing a firewall.

● Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller. Failure to do so may result in an accident due to an incorrect output or malfunction. (1) Machine OPR (Original Point Return) is controlled by two kinds of data: an OPR direction and an

OPR speed. Deceleration starts when the near-point dog signal turns on. If an incorrect OPR direction is set, motion control may continue without deceleration. To prevent machine damage caused by this, configure an interlock circuit external to the programmable controller.

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

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

(3) Outputs may remain on or off, or become undefined due to a failure of a component such as an

insulation element and transistor in an output circuit, where the positioning module cannot detect any error. In a system where the incorrect outputs could cause a serious accident, configure an external circuit for monitoring output signals.

● An absolute position restoration by the positioning module may turn off the servo-on signal (servo off) for approximately 60ms + scan time, and the motor may run unexpectedly. If this causes a problem, provide an electromagnetic brake to lock the motor during absolute position restoration.

[Design Precautions]

CAUTION

● Do not install the control lines or communication cables together with the main circuit lines or power cables. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction due to noise.

● During control of an inductive load such as a lamp, heater, or solenoid valve, a large current (approximately ten times greater than normal) may flow when the output is turned from off to on. Therefore, use a module that has a sufficient current rating.

● After the CPU module is powered on or is reset, the time taken to enter the RUN status varies depending on the system configuration, parameter settings, and/or program size. Design circuits so that the entire system will always operate safely, regardless of the time.

● Do not power off the programmable controller or reset the CPU module while the settings are being written. Doing so will make the data in the flash ROM undefined. The values need to be set in the buffer memory and written to the flash ROM again. Doing so also may cause malfunction or failure of the module.

● When changing the operating status of the CPU module from external devices (such as the remote RUN/STOP functions), select "Do Not OPEN in Program" for "Open Method Setting" in the module parameters. If "OPEN in Program" is selected, an execution of the remote STOP function causes the communication line to close. Consequently, the CPU module cannot reopen the line, and external devices cannot execute the remote RUN function.

[Installation Precautions]

WARNING

● Shut off the external power supply (all phases) used in the system before mounting or removing the module. Failure to do so may result in electric shock or cause the module to fail or malfunction.

[Installation Precautions]

CAUTION

● Use the programmable controller in an environment that meets the general specifications in the Safety Guidelines included with the base unit. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product.

● To mount a module, place the concave part(s) located at the bottom onto the guide(s) of the base unit, and push in the module until the hook(s) located at the top snaps into place. Incorrect interconnection may cause malfunction, failure, or drop of the module.

● When using the programmable controller in an environment of frequent vibrations, fix the module with a screw.

● Tighten the screws within the specified torque range. Undertightening can cause drop of the screw, short circuit, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction.

● When using an extension cable, connect it to the extension cable connector of the base unit securely. Check the connection for looseness. Poor contact may cause malfunction.

● When using an SD memory card, fully insert it into the SD memory card slot. Check that it is inserted completely. Poor contact may cause malfunction.

● Securely insert an extended SRAM cassette into the cassette connector of the CPU module. After insertion, close the cassette cover and check that the cassette is inserted completely. Poor contact may cause malfunction.

● Do not directly touch any conductive parts and electronic components of the module, SD memory card, extended SRAM cassette, or connector. Doing so can cause malfunction or failure of the module.

[Wiring Precautions]

WARNING

● Shut off the external power supply (all phases) used in the system before installation and wiring. Failure to do so may result in electric shock or cause the module to fail or malfunction.

● After installation and wiring, attach the included terminal cover to the module before turning it on for operation. Failure to do so may result in electric shock.

[Wiring Precautions]

CAUTION

● Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction.

● Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.

● Check the rated voltage and signal layout before wiring to the module, and connect the cables correctly. Connecting a power supply with a different voltage rating or incorrect wiring may cause fire or failure.

● Connectors for external devices must be crimped or pressed with the tool specified by the manufacturer, or must be correctly soldered. Incomplete connections may cause short circuit, fire, or malfunction.

● Securely connect the connector to the module. Poor contact may cause malfunction.

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

cables. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction due to noise.

● Place the cables in a duct or clamp them. If not, dangling cable may swing or inadvertently be pulled, resulting in damage to the module or cables or malfunction due to poor contact. Do not clamp the extension cables with the jacket stripped. Doing so may change the characteristics of the cables, resulting in malfunction.

● Check the interface type and correctly connect the cable. Incorrect wiring (connecting the cable to an incorrect interface) may cause failure of the module and external device.

● Tighten the terminal screws or connector screws within the specified torque range. Undertightening can cause drop of the screw, short circuit, fire, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or malfunction.

● When disconnecting the cable from the module, do not pull the cable by the cable part. For the cable with connector, hold the connector part of the cable. For the cable connected to the terminal block, loosen the terminal screw. Pulling the cable connected to the module may result in malfunction or damage to the module or cable.

● Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can cause a fire, failure, or malfunction.

● A protective film is attached to the top of the module to prevent foreign matter, such as wire chips, from entering the module during wiring. Do not remove the film during wiring. Remove it for heat dissipation before system operation.

● Programmable controllers must be installed in control panels. Connect the main power supply to the power supply module in the control panel through a relay terminal block. Wiring and replacement of a power supply module must be performed by qualified maintenance personnel with knowledge of protection against electric shock. For wiring, refer to the MELSEC iQ-R Module Configuration Manual.

● For Ethernet cables to be used in the system, select the ones that meet the specifications in the user's manual for the module used. If not, normal data transmission is not guaranteed.

[Startup and Maintenance Precautions]

WARNING

● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction.

● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or

throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so will cause the battery to produce heat, explode, ignite, or leak, resulting in injury and fire.

● Shut off the external power supply (all phases) used in the system before cleaning the module or retightening the terminal screws, connector screws, or module fixing screws. Failure to do so may result in electric shock.

[Startup and Maintenance Precautions]

CAUTION

● Do not disassemble or modify the modules. Doing so may cause failure, malfunction, injury, or a fire.

● Use any radio communication device such as a cellular phone or PHS (Personal Handy-phone

System) more than 25cm away in all directions from the programmable controller. Failure to do so may cause malfunction.

● Shut off the external power supply (all phases) used in the system before mounting or removing the module. Failure to do so may cause the module to fail or malfunction.

● Tighten the screws within the specified torque range. Undertightening can cause drop of the component or wire, short circuit, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction.

● After the first use of the product, do not mount/remove the module to/from the base unit, and the terminal block to/from the module, and do not insert/remove the extended SRAM cassette to/from the CPU module more than 50 times (IEC 61131-2 compliant) respectively. Exceeding the limit may cause malfunction.

● After the first use of the product, do not insert/remove the SD memory card to/from the CPU module more than 500 times. Exceeding the limit may cause malfunction.

● Do not touch the metal terminals on the back side of the SD memory card. Doing so may cause malfunction or failure.

● Do not touch the integrated circuits on the circuit board of an extended SRAM cassette. Doing so may cause malfunction or failure of the module.

● Do not drop or apply shock to the battery to be installed in the module. Doing so may damage the battery, causing the battery fluid to leak inside the battery. If the battery is dropped or any shock is applied to it, dispose of it without using.

● Startup and maintenance of a control panel must be performed by qualified maintenance personnel with knowledge of protection against electric shock. Lock the control panel so that only qualified maintenance personnel can operate it.

● Before handling the module, touch a conducting object such as a grounded metal to discharge the static electricity from the human body. Failure to do so may cause the module to fail or malfunction.

● Before testing the operation, set a low speed value for the speed limit parameter so that the operation can be stopped immediately upon occurrence of a hazardous condition.

● Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine.

[Operating Precautions]

CAUTION

● When changing data and operating status, and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or modification may cause system malfunction, damage to the machines, or accidents.

● Do not power off the programmable controller or reset the CPU module while the setting values in the buffer memory are being written to the flash ROM in the module. Doing so will make the data in the flash ROM undefined. The values need to be set in the buffer memory and written to the flash ROM again. Doing so can cause malfunction or failure of the module.

● Note that when the reference axis speed is specified for interpolation operation, the speed of the partner axis (2nd, 3rd, or 4th axis) may exceed the speed limit value.

● Do not go near the machine during test operations or during operations such as teaching. Doing so may lead to injuries.

[Disposal Precautions]

CAUTION

● When disposing of this product, treat it as industrial waste.

● When disposing of batteries, separate them from other wastes according to the local regulations. For

details on battery regulations in EU member states, refer to the MELSEC iQ-R Module Configuration Manual.

[Transportation Precautions]

CAUTION

● When transporting lithium batteries, follow the transportation regulations. For details on the regulated models, refer to the MELSEC iQ-R Module Configuration Manual.

● The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a fumigant used for disinfection and pest control of wood packaging materials, may cause failure of the product. Prevent the entry of fumigant residues into the product or consider other methods (such as heat treatment) instead of fumigation. The disinfection and pest control measures must be applied to unprocessed raw wood.

CONDITIONS OF USE FOR THE PRODUCT

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

i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident;

and

ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the

case of any problem, fault or failure occurring in the PRODUCT.

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

MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL

RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY

INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE

OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR

WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL

BULLETINS AND GUIDELINES FOR the PRODUCT.

("Prohibited Application")

Prohibited Applications include, but not limited to, the use of the PRODUCT in;

• Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the

public could be affected if any problem or fault occurs in the PRODUCT.

• Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality

assurance system is required by the Purchaser or End User.

• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator,

Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and

Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other

applications where there is a significant risk of injury to the public or property.

Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or

more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific

applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or

other safety features which exceed the general specifications of the PRODUCTs are required. For details, please

contact the Mitsubishi representative in your region.

INTRODUCTION

Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers.

This manual describes the functions, programming, and troubleshooting of the relevant products listed below.

Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the

functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly.

When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it

will not cause system control problems.

Please make sure that the end users read this manual.

Relevant products

RD75P2, RD75P4, RD75D2, RD75D4

In this manual, buffer memory areas are classified into four groups using the following symbols. Each area

name is common to axis 1 to 4.

• [Pr.**]: Positioning parameter and OPR parameter

• [Da.**]: Positioning data and block start data

• [Md.**]: Monitor data

• [Cd.**]: Control data

Unless otherwise specified, this manual describes dedicated instructions using G(P).**** instructions. When

using Z(P).**** instructions, regard G(P).**** as Z(P).****. Applicable devices differ between G(P).****

instructions and Z(P).**** instructions. Check the devices in the following manual. MELSEC iQ-R Programming Manual (Instructions, Standard Functions/Function Blocks)

MEMO

SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

CHAPTER 1 STARTING AND STOPPING 19

1.1 Starting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

Normal start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Quick start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

Multiple axes simultaneous start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

1.2 Stopping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

1.3 Restarting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36

CHAPTER 2 OPR CONTROL 38

2.1 Overview of the OPR Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Two types of OPR controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

2.2 Machine OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40

Operation overview of the machine OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40

Machine OPR method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41

Near-point dog method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

Stopper method 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44

Stopper method 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47

Stopper method 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50

Count method 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Count method 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Data setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

2.3 Fast OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57

Operation overview of the fast OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57

CHAPTER 3 MAJOR POSITIONING CONTROL 59

3.1 Overview of the Major Positioning Controls. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59

Data required for major positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Operation pattern of major positioning control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Specifying the positioning address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Checking the current value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Handling degree (control unit) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74

Interpolation control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

3.2 Positioning Data Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82

Relation between each control and positioning data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

1-axis linear control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

2-axis linear interpolation control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

3-axis linear interpolation control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

4-axis linear interpolation control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Fixed-feed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96

2-axis circular interpolation control with the sub point specified . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99

2-axis circular interpolation control with the center point specified . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103

3-axis helical interpolation control with sub point specified . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109

3-axis helical interpolation control with center point specified. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

Speed-position switching control (INC mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125

Speed-position switching control (ABS mode). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

Position-speed switching control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Current value change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

NOP instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

JUMP instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

LOOP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152

LEND. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .153

CHAPTER 4 ADVANCED POSITIONING CONTROL 154

4.1 Overview of Advanced Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .154

Data required for advanced positioning control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Block start data and Condition data configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

4.2 Execution Procedure for Advanced Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

4.3 Setting the Block Start Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .158

Relation between various controls and block start data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

Block start (normal start) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .159

Condition start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .161

Wait start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .162

Simultaneous start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .163

Repeated start (FOR loop) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .164

Repeated start (FOR condition). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .165

Restrictions when the NEXT start is used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

4.4 Setting the Condition Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Relation between various controls and condition data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Setting examples of the condition data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

4.5 Start Program for the Advanced Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

Starting the advanced positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

Start program example for the advanced positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171

CONTENTS

CHAPTER 5 MANUAL CONTROL 174

5.1 Overview of the Manual Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .174

Three manual control methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .174

5.2 JOG Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .176

Overview of the JOG operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

Operation procedure of the JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

Parameters required for the JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

Creating a start program for the JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

Operation example of the JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

5.3 Inching Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

Operation overview of the inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .185

Operation procedure of the inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

Parameters required for the inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189

Creating a start program for the inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

Operation example of the inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

5.4 Manual Pulse Generator Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193

Operation overview of the manual pulse generator operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

Operation procedure of the manual pulse generator operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

Parameters required for the manual pulse generator operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .198

Creating a program to enable or disable the manual pulse generator operation . . . . . . . . . . . . . . . . . . . . . . . 199

CHAPTER 6 INTER-MODULE SYNCHRONIZATION FUNCTION

(SIMULTANEOUS START OF MULTIPLE MODULES) 201

6.1 Control in Pre-analysis Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .202

6.2 Control in Normal Analysis Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

CHAPTER 7 CONTROL SUB FUNCTIONS 209

7.1 Overview of Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209

Overview of sub functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209

7.2 Sub Functions Specific to Machine OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

OPR retry function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

OP shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .215

7.3 Function to Compensate Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

Backlash compensation function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

Electronic gear function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220

Near pass function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

Output timing selection of near pass control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .228

7.4 Function to Limit Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

Speed limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .230

Torque limit function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .232

Software stroke limit function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

Hardware stroke limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

7.5 Functions that Change Control Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243

Speed change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243

Override function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

Acceleration/deceleration time change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251

Torque change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254

Target position change function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

7.6 Function Related to Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

Pre-reading start function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .259

Start time adjustment function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262

7.7 Absolute Position Restoration Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

Configuration and preparation of the absolute position detection system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

Overview of the absolute position detection system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .265

Transmission procedure for absolute position signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265

Control precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267

Restrictions on movement amounts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .267

7.8 Function Related to Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .269

Stop command processing for deceleration stop function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269

Continuous operation interrupt function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

Step function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .273

7.9 Other Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

Skip function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

M code output function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280

Teaching function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .284

Command in-position function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

Acceleration/deceleration processing function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .291

Deceleration start flag function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .293

During uncompleted OPR operation setting function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296

Interrupt function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

CHAPTER 8 COMMON FUNCTIONS 303

8.1 Overview of Common Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303

8.2 Module Data Initialization Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304

8.3 Module Data Backup Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .306

8.4 External I/O Signal Logic Switching Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

8.5 External I/O Signal Monitor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .309

8.6 History Monitor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310

8.7 Amplifier-less Operation Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .312

CHAPTER 9 PARAMETER SETTING 315

9.1 Parameter Setting Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .315

9.2 Module Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

Basic setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .316

Application setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319

Interrupt setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .320

Refresh settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .321

9.3 Module Extension Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .325

Positioning data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

Block start data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328

CONTENTS

CHAPTER 10 MONITORING/TEST 330

10.1 Positioning Monitor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .330

10.2 Positioning Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332

CHAPTER 11 SPECIFICATIONS OF I/O SIGNALS WITH CPU MODULE 342

11.1 List of I/O Signals with CPU Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342

11.2 Details of Input Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .344

11.3 Details of Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .345

CHAPTER 12 DATA USED FOR POSITIONING CONTROL 346

12.1 Types of Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .346

Parameters and data required for the control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

Setting items for positioning parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .348

Setting items for OPR parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

Setting items for positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356

Block start data setting items. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358

Setting items for condition data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359

12.2 List of Buffer Memory Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .360

12.3 Basic Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .380

Basic parameter 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380

Basic parameter 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

Detailed parameter 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .391

Detailed parameter 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .400

OPR basic parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .409

OPR detailed parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414

12.4 Positioning Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420

12.5 Block Start Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434

12.6 Condition Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .439

12.7 Monitor Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .443

System monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443

Axis monitor data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453

12.8 Control Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467

System control data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .467

Axis control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470

12.9 Interrupt Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484

12.10 Synchronized Refresh-dedicated Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486

12.11 Basic Parameter 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487

12.12 Parameter Reflection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .488

CHAPTER 13 PROGRAMMING 491

13.1 Precautions on Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491

13.2 List of Labels Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .493

13.3 Creating Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497

Overall configuration of programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497

13.4 Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .498

CHAPTER 14 TROUBLESHOOTING 515

14.1 Troubleshooting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515

Checks with LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515

Check of module status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .516

14.2 Troubleshooting by Symptom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517

14.3 Error and Warning Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .519

Error type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519

Error code classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520

Error storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .520

Warning type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521

Warning classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .521

Warning storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521

Clearing errors or warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .522

14.4 List of Warning Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523

14.5 List of Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .527

APPENDICES 548

Appendix 1 Module Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548

Appendix 2 Dedicated Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .550

Appendix 3 How to Find Buffer Memory Addresses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .551

Appendix 4 Operation Examples of When the Remote Head Module Is Mounted . . . . . . . . . . . . . . . . . . . . . . . . 556

System configuration example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556

Setting in the master station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .557

Setting in the intelligent device station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560

Checking the network status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 562

Program examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 562

The RD75 operation when the remote head module is mounted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .586

Appendix 5 Added or Changed Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .587

INDEX 588

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .592

WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .593

TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .594

CONTENTS

RELEVANT MANUALS

Manual name [manual number] Description Available form

MELSEC iQ-R Positioning Module User's Manual (Application) [SH-081245ENG] (this manual)

MELSEC iQ-R Positioning Module User's Manual (Startup) [SH-081243ENG]

MELSEC iQ-R Programming Manual (Instructions, Standard Functions/Function Blocks) [SH-081266ENG]

This manual does not include information on the module function blocks.

For details, refer to the Function Block Reference for the module used.

e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated

tool.

e-Manual has the following features:

• Required information can be cross-searched in multiple manuals.

• Other manuals can be accessed from the links in the manual.

• The hardware specifications of each part can be found from the product figures.

• Pages that users often browse can be bookmarked.

Functions, parameter settings, I/O signals, buffer memory, programming, and troubleshooting of the positioning module

System configuration, specifications, procedures before operation, wiring, and operation examples of the positioning module

Instructions for the CPU module, dedicated instructions for the intelligent function modules, and standard functions/function blocks

Print book

e-Manual PDF

Print book

e-Manual PDF

TERMS

Unless otherwise specified, this manual uses the following terms.

Term Description

GX Works3 The product name of the software package for the MELSEC programmable controllers

Q series-compatible mode A mode where the module operates with the start time of 1.5ms. The mode is to match the start time to the

RD75 The abbreviation for the MELSEC iQ-R series positioning module

RD75P A generic term for the positioning module RD75P2 and RD75P4

RD75D A generic term for the positioning module RD75D2 and RD75D4

Engineering tool Another term for GX Works3

Global label A label that is valid for all the program data when multiple program data are created in the project. The global

Quick start mode A mode where the module operates with the start time of 0.3ms. Unless otherwise specified, the functions

Drive unit (servo amplifier) A unit that amplifies pulses that are output from the positioning module to control a motor. The unit is provided

Module label A label that represents one of memory areas (I/O signals and buffer memory areas) specific to each module in a

Remote head module The abbreviation for the RJ72GF15-T2 CC-Link IE Field Network remote head module

QD75N or LD75.

label has two types: a module specific label (module label), which is generated automatically by GX Works3, and an optional label, which can be created for any specified device.

described in this manual are for when quick start mode is set.

with a servomotor or stepping motor. It is also called a servo amplifier.

given character string. For the module used, GX Works3 automatically generates this label, which can be used as a global label.

1 STARTING AND STOPPING

This chapter describes how to start and stop positioning control operations with the RD75.

1.1 Starting

The RD75 starts the positioning control when a start trigger, specific to the control, is turned on. The following table lists the

start signals by control type. This section describes starting with Positioning start signal [Y10, Y11, Y12, Y13] and an external

command signal.

Control details Start trigger

Major positioning control • Turn on Positioning start signal [Y10, Y11, Y12, Y13].

Advanced positioning control

OPR control

Manual control JOG operation Turn on Forward run JOG start signal [Y8, YA, YC, YE] or Reverse run JOG start signal [Y9, YB, YD,

Inching operation

Manual pulse generator operation

For the controls other than the manual controls, any one of the following start modes can be selected.

•Normal start (Page 22 Normal start)

• Quick start (Page 24 Quick start)

• Multiple axes simultaneous start (Page 29 Multiple axes simultaneous start)

The target position for a control can be specified using positioning data, Block start data, and condition data. Available data

depends on the selected start mode.

• Execute the GP.PSTRT instruction.

• Turn on an external command signal (CHG).

YF].

Manipulate a manual pulse generator.

Start condition

Satisfy the following conditions to start a program. In addition, set the required conditions in the program to prevent an

operation from starting if the conditions are not satisfied.

Signal name Signal status Device

Axis 1 Axis 2 Axis 3 Axis 4

I/O signals PLC READY signal ON The CPU module is ready. Y0

RD75 READY signal ON RD75 READY signal X0

Module access flag

Axis stop signal OFF Axis stop signal is off. Y4 Y5 Y6 Y7

M code ON signal OFF M code ON signal is off. X4 X5 X6 X7

Error detection signal OFF No error has been detected. X8 X9 XA XB

BUSY signal OFF BUSY signal is off. XC XD XE XF

Start complete signal OFF Start complete signal is off. X10 X11 X12 X13

External signal Drive unit READY signal (READY) ON The drive unit is ready. 

Stop signal (STOP) OFF Stop signal is off. 

Upper limit signal (FLS) ON The current position is within the limit. 

Lower limit signal (RLS) ON The current position is within the limit. 

*1 The interlock must be provided so that the buffer memory is accessed after Module access flag [X1] turns on. When no interlock is

provided, the buffer memory may be accessed while the module parameter and module extension parameter that are sent from the CPU module are updated. If the buffer memory is accessed during the update, an unexpected value may be read or written.

ON The RD75 buffer memory can be

accessed.

1 STARTING AND STOPPING

1.1 Starting

Starting with Positioning start signal [Y10, Y11, Y12, Y13]

OFF

Positioning start signal [Y10, Y11, Y12, Y13]

Start complete signal [X10, X11, X12, X13]

BUSY signal [XC, XD, XE, XF]

Positioning complete signal [X14, X15, X16, X17]

Positioning

Dwell time

This section describes operations started with Positioning start signal [Y10, Y11, Y12, Y13].

• When Positioning start signal [Y10, Y11, Y12, Y13] is turned on, Start complete signal [X10, X11, X12, X13] and BUSY

signal [XC, XD, XE, XF] turn on, and the positioning operation starts. The on state of BUSY signal [XC, XD, XE, XF]

indicates that the corresponding axis is in operation.

• When Positioning start signal [Y10, Y11, Y12, Y13] is turned off, Start complete signal [X10, X11, X12, X13] turns off. If

Positioning start signal [Y10, Y11, Y12, Y13] remains on even after the positioning is completed, Start complete signal [X10,

X11, X12, X13] also remains on.

• If Positioning start signal is turned on again while BUSY signal [XC, XD, XE, XF] is on, Start during operation (Warning

code: 0900H) occurs.

• The operation performed after the completion of the positioning operation depends on whether or not the next positioning

control is set.

Presence or absence of the next positioning control

When the next positioning control is performed • If [Da.9] Dwell time is set, the RD75 waits for the set time to elapse, and the positioning will be completed.

When the next positioning control is not performed

Processing

• When the positioning has been completed, BUSY signal [XC, XD, XE, XF] turns off and Positioning complete signal [X14, X15, X16, X17] turns on. However, when the speed control has been used or the ON time of Positioning complete signal is 0, Positioning complete signal [X14, X15, X16, X17] does not turn on.

• When the time set in [Pr.40] Positioning complete signal output time elapses, Positioning complete signal [X14, X15, X16, X17] turns off.

• If [Da.9] Dwell time is set, the RD75 waits for the set time to elapse.

• When the time set in [Da.9] Dwell time elapses, the next positioning control starts.

■Time chart for starting

Even when the positioning control of a movement amount 0 is performed, BUSY signal [XC, XD, XE, XF] turns

on. However, since the ON time of the signal is short, the ON state of the signal may not be detected in the

program. (The on state of Start complete signal [X10, X11, X12, X13], Positioning complete signal [X14, X15,

X16, X17], and M code ON signal [X4, X5, X6, X7] can be detected in the program.)

1 STARTING AND STOPPING

1.1 Starting

Starting by inputting an external command signal (CHG)

Cd.3

Pr.42

Cd.8

[Y10]

[Y0]

[X0]

[X10]

[XC]

[X14]

[X8]

1(00)

Operation pattern

Positioning data No.

Positioning start signal

Positioning start No.

External command signal (externally)

External command function selection

External command valid

PLC READY signal

RD75 READY signal

Start complete signal

BUSY signal

Positioning complete signal

Error detection signal

Dwell time

When the positioning control is started by inputting an external command signal (CHG), the start command can be directly

input to the RD75. This method eliminates the variation time equivalent to one scan time of the CPU module. Use the start

command when an operation is required to be started as soon as possible, or when the starting variation time is to be

suppressed.

■Starting method

To start the positioning with the external command signal, set [Pr.42] External command function selection beforehand, and

validate [Cd.8] External command valid using a program. After setting those two areas, turn on an external command signal

(CHG).

Setting item Setting

value

[Pr.42] External command function

selection

[Cd.8] External command valid 1 Set 1: Validate external command. 1505 1605 1705 1805

0 Set 0: Start with external command. 62 212 362 512

■Restrictions

When starting by inputting an external command signal (CHG), Start complete signal [X10, X11, X12, X13] does not turn on.

■Time chart for starting

Setting detail Buffer memory address

Axis 1 Axis 2 Axis 3 Axis 4

1 STARTING AND STOPPING

1.1 Starting

Normal start

Positioning controls can be started by the simplest procedure in this mode. Major positioning controls and advanced

positioning controls can be started in this mode.

The following positioning data is used.

• Positioning data (No.1 to No.600)

• Block start data (No.7000 to No.7004)

• Machine OPR (No.9001)

• Fast OPR (No.9002)

• Current value change (No.9003)

Starting method

After setting positioning data, input a start trigger to start the specified positioning data. The following table lists the start

triggers used in this mode.

Start trigger name Starting method (Start trigger) Positioning data to be started

Positioning start signal Turning off and on Positioning start signal [Y10, Y11, Y12,

External command signal

Dedicated instruction Executing the GP.PSTRT instruction Starts the positioning data specified as the control data.

Y13]

Turning off and on an external command signal (CHG) Starts the positioning data specified in [Cd.3] Positioning start No.

Starts the positioning data specified in [Cd.3] Positioning start No.

1 STARTING AND STOPPING

1.1 Starting

Program example

This section shows program examples of the normal start for each command trigger.

■For module FB

For the program example using the module FB, refer to the following. Page 505 Positioning start program

■For Positioning start signal [Y10, Y11, Y12, Y13]

Classification Label Name Description

Module label RD75_1.bnErrorDetection_Axis[0] Axis 1 Error detection signal [X8]

RD75_1.bnBusy_Axis[0] Axis 1 BUSY signal [XC]

RD75_1.bnStartComplete_Axis[0] Axis 1 Start complete signal [X10]

RD75_1.bnPositioningStart_Axis[0] Axis 1 Positioning start signal [Y10]

RD75_1.stnAxisControlData_Axis_D[0].uPositioningStartNo_D Axis 1 [Cd.3] Positioning start No.

Global label, local label Define the global label or local label as follows. Setting Assign (Device/Label) for labels is not necessary because the unused

internal relay and data device are automatically assigned to the labels.

■For External command signal (CHG)

Positioning can be started by setting 0: Start with external command in [Pr.42] External command function selection and

inputting External command signal (CHG) after executing the following program. Page 503 External command function valid setting program

1 STARTING AND STOPPING

1.1 Starting

Quick start

Positioning controls can be started quickly by analyzing in advance the positioning data executed immediately after the

current operation to prevent the analysis time affecting the start. Positioning data for the major positioning controls can be

started in this mode.

By using an external command signal as a start trigger, positioning controls can be started bypassing a

program, which means that the operation is quickly started without being affected by the execution time of the

program.

Starting method

After setting positioning data, set [Cd.43] Analysis mode setting to 1: Pre-analysis mode and input a start trigger signal while

[Md.61] Analysis complete flag is 1: Analysis completed. The following table shows the start triggers used in this mode.

Start trigger name Starting method (Start trigger) Positioning data to be started

Positioning start signal Turning off and on Positioning start signal [Y10, Y11, Y12,

External command signal

Depending on the start timing of the positioning data analysis, a start trigger used is determined. Even if the settings are

changed after the start of the positioning data analysis, the changed settings are not valid. Therefore, when the following

settings are configured, an external command signal (CHG) is used as a start trigger.

• [Pr.42] External command function selection is set to 0: Start with external command.

• [Cd.8] External command valid is set to 1: External command valid.

Otherwise, Positioning start signal [Y10, Y11, Y12, Y13] can be used as a start trigger.

Y13]

Turning off and on an external command signal (CHG) Starts the positioning data specified in [Cd.3] Positioning start No.

Starts the positioning data specified in [Cd.3] Positioning start No.

1 STARTING AND STOPPING

1.1 Starting

Control details

OFF

Md.26

Cd.43

Md.61

0: Normal analysis mode 1: Pre-analysis mode

0: Analysis not completed 1: Analysis completed

Waiting for a start trigger

0: Analysis not completed

Start trigger

BUSY signal [XC, XD, XE, XF]

Operation by a user Operation by the system

Analysis mode setting

Analysis complete flag

Axis operation status

Standby Analyzing Position control

■Length of time before the positioning starts

While [Cd.43] Analysis mode setting is 1: Pre-analysis mode, the positioning data specified in [Cd.3] Positioning start No. is

analyzed. The following shows the start timing of positioning data analysis.

• When the analysis mode is changed to the pre-analysis mode (Timing when the setting of [Cd.43] Analysis mode setting is

changed to 1: Pre-analysis mode)

• When the positioning start No. is changed after the analysis of the positioning data has been completed (Timing when the

setting of [Cd.3] Positioning start No. is changed while [Md.61] Analysis complete flag is 1: Analysis completed)

• When the positioning operation is completed and [Md.26] Axis operation status turns to 0: Standby However, When M code

ON signal [X4, X5, X6, X7] is on, the analysis of the positioning data will not start until M code ON signal [X4, X5, X6, X7]

turns off.

Once the analysis of the positioning data is completed, [Md.61] Analysis complete flag turns to 1: Analysis completed. The

quick start is executed by inputting a start trigger while [Md.61] Analysis complete flag is 1: Analysis completed. After the

quick start is executed, [Md.61] Analysis complete flag turns to 0: Analysis not completed.

The pre-analysis mode is changed to the normal analysis mode not only by setting [Cd.43] Analysis mode setting to 0: Normal

analysis mode, but also by the following factors. When the setting of [Cd.43] Analysis mode setting is changed to 0: Normal

analysis mode, the positioning data which has already been analyzed is cleared. (In the interpolation control, the positioning

data is cleared when the reference axis enters the normal analysis mode.)

• When an error is detected

• When PLC READY signal [Y0] is turned on and off

• When the positioning operation is stopped by a stop signal

If any of the three causes described above occurs, the reference axis or interpolation axis enters the normal analysis mode in

the interpolation control.

t1 t2

0.88 to 1.77ms External command signal: 20s

The shortest time between the completion of the positioning control and the starting of the next positioning control is t1 + t2.

Positioning start signal: 8s

1 STARTING AND STOPPING

1.1 Starting

■Executing the quick start repeatedly

Cd.3

Md.26

Cd.43

Md.61

1: Pre-analysis mode

0: Analysis not completed 1: Analysis completed

Waiting for a start trigger

Positioning data No. used for positioning control 2

0: Analysis not completed

Start trigger

Positioning control 1

Positioning control 2

BUSY signal [XC, XD, XE, XF]

Operation by a user Operation by the system

Analysis mode setting

Analysis complete flag

Positioning start No.

Axis operation status

StandbyPosition control Analyzing Position control

t1 t1

Md.61

Cd.3

Md.26

Cd.43

Axis operation status

Analysis mode setting

Analysis complete flag

Positioning start No.

Positioning data No.A Positioning data No.B

Analyzing Analyzing

1: Pre-analysis mode

Standby

0: Normal analysis mode

1: Analysis completed0: Analysis not completed 1: Analysis completed

0: Analysis not completed

The quick start can be executed repeatedly by remaining [Cd.43] Analysis mode setting to 1: Pre-analysis mode.

When [Cd.3] Positioning start No. is set to the positioning data No. used for the positioning control 2 during the operation of

the positioning control 1, the operation is performed as follows.

• The positioning by the positioning control 1 is completed and [Md.26] Axis operation status turns to 0: Standby.

• When [Md.26] Axis operation status turns to 0: Standby, the positioning data specified in [Cd.3] Positioning start No. starts

to be analyzed.

■Reanalysis of positioning data

The setting of [Cd.3] Positioning start No. is changed while [Md.61] Analysis complete flag is 1: Analysis completed, [Md.61]

Analysis complete flag turns to 0: Analysis not completed and the positioning data will be reanalyzed. When the reanalysis is

completed, [Md.61] Analysis complete flag turns again to 1: Analysis completed.

1 STARTING AND STOPPING

1.1 Starting

Restrictions

• The range of the positioning data Nos. used for the quick start is between 1 and 600. If a number other than 1 to 600 is set

for [Cd.3] Positioning start No., Pre-analysis not possible (Warning code: 09A8H) occurs and the pre-analysis of positioning

data is not performed. However, by inputting a start trigger signal, positioning data is analyzed before the positioning is

started, just as in the normal analysis mode. In this case, the setting in [Cd.43] Analysis mode setting remains 1: Pre-

analysis mode.

• In the pre-analysis mode, restarting is not allowed. To allow restarting, turn on a stop signal and change the analysis mode

to the normal analysis mode. If the analysis mode is changed again to the pre-analysis mode after changed to the pre-

analysis mode and restarting is attempted, Restart not possible (Error code: 090BH) occurs and restarting cannot be

executed.

• In the pre-analysis mode, the step function cannot be used. Even if [Cd.35] Step valid flag is 1: Carry out step operation

while positioning data is being analyzed, Step start disabled (Warning code: 09A6H) occurs and the normal operation is

performed with the setting ignored. (The step operation does not stop.)

• In the pre-analysis mode, the pre-reading start function cannot be used. The setting of Execution prohibition flag [Y14, Y15,

Y16, Y17] is ignored.

• In the pre-analysis mode, the manual control cannot be used. Starting the manual control causes Manual control start in

pre-analysis mode (Warning code: 09A4H), and the manual control does not start.

• The machine OPR, the fast OPR, the speed switching control using the positioning control (block start) and External

command signal, the position-speed switching control, the speed change, and the skip command cannot be used because

External command signal is invalid for a maximum of 1.77ms after the start. However, the speed-position switching control,

the position-speed switching control, and the speed change with the buffer memory can be performed.

Precautions

• If a start trigger is input while [Md.61] Analysis complete flag is 0: Analysis not completed, Pre-analysis incomplete start

(Warning code: 09A2H) occurs and the positioning will be started after the analysis of the positioning data is completed.

• When [Md.61] Analysis complete flag is set to 1: Analysis completed, errors are detected at intervals of 0.88ms. Thus, if a

start trigger is input within 0.88ms after the occurrence of an error, the operation may be started. In this case, the error is

detected immediately after the start, and the operation stops.

• The data reflected to basic parameter 2, detailed parameter 2, and positioning data is the one in the buffer memory at the

start of the analysis of positioning data. Therefore, even if a set value of basic parameter 2 and other data is changed after

the analysis of positioning data has been completed (When [Md.61] Analysis complete flag is 1: Analysis completed), the

value is not reflected to the control. To reflect the set value, conduct a reanalysis by changing the setting of [Cd.3]

Positioning start No. or using other methods.

The analysis of positioning data is performed by checking the settings of [Cd.43] Analysis mode setting and

[Cd.3] Positioning start No. at intervals of 0.88ms. Thus, set [Cd.43] Analysis mode setting and [Cd.3]

Positioning start No. beforehand so that the analysis starts 0.88ms earlier than the desired start timing and

earlier than a length of time longer than the analysis time for the positioning data. The analysis time for the

positioning data is approximately equal to the start time.

• For all the axes to which the quick start is performed, set [Cd.43] Analysis mode setting to 1: Pre-analysis mode. If 1: Pre-

analysis mode is set for the reference axis and 0: Normal analysis mode is set for the interpolation axes, Pre-analysis not

possible (Warning code: 09A9H) occurs and the pre-analysis of positioning data is not performed. However, by inputting a

start trigger signal, positioning data is analyzed before the positioning is started, just as in the normal analysis mode. In this

case, the setting in [Cd.43] Analysis mode setting remains 1: Pre-analysis mode.

• In the pre-analysis mode, the analysis of positioning data is performed in ascending order of axis numbers. For axes that do

not require the analysis of positioning data, such as an axis to be interpolated, setting [Cd.3] Positioning start No. to 0 is

recommended. Because the analysis of positioning data is not performed for the axes for which 0 is set, the time that

elapses until the positioning start is cut off.

1 STARTING AND STOPPING

1.1 Starting

• When [Pr.42] External command function selection is set to 0: Start with external command and [Cd.8] External command

valid is set to 1: External command valid in the pre-analysis mode, do not turn off and on Positioning start signal [Y10, Y11,

Y12, Y13]. Positioning start signal input at quick external start (Warning code: 09A7H) occurs and no operation is started.

• When [Pr.42] External command function selection is set to a value other than 0: Start with external command in the pre-

analysis mode, an external command signal is disabled for 1.77ms maximum after start starting. Input an external

command signal 1.77ms or longer after starting.

■Precautions for the processing performed at the pre-analysis of positioning data

The following table lists the processing performed at the pre-analysis of positioning data.

Major positioning control Processing performed at the pre-analysis of positioning data

Position control 1-axis linear control • Clearing the axis control data

2-axis linear interpolation control 3-axis linear interpolation control 4-axis linear interpolation control

1-axis fixed-feed control • Clearing the axis control data

2-axis fixed-feed control 3-axis fixed-feed control 4-axis fixed-feed control

2-axis circular interpolation control

3-axis helical interpolation control • Clearing the axis control data

1-axis speed control 2-axis speed control 3-axis speed control 4-axis speed control

Speed-position switching control • Clearing the axis control data

Position-speed switching control

Current value change • Clearing the axis control data

• Initializing the axis monitor data

• Turning off Positioning complete signal [X14, X15, X16, X17]

• Initializing the axis monitor data

• Turning off Positioning complete signal [X14, X15, X16, X17]

• Clearing the current feed value to 0

• Clearing the values after the decimal point held in the RD75

• Clearing the axis control data

• Initializing the axis monitor data

• Turning off Positioning complete signal [X14, X15, X16, X17]

• Initializing the axis monitor data

• Turning off Positioning complete signal [X14, X15, X16, X17]

• Clearing the axis control data

• Initializing the axis monitor data

• Turning off Positioning complete signal [X14, X15, X16, X17] When [Pr.21] Current feed value during speed control is 2: Clear current feed value to 0, the following processing is also performed.

• Clearing the current feed value to 0

• Clearing the values after the decimal point held in the RD75

• Initializing the axis monitor data

• Turning off Positioning complete signal [X14, X15, X16, X17] When [Pr.21] Current feed value during speed control is 2: Clear current feed value to 0, the following processing is also performed.

• Clearing the current feed value to 0

• Clearing the values after the decimal point held in the RD75

• Initializing the axis monitor data

• Turning off Positioning complete signal [X14, X15, X16, X17]

• Clearing the current feed value to 0

• Clearing the values after the decimal point held in the RD75

Note that if [Cd.43] Analysis mode setting is set to 1: Pre-analysis mode and is held, the analysis of the next positioning data

will start immediately after the current positioning operation is completed.

For example, Positioning complete signal [X14, X15, X16, X17] turns on at the completion of positioning and immediately

turns off when the pre-analysis is started at the completion of positioning. Thus, depending on the scan time, the on state of

the signal may not be detected by the program used. If necessary, set 0 in [Cd.3] Positioning start No. after the positioning

starts to avoid the analysis of the next positioning data.

Program example

For the program example of the quick start, refer to the following. Page 506 Quick start program

1 STARTING AND STOPPING

1.1 Starting

Multiple axes simultaneous start

Ex.

100

150

Cd.33

Md.26

Cd.30

Cd.3

Cd.31

Cd.32

9004

Positioning control (axis 3) (positioning start No.: 150)

Positioning control (axis 1) (positioning start No.: 1)

Controls are started at the same timing.

End of the controls vary depending on positioning data.

Positioning control (axis 2) (positioning start No.: 100)

Simultaneous starting axis start data No. (axis 2 start data No.)

Simultaneous starting axis start data No. (axis 3 start data No.)

Simultaneous starting axis start data No. (axis 4 start data No.)

Axis operation status

Simultaneous starting axis start data No. (axis 1 start data No.)

Positioning start signal [Y10]

Positioning start No.

Standby Analyzing Position control

In this starting mode, the simultaneous starting axis and the started axis start outputting pulses at the same timing. Up to four

axes can be started simultaneously.

Control details

Perform the multiple axes simultaneous start by setting the following buffer memory areas and turning on a start trigger.

• Set a start data No. of each simultaneous starting axis (positioning data No. of each axis started simultaneously) in [Cd.30]

Simultaneous starting axis start data No. (axis 1 start data No.) to [Cd.33] Simultaneous starting axis start data No. (axis 4

start data No.).

• Set 9004 to [Cd.3] Positioning start No. for the starting axis.

The following figure shows the control when the multiple axes simultaneous start control is performed with the axis 1 (starting

axis), axis 2, and axis 3.

Restrictions

• If [Cd.30] Simultaneous starting axis start data No. (axis 1 start data No.) to [Cd.33] Simultaneous starting axis start data

No. (axis 4 start data No.) of the started axis are not set, or the set values are outside the setting range, Error before

simultaneous start (Error code: 1991H) occurs and all the simultaneous starting axes will not start.

• If any of the simultaneous starting axes is in the axis BUSY state, Error before simultaneous start (Error code: 1990H)

occurs and all the simultaneous starting axes will not start.

• If an error occurs during the analysis of the positioning data on the simultaneous starting axes, Simultaneous start not

possible (Error code: 199EH) occurs and all the simultaneous starting axes will not start.

• If the simultaneous starting axis is the started axis only, no error or warning occurs.

1 STARTING AND STOPPING

1.1 Starting

Procedure

Turn on Positioning start signal of the axis to be started.

Set Cd.30 to Cd.33 Simultaneous starting axis start data No.

Write "9004" in Cd.3 Positioning start No.

The following figure shows the procedure for the multiple axes simultaneous start control.

Setting method

The following table lists the data settings to perform the multiple axes simultaneous start using Positioning start signal. (Set

the axis control data for the starting axis.)

Setting item Setting

value

[Cd.3] Positioning start No. 9004 Set 9004, the start No. for the multiple axes

[Cd.30] Simultaneous starting axis start

data No. (axis 1 start data No.)

[Cd.31] Simultaneous starting axis start

data No. (axis 2 start data No.)

[Cd.32] Simultaneous starting axis start

data No. (axis 3 start data No.)

[Cd.33] Simultaneous starting axis start

data No. (axis 4 start data No.)

Set the simultaneous starting axis start data No. Set 0 for the axis other than the simultaneous starting axis.

Setting detail Buffer memory address

Axis 1 Axis 2 Axis 3 Axis 4

1500 1600 1700 1800

simultaneous start control.

1540 1640 1740 1840

1541 1641 1741 1841

1542 1642 1742 1842

1543 1643 1743 1843

For details on the settings, refer to the following.

Page 470 [Cd.3] Positioning start No. Page 479 [Cd.30] Simultaneous starting axis start data No. (Axis 1 start data No.) Page 479 [Cd.31] Simultaneous starting axis start data No. (Axis 2 start data No.) Page 479 [Cd.32] Simultaneous starting axis start data No. (Axis 3 start data No.) Page 479 [Cd.33] Simultaneous starting axis start data No. (axis 4 start data No.)

1 STARTING AND STOPPING

1.1 Starting

Setting example

The following table shows the setting example in which the axis 1 is used as the starting axis and the axis 2 and axis 4 is used

as the simultaneous starting axis.

Setting item Setting

value

[Cd.3] Positioning start No. 9004 Set 9004, the start No. for the multiple axes simultaneous start

[Cd.30] Simultaneous starting axis start

data No. (axis 1 start data No.)

[Cd.31] Simultaneous starting axis start

data No. (axis 2 start data No.)

[Cd.32] Simultaneous starting axis start

data No. (axis 3 start data No.)

[Cd.33] Simultaneous starting axis start

data No. (axis 4 start data No.)

100 Axis 1 starts the positioning data No.100. 1540

200 Immediately after the star of the axis 1, the axis 2 starts the

0 Will not start simultaneously. 1542

300 Immediately after the star of the axis 1, the axis 4 starts the

• The multiple axes simultaneous start control performs an operation equivalent to the simultaneous start

using the block start data.

• The setting of the multiple axes simultaneous start control is easier than that of the simultaneous start using

the block start data. For the simultaneous start using the block start data, positioning start data, positioning

data, block start data, and condition data are required to be set. On the other hand, the multiple axes

simultaneous start control can be used only by setting positioning data and axis control data.

• The execution time of the positioning depends on the settings of each axis. Thus, the positioning of each

axis is not completed simultaneously.

Setting detail Buffer memory

address (Axis 1)

1500

control.

1541

axis 2 positioning data No.200.

1543

axis 4 positioning data No.300.

1 STARTING AND STOPPING

1.1 Starting

1.2 Stopping

This section describes the stop control of the positioning. The following events may stop each positioning control by the

RD75.

• When each control ends normally

• When Drive unit READY signal (READY) is turned off

• When an error occurred in the CPU module

• When PLC READY signal [Y0] is turned off

• When an error occurs in the RD75

• When an operation is intentionally stopped (When a stop signal sent from the CPU module is turned on, or a stop signal

from an external device)

Stop processing

The stop controls are classified into three types: deceleration stop, sudden stop, and immediate stop. The following table

describes the stop controls (deceleration stop, sudden stop, and immediate stop) at the occurrence of each stop cause (When

the automatic deceleration control is performed).

Stop cause Stop

Forced stop

Fatal stop (Stop group 1)

Emergency stop (Stop group 2)

Relatively safe stop (Stop group 3)

Intentional stop (Stop group 3)

Drive unit READY signal (READY) is off

Hardware stroke limit upper/lower limit error occurred

CPU module error occurred

PLC READY signal [Y0] is off

Failure in the test mode

Axis error detection (errors other than the ones in stop group 1 and 2)

Error at operation mode switching in amplifier-less operation

Stop signal turned on by an external device

Axis stop signal [Y4, Y5, Y6, Y7] from the CPU module is turned on.

Stop signal from an engineering tool

axis

Each axis

All axes

Each axis

All axes

Each axis

M code ON signal after stop

Not changed

Turned off

Not changed

[Md.26] Axis operation status after stop

Error Immediate stop Deceleration

Error Deceleration stop or sudden stop (Select with [Pr.37] Stop group 1

Error Deceleration stop or sudden stop (Select with [Pr.38] Stop group 2

Error Deceleration stop or sudden stop (Select with [Pr.39] Stop group 3

Error

Stopped (standby)

Stop processing

OPR control Major

Machine OPR control

sudden stop selection.)

Fast OPR control

positioning control

Advanced positioning control

Manual control

Inching operation, JOG operation

Manual pulse generator operation

stop

Deceleration stop

1 STARTING AND STOPPING

1.2 Stopping

*1 When multiple positioning data is executed by the continuous positioning control or continuous path control and there is an invalid

Pr.8Pr.8

Actual deceleration time

Set deceleration time

Positioning speed

Actual sudden stop deceleration time

Sudden stop deceleration time

Positioning speed

Coasts for the droop pulse in the deviation counter of drive unit.

Positioning speed

Stop cause

StopStopStop

Sudden stop cause

Speed limit valueSpeed limit value

(1) Deceleration stop

(2) Sudden stop (3) Immediate stop

Pr.36

setting value in a positioning data, an error occurs and automatic deceleration is performed at the previous positioning data. In this case, the sudden stop is not performed even if sudden stop is selected for the stop group 3. If any of the following errors occurs, the operation is immediately stopped after the execution of the positioning data that is one before the positioning data No. where the error occurred. No command speed (Error code: 1A13H, 1A14H) Outside linear movement amount range (Error code: 1A15H, 1A16H) Large arc error deviation (Error code: 1A17H) Software stroke limit (+) (Error code: 1A18H, 1A19H) Software stroke limit (-) (Error code: 1A1AH, 1A1BH) Sub point setting error (Error code: 1A27H, 1A28H, 1A29H, 1A2AH, 1A37H) End point setting error (Error code: 1A2BH, 1A2CH) Center point setting error (Error code: 1A2DH, 1A2EH, 1A2FH) Outside radius range (Error code: 1A32H) Illegal setting of ABS direction in unit of degree (Error code: 19A4H, 19A5H)

*2 This indicates Error at switching from normal operation mode to amplifier-less operation mode (Error code: 18B0H) and Error at

switching from amplifier-less operation mode to normal operation mode (Error code: 18B1H).

Classification of the stop processing types

The stop processing during the operation is classified into three types: deceleration stop, sudden stop, and immediate stop.

■Deceleration stop

This processing is performed using [Pr.10] Deceleration time 0, and [Pr.28] Deceleration time 1 to [Pr.30] Deceleration time 3.

Select any time from Deceleration time 0 to Deceleration time 3 and set the time in [Da.4] Deceleration time No.

■Sudden stop

This processing is performed using [Pr.36] Sudden stop deceleration time.

■Immediate stop

This processing does not include deceleration processing. The RD75 immediately stops outputting pulses but the target

moves for the distance of droop pulses of the deviation counter of the drive unit.

Select either deceleration stop or sudden stop for [Pr.37] Stop group 1 sudden stop selection to [Pr.39] Stop

group 3 sudden stop selection in detailed parameter 2. (The factory default setting is Deceleration stop.)

1 STARTING AND STOPPING

1.2 Stopping

Order of priority for the stop processing

Positioning speed

Deceleration stop processing

Stop

Sudden stop cause

Sudden stop deceleration processing

Positioning speed

Deceleration stop processing

Sudden stop cause

Deceleration stop processing continues.

Stop

Processing for sudden stop

The processing when a sudden stop cause occurred during deceleration stop is shown below.

(a) (b)Deceleration stop time > Sudden stop

deceleration time

Deceleration stop time < Sudden stop deceleration time

Example

Stop cause occurrence (sudden stop cause)

Deceleration curve according to sudden stop deceleration time

Deceleration curve when a stop cause does not occur

(Immediate stop at the specified positioning address)

Stop cause occurrence (sudden stop cause)

Deceleration curve according to sudden stop deceleration time

Deceleration curve when a stop cause does not occur

(Sudden stop just before the specified positioning address)

Deceleration stop processing (automatic deceleration) start

The order of priority for the RD75 stop processing is as follows.

(Deceleration stop) < (Sudden stop) < (Immediate stop)

• If the deceleration stop command is on (stop signal is on) or a deceleration stop cause occurs during the deceleration to

speed 0 (including automatic deceleration), the operation changes depending on the setting in [Cd.42] Stop command processing for deceleration stop selection. (Page 269 Stop command processing for deceleration stop function)

Positioning control during the deceleration

Manual control  Regardless of the setting of [Cd.42] Stop command processing for deceleration stop selection,

OPR control, positioning control

• If the on state of the stop signal or stop cause specified for a sudden stop occurs is detected during deceleration, the

sudden stop processing will start at that point. However, if the sudden stop deceleration time is longer than the deceleration

time, the deceleration stop processing will be continued even if a sudden stop cause occurs during the deceleration stop

processing.

Setting value of [Cd.42] Processing

a deceleration curve is re-processed from the speed at the occurrence of a stop cause.

0: Deceleration curve reprocessing

1: Deceleration curve continuation

A deceleration curve is re-processed from the speed at the occurrence of a stop cause (Page 269 Deceleration curve re-processing).

The current deceleration curve is maintained after the occurrence of a stop cause (Page 269 Deceleration curve continuation).

• In the position control (including the speed-position switching control and position-speed switching control), the positioning

may stop depending on the timing of the stop cause occurrence and the set value in [Pr.36] Sudden stop deceleration time.

1 STARTING AND STOPPING

1.2 Stopping

Stop signal input during deceleration

• Even if a stop signal is input during deceleration (including automatic deceleration), the positioning will stop with the current

deceleration speed kept until it completely stops.

• When a stop signal is input during deceleration in the OPR control, the positioning will stop with the current deceleration

speed kept until it completely stops. If the positioning operates at a creep speed, the positioning will immediately stop.

• If the stop cause specified for a sudden stop occurs during deceleration, the sudden stop processing will start at that point.

The sudden stop processing during deceleration is performed only when the sudden stop time is shorter than the

deceleration stop time.

1 STARTING AND STOPPING

1.2 Stopping

1.3 Restarting

Start

Positioning data No.10 Positioning data No.11 Positioning data No.12

Stop processing with the stop command

Positioning data No.11 proceeds with the restart command

If the positioning control is stopped by a stop command (Axis stop signal [Y4, Y5, Y6, Y7] or a stop signal from an external

device), the positioning can be restarted from the stopped position to the end point of the position control by using [Cd.6]

Restart command. (However, restarting is not possible when the continuous operation is interrupted.)

This command is useful when performing the remaining positioning from the stopped position during the position control of the

incremental system such as the INC linear 1. (The remaining distance does not need to be calculated.)

Operation

After a deceleration stop by a stop command is completed, write 1 to [Cd.6] Restart command while [Md.26] Axis operation

status is Stopped. The positioning restarts.

Restrictions

• Restarting can be executed only when [Md.26] Axis operation status is Stopped (the deceleration stop by the stop

command is completed). If [Md.26] Axis operation status is not Stopped, Restart not possible (Warning code: 0902H)

occurs and restarting is not executed. The processing at that time will be continued.

• Restarting can be executed even while Positioning start signal is ON. However, do not turn off and on Positioning start

signal while [Md.26] Axis operation status is Stopped. If Positioning start signal is turned off and on while [Md.26] Axis

operation status is Stopped, the normal positioning (using the positioning data set in [Cd.3] Positioning start No.) is started.

• If PLC READY signal is turned off and on while [Md.26] Axis operation status is Stopped, the positioning control cannot be

restarted. If a restart request is issued, Restart not possible (Warning code: 0902H) occurs.

• Do not execute restarting while the stop command is on. If restarting is attempted while the stop command is on, Stop

signal ON at start (Error code: 1908H or 1909H) occurs and [Md.26] Axis operation status turns to Error. In this case, even

if the error is reset, the operation cannot be restarted.

• If the positioning is ended with the continuous operation interrupt request, the operation cannot be restarted. If a restart

request is issued, Restart not possible (Warning code: 0902H) occurs.

• When the positioning has been stopped with the interpolation operation, write 1: Restart into [Cd.6] Restart command for

the reference axis and restart the positioning.

• If any of the reference partner axes executes the positioning operation once, Restart not possible (Warning code: 0902H)

occurs, and the positioning cannot be restarted.

• When the machine OPR and fast OPR is stopped, OPR restart not possible (Error code: 1946H) occurs and the positioning

cannot be restarted.

• When the manual operation is stopped, Restart not possible (Warning code: 0902H) occurs and the positioning cannot be

restarted.

1 STARTING AND STOPPING

1.3 Restarting

Setting method

Md.26

Cd.6

Axis operation status Restart command

[Y10]

[Y4]

[Y0]

[X0]

[X10]

[XC]

[X14]

[X8]

Positioning start signal

Axis stop signal

PLC READY signal

RD75 READY signal

Start complete signal

BUSY signal

Positioning complete signal

Error detection signal

Dwell time

Set the following data to restart the positioning.

Setting item Setting

value

[Cd.6] Restart command 1 Set 1: Restart. 1503 1603 1703 1803

Setting detail Buffer memory address

Axis 1 Axis 2 Axis 3 Axis 4

For details on the settings, refer to the following. Page 471 [Cd.6] Restart command

Restart time chart

Program example

For the program example of the restart, refer to the following. Page 512 Restart program

1 STARTING AND STOPPING

1.3 Restarting

2 OPR CONTROL

This chapter describes the details and usage of the OPR control.

2.1 Overview of the OPR Control

Two types of OPR controls

The OPR control establishes a start point (= OP) for performing the positioning control, and performs positioning toward that

start point. This control is used to return the machine system located at a position other than the OP to the OP when the RD75

issues an OPR request with the power turned on or after the positioning stops.

In the RD75, the two types of controls shown below are defined as OPR control, following the flow of the OPR work. These

two types of OPR controls can be executed by setting OPR parameter, setting Positioning start No.9001 and Positioning start

No.9002 originally prepared for the RD75 in [Cd.3] Positioning start No., and turning on Positioning start signal.

OPR method Description

Machine OPR (Positioning start No.9001) Performs the OPR operation to establish a machine OP position. Subsequent positioning control

operations are performed with reference to the OP established after the OPR operation is completed. When the system is powered on and a machine OP has yet to be established (the current value that the RD75 monitors and the actual machine position do not match), the machine OPR is required to be performed.

Fast OPR (Positioning start No.9002) Performs the positioning toward the OP established by the machine OPR. Specifying positioning start

No.9002 performs the fast OPR. Thus, the positioning to the OP can be performed without setting positioning data.

The OPR control can be performed by setting 9001 or 9002 for the start No. of the dedicated instruction GP.PSTRT. For

details on the dedicated instructions, refer to the following.  MELSEC iQ-R Programming Manual (Instructions, Standard Functions/Function Blocks)

To perform Fast OPR, perform Machine OPR beforehand.

In the following cases, the RD75 turns on OPR request flag ([Md.31] Status: b3), which indicates that the

machine OPR needs to be performed.

• When the power is turned on

• When Drive unit READY signal ([Md.30] External I/O signal: b2) turns off

• When PLC READY signal [Y0] is turned off and on

While OPR request flag is on, the address information stored in the RD75 is not guaranteed. When the

execution of the machine OPR is normally completed, OPR request flag turns off and OPR complete flag

([Md.31] Status: b4) turns on.

Sub functions specific to OPR

For details on Sub functions that can be combined with the OPR control, refer to the following.  MELSEC iQ-R Positioning Module User's Manual (Startup)

For details on each sub function, refer to the following. Page 209 CONTROL SUB FUNCTIONS

[Information]

The following two sub functions are only related to the machine OPR. : Combination possible, : Combination limited, : Combination not possible

Sub function name Machine OPR Fast OPR Reference

OPR retry function Page 211 OPR retry function

OP shift function Page 215 OP shift function

2 OPR CONTROL

2.1 Overview of the OPR Control

When no OPR is required

In a system that does not need any OPR operation, OPR request flag ([Md.31] Status: b3) can be ignored to perform the

positioning.

In this case, set all the OPR parameter areas ([Pr.43] to [Pr.57]) to their initial values or values that do not cause errors.

OPR using an engineering tool

Machine OPR and Fast OPR can be executed using the positioning test of the engineering tool. For details on the positioning

test, refer to the following. Page 332 Positioning Test

2 OPR CONTROL

2.1 Overview of the OPR Control

2.2 Machine OPR

Operation overview of the machine OPR

Use the OPR retry function when the OP position is not always in the same direction from the workpiece

operation area (when the OP is not set near the upper or lower limit of the machine). The machine OPR may

not be completed unless the OPR retry function is used.

Machine OPR operation

In the machine OPR, a machine OP is established.

This operation does not use the address information in the RD75, CPU module, and servo amplifiers at all.

After the machine OPR is completed, the mechanically specified position is handled as the OP, the start point for the

positioning control.

The method for establishing an OP by the machine OPR depends on the setting of [Pr.43] OPR method.

The following shows the operation after the machine OPR is started.

1. The machine OPR is started.

2. The operation starts according to the speed and direction set in the OPR parameters ([Pr.43] to [Pr.57]).

3. The OP is established using the method set in [Pr.43] OPR method, and the operation stops. (Refer to the following.

Page 42 Near-point dog method to Page 56 Data setting method.)

4. If "a" is set as [Pr.45] OP address, "a" will be stored as the current position in [Md.20] Current feed value and [Md.21]

Machine feed value which have been monitoring the position.

5. The machine OPR is completed.

[Pr.45] OP address is a fixed value set by users.

Near-point dog

Machine OPR

2 OPR CONTROL

2.2 Machine OPR

Machine OPR method

In the machine OPR, the method by which the machine OP is established (method for judging the position of the OP and the

completion of the machine OPR) is specified according to the configuration and application of the positioning system.

The following table shows the seven methods provided as the OPR methods. The OPR method is one of the setting items of

the OPR parameter and set in [Pr.43] OPR method.

[Pr.43] OPR method

Near-point dog method The deceleration starts on the rising edge of Near-point dog. (The speed is reduced to [Pr.47] Creep speed.)

Stopper method 1 The point where a stopper is placed is set as an OP.

Stopper method 2 The point where a stopper is placed is set as an OP.

Stopper method 3 The point where a stopper is placed is set as an OP.

Count method 1 After moving the distance set in [Pr.50] Setting for the movement amount after near-point dog ON from the point where the near-point

Count method 2 After moving the distance set in [Pr.50] Setting for the movement amount after near-point dog ON from the point where the near-point

Data setting method The point where the machine OPR starts is set as an OP. After the deviation counter clear output is completed, the current feed value

Operation

After Near-point dog turns off, the workpiece stops at the first input of zero signals deviation counter clear output is completed. The position is set as an OP.

After the deceleration starts on the rising edge of the near-point dog, the machine presses the workpiece against the stopper at the speed set in [Pr.47] Creep speed and stops. After the stop and the time set in [Pr.49] OPR dwell time elapses, the machine OPR is completed when the deviation counter clear output is completed.

The machine starts at the speed set in [Pr.47] Creep speed from the beginning, presses the workpiece against the stopper and stops. After the stop and Zero signal

dog turns on, the machine stops at the first input of zero signals The deceleration starts on the rising edge of the near-point dog and the machine moves at the speed set in [Pr.47] Creep speed. After moving the distance set in [Pr.50] Setting for the movement amount after near-point dog ON from the point where the near-point dog turns on, the machine stops at the first input of zero signals OPR is completed.

dog turns on, the machine stops. The position where the machine stops is set as an OP. The deceleration starts on the rising edge of the near-point dog and the machine moves at the speed set in [Pr.47] Creep speed. After moving the distance set in [Pr.50] Setting for the movement amount after near-point dog ON from the point where the near-point dog turns on, the machine stops and the machine OPR is completed.

and machine feed value are overwritten with the OP address, and the machine OPR is completed.

is detected, the machine OPR is completed when the deviation counter clear output is completed.

. The position where the machine stops is set as an OP.

. When the deviation counter clear output is completed, the machine

. The machine OPR is completed when the

*1 The following shows the signals input as the zero signals of the RD75 in each OPR method.

Near-point dog method, count method 1:

Stopper method 2 and 3: Signal that is output at the detection of the contact with the stopper. (This signal is input externally.)

Signal that is output as a single pulse at every motor revolution (including Z-phase signal output from the drive unit)

The following table shows the external I/O signals used for the machine OPR. : Required : Use as required : Not required

[Pr.43] OPR method Signal required for control Torque limit

Near-point dog Zero signal Upper/lower limit switches Deviation counter clear

output

Near-point dog method   

Stopper method 1   

Stopper method 2   

Stopper method 3   

Count method 1   

Count method 2   

Data setting method   

Creep speed

A creep speed is very slow. The stopping accuracy is low when the machine suddenly stops from a fast

speed. To improve the stopping accuracy of the machine, change the speed to a slow speed. Set this speed in

[Pr.47] Creep speed.

2 OPR CONTROL

2.2 Machine OPR

Near-point dog method

OFF

Md.34

Pr.46

Pr.47

Md.34

Md.20 Md.21

Md.26

Md.31

Pr.55

(1) (2) (3) (4)(5)

OPR speed

Deceleration at the near-point dog ON

Creep speed

Standby

OPR

Standby

Inconsistent

Movement amount after near-point dog ON

Inconsistent

A value of the movement amount is stored.

OP address

Current feed value

Zero signal

Value of *1

Deviation counter clear output

Movement amount after near-point dog ON

Near-point dog

One servomotor rotation

OPR request flag

OPR complete flag

Machine feed value

Adjust so that the near-point dog OFF position is as close as possible to the center of the zero signal HIGH level. If the near-point dog OFF position overlaps with Zero signal, the machine OPR stop position may deviate by one servomotor rotation.

Machine OPR start (Positioning start signal) [Y10, Y11, Y12, Y13]

Status: b3

Status: b4

Axis operation status

Deviation counter clear signal output time

The following shows an operation overview of the near-point dog method, one of the OPR methods.

Operation chart

(1) The machine OPR is started.

(The machine starts accelerating according to the setting of [Pr.51] OPR acceleration time selection in the direction specified in [Pr.44] OPR direction, and moves at the speed set in [Pr.46] OPR speed when the acceleration is completed.)

(2) When the on state of the near-point dog is detected, the machine starts decelerating.

(3) The machine decelerates to the speed set in [Pr.47] Creep speed and moves at the creep speed after that.

(During the deceleration, the near-point dog must be on. Otherwise the deceleration stop will occur.)

(4) After the near-point dog turns off and at the first input of zero signals, the RD75 stops outputting pulses and produces Deviation counter clear output to the

drive unit. (Deviation counter clear signal output time is set in [Pr.55].)

(5) After Deviation counter clear output is completed, OPR complete flag ([Md.31] Status: b4) turns on and OPR request flag ([Md.31] Status: b3) turns off.

Restrictions

A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, produce a zero signal

using an external signal.

2 OPR CONTROL

2.2 Machine OPR

Precautions during the operation

OFF

Pr.46

Pr.47

Md.34

Md.20 Md.21

Md.26

Md.31

OFF

OPR speed

Creep speed

Standby

OPR

Inconsistent

A value of the movement amount is stored.

Current feed value

Near-point dog

Error

Address at stop

OPR request flag

Status: b3

OPR complete flag

Status: b4

Machine feed value

Machine OPR start (Positioning start signal) [Y10, Y11, Y12, Y13]

Axis operation status

Movement amount after near-point dog ON

• Start at OP (Error code: 1940H) will occur if another machine OPR is attempted after the completion of the machine OPR

when the OPR retry function has not been set ([Pr.48] OPR retry is 0).

• When the machine OPR is started at a point where the near-point dog is on, the machine starts moving at the speed set in

[Pr.47] Creep speed.

• The near-point dog must be on during the deceleration from the OPR speed to the speed set in [Pr.47] Creep speed. The

workpiece will continue decelerating and stop if the near-point dog is turned off before it has decelerated to the creep

speed, causing Dog detection timing fault (Error code: 1941H).

• If the OPR retry function has not been set ([Pr.48] OPR retry is 0) and an OPR operation is performed in the situation

above, the machine moves until it reaches a limit switch and Hardware stroke limit (+)/Hardware stroke limit (-) (Error code:

1905H/1907H) will occur. In this case, perform the manual control to move the workpiece to a position closer to the start

position than the near-point dog and perform the OPR operation again.

• When the machine OPR has been stopped by a stop signal, perform the machine OPR again. If Restart command is turned

on after the stop by a stop signal, OPR restart not possible (Error code: 1946H) occurs.

2 OPR CONTROL

2.2 Machine OPR

Stopper method 1

OFF

Pr.46

Pr.47

Md.34

Md.20 Md.21

Md.26

Md.31

Pr.55

Md.35

(1) (2) (3) (4) (5)(6)

Range in which the servomotor rotation is forcibly stopped with a stopper

Standby OPR Standby

Inconsistent

A value of the movement amount is stored. OP address

Inconsistent

Torque limit setting value OPR torque limit value

Current feed value

OPR speed

Creep speed

Stops with a stopper.

Torque limit

OPR request flag

OPR complete flag

Near-point dog

Deviation counter clear output

Machine feed value

Dwell time measurement

Machine OPR start (Positioning start signal) [Y10, Y11, Y12, Y13]

Status: b3

Status: b4

Axis operation status

Movement amount after near-point dog ON

Torque limit stored value

Deviation counter clear signal output time

Time out of dwell time

Torque limit valid range

The following shows an operation overview of the stopper method 1, one of the OPR methods.

Operation chart

(1) The machine OPR is started.

(2) When the on state of the near-point dog is detected, the machine starts decelerating.

(3) The machine decelerates to the speed set in [Pr.47] Creep speed and moves at the creep speed after that.

(The torque must be limited for this operation. Otherwise the servomotor may be damaged in step (4).)

(4) The machine presses the workpiece against the stopper at the creep speed and stops.

(5) When the time set in [Pr.49] OPR dwell time has elapsed after the near-point dog was turned on, the RD75 stops outputting pulses and produces Deviation

counter clear output to the drive unit. (Deviation counter clear signal output time is set in [Pr.55].)

(6) After Deviation counter clear output is completed, OPR complete flag ([Md.31] Status: b4) turns on and OPR request flag ([Md.31] Status: b3) turns off.

Restrictions

Always limit the servomotor torque after the speed reaches the speed set in [Pr.47] Creep speed. Otherwise the servomotor may be damaged when the workpiece hits to the stopper. (Page 232 Torque limit function)

2 OPR CONTROL

2.2 Machine OPR

Precautions during the operation

OFF

Pr.46

Pr.47

Md.34

Md.20 Md.21

Md.31

Md.26

Pr.49

OPR speed

Creep speed

OPR request flag

OPR complete flag

Standby

OPR

Inconsistent

Movement amount after near-point dog ON

Inconsistent

A value of the movement amount is stored.

Current feed value

Error

Address at stop

Status: b3

Status: b4

Stopper

Machine feed value

OPR dwell time setting

Machine OPR start (Positioning start signal) [Y10, Y11, Y12, Y13]

Axis operation status

• Set [Pr.49] OPR dwell time to the time that is equal to or longer than the movement time taken from when the near-point

dog turns on to when the workpiece hits to the stopper.

• The machine will continue decelerating and stop if the time set in [Pr.49] OPR dwell time elapses during the deceleration

from the speed set in [Pr.46] OPR speed, and Dwell time fault (Error code: 1943H) occurs.

2 OPR CONTROL

2.2 Machine OPR

• If the time set in [Pr.49] OPR dwell time elapses before stopping at the stopper, the workpiece will stop at that position, and

OFF

Md.31

Pr.47

Md.34

Md.35

Md.20 Md.21

Pr.46

Md.26

Pr.55

OPR speed

Torque limit valid range

Torque limit

OPR request flag

OPR complete flag

Standby

OPR

Standby

Inconsistent

Movement amount after near-point dog ON

Inconsistent

A value of the movement amount is stored.

OP address

Inconsistent

Torque limit setting value

OPR torque limit value

Current feed value

Near-point dog

Deviation counter clear output

Creep speed

Torque limit stored value

Stopper

Machine feed value

Dwell time measurement

Time out of dwell time

Machine OPR start (Positioning start signal) [Y10, Y11, Y12, Y13]

Status: b3

Status: b4

Axis operation status

Deviation counter clear signal output time

the position will be set as an OP. In this case, no error will occur.

• The near-point dog must be on until the workpiece hits to the stopper. If there is a section in which the near-point dog is off

between the near point dog and the stopper, and a machine OPR operation is executed from a point in the section, the

workpiece will hit to the stopper at the OPR speed.

• If the machine OPR is started while the near-point dog is on, the workpiece starts traveling at the speed set in [Pr.47] Creep

speed.

• When the machine OPR has been stopped by a stop signal, perform the machine OPR again. If Restart command is turned

on after the stop by a stop signal, OPR restart not possible (Error code: 1946H) occurs.

2 OPR CONTROL

2.2 Machine OPR

Stopper method 2

OFF

Md.31

Md.26

Md.34

Md.35

Md.20 Md.21

Pr.46

Pr.47

Pr.55

(1) (2) (3) (4) (5)(6)

OPR speed

Creep speed

Torque limit valid range

Torque limit

Standby

OPR

Standby

Inconsistent

Movement amount after near-point dog ON

Inconsistent

A value of the movement amount is stored.

OP address

Inconsistent

Torque limit setting value

OPR torque limit value

Current feed value

Near-point dog

Stops with a stopper.

Zero signal

Deviation counter clear output

OPR request flag

OPR complete flag

Torque limit stored value

Machine feed value

Machine OPR start (Positioning start signal) [Y10, Y11, Y12, Y13]

Status: b3

Status: b4

Axis operation status

Deviation counter clear signal output time

The following shows an operation overview of the stopper method 2, one of the OPR methods.

Operation chart

(1) The machine OPR is started.

(2) When the on state of the near-point dog is detected, the machine starts decelerating.

(3) The machine decelerates to the speed set in [Pr.47] Creep speed and moves at the creep speed after that.

(The torque must be limited for this operation. Otherwise the servomotor may be damaged in step (4).)

(4) The machine presses the workpiece against the stopper at the creep speed and stops.

(5) After the stop and a zero signal is input, the RD75 stops outputting pulses and produces Deviation counter clear output to the drive unit.

(Deviation counter clear signal output time is set in [Pr.55].)

(6) After Deviation counter clear output is completed, OPR complete flag ([Md.31] Status: b4) turns on and OPR request flag ([Md.31] Status: b3) turns off.

2 OPR CONTROL

2.2 Machine OPR

Restrictions

OFF

Md.34

Md.20 Md.21

Pr.46

Pr.47

Md.31

Md.26

OPR speed

Creep speed

Zero signal

OPR request flag

OPR complete flag

Standby

OPR

Inconsistent

Movement amount after near-point dog ON

Inconsistent

A value of the movement amount is stored.

Current feed value

Near-point dog

Error

Address at stop

Status: b3

Status: b4

Stopper

Machine feed value

Machine OPR start (Positioning start signal) [Y10, Y11, Y12, Y13]

Axis operation status

• Always limit the servomotor torque after the speed reaches the speed set in [Pr.47] Creep speed. Otherwise the servomotor

may be damaged when the workpiece hits to the stopper. (Page 232 Torque limit function)

• Use an external input signal as a zero signal.

Precautions during the operation

• Input a zero signal from an external source after the workpiece hits to the stopper. If a zero signal is input before the

deceleration to the speed set in [Pr.47] Creep speed is completed, the machine will continue decelerating and stop and

Zero signal detection timing fault (Error code: 1942H) will occur.

2 OPR CONTROL

2.2 Machine OPR

• If a zero signal is input before the workpiece stops at the stopper, the workpiece stops at that position and the position is set

OFF

Md.31

Md.26

Pr.55

Md.34

Md.20 Md.21

Pr.46

Pr.47

Md.35

OPR speed

Creep speed

Torque limit valid range

Torque limit

Near-point dog

Zero signal

Deviation counter clear output

Standby

OPR

Standby

Inconsistent

Movement amount after near-point dog ON

Inconsistent

A value of the movement amount is stored.

OP address

Inconsistent

Torque limit setting value

OPR torque limit value

Current feed value

OPR request flag

OPR complete flag

Torque limit stored value

Stopper

Machine feed value

Machine OPR start (Positioning start signal) [Y10, Y11, Y12, Y13]

Status: b3

Status: b4

Axis operation status

Deviation counter clear signal output time

as an OP. In this case, no error will occur.

• The near-point dog must be on until the workpiece hits to the stopper. If there is a section in which the near-point dog is off

between the near point dog and the stopper, and a machine OPR operation is executed from a point in the section, the

workpiece will hit to the stopper at the OPR speed.

• If the machine OPR is started while the near-point dog is on, the workpiece starts traveling at the speed set in [Pr.47] Creep

speed.

• When the machine OPR has been stopped by a stop signal, perform the machine OPR again. If Restart command is turned

on after the stop by a stop signal, OPR restart not possible (Error code: 1946H) occurs.

2 OPR CONTROL

2.2 Machine OPR

Stopper method 3

OFF

Pr.47

Pr.55

Md.34

Md.35

Md.20 Md.21

Md.31

Md.26

(1) (2)(3)(4)

OPR request flag

OPR complete flag

Torque limit valid range

Creep speed

Torque limit

Zero signal

Stops with a stopper.

Deviation counter clear output

Standby

OPR

Standby

Inconsistent

Movement amount after near-point dog ON

Inconsistent

A value of the movement amount is stored. OP address

Inconsistent

OPR torque limit value

Current feed value

Torque limit stored value

Machine feed value

Machine OPR start (Positioning start signal) [Y10, Y11, Y12, Y13]

Status: b3

Status: b4

Axis operation status

Deviation counter clear signal output time

The following shows an operation overview of the stopper method 3, one of the OPR methods.

Stopper method 3 is useful for a system in which a near-point dog cannot be installed. (Note that the workpiece starts traveling

at the speed set in [Pr.47] Creep speed, which means that it takes some time until the machine OPR is completed.)

Operation chart

(1) The machine OPR is started.

(The machine moves at the speed set in [Pr.47] Creep speed in the direction specified in [Pr.44] OPR direction. The torque must be limited for this operation. Otherwise the servomotor may be damaged in step (2).)

(2) The machine presses the workpiece against the stopper at the speed set in [Pr.47] Creep speed and stops.

(3) After the stop and a zero signal is input, the RD75 stops outputting pulses and produces Deviation counter clear output to the drive unit.

(Deviation counter clear signal output time is set in [Pr.55].)

(4) After Deviation counter clear output is completed, OPR complete flag ([Md.31] Status: b4) turns on and OPR request flag ([Md.31] Status: b3) turns off.

2 OPR CONTROL

2.2 Machine OPR

Restrictions

OFF

Md.34

Md.35

Md.20 Md.21

Pr.47

Md.31

Md.26

Pr.55

Creep speed

OPR request flag

OPR complete flag

Torque limit valid range

Torque limit

Zero signal

Deviation counter clear output

Standby

OPR

Standby

Inconsistent

Movement amount after near-point dog ON

Inconsistent

A value of the movement amount is stored. OP address

Inconsistent

OPR torque limit value

Current feed value

Torque limit stored value

Machine feed value

Stopper

Machine OPR start (Positioning start signal) [Y10, Y11, Y12, Y13]

Status: b3

Status: b4

Axis operation status

Deviation counter clear signal output time

• Always limit the servomotor torque after the speed reaches the speed set in [Pr.47] Creep speed. Otherwise the servomotor

may be damaged when the workpiece hits to the stopper. (Page 232 Torque limit function)

• Use an external input signal as a zero signal.

• The OPR retry function cannot be used for Stopper method 3.

Precautions during the operation

• If a zero signal is input before the workpiece stops at the stopper, the workpiece stops at that position and the position is set

as an OP. In this case, no error will occur.

• When the machine OPR has been stopped by a stop signal, perform the machine OPR again. If Restart command is turned

on after the stop by a stop signal, OPR restart not possible (Error code: 1946H) occurs.

2 OPR CONTROL

2.2 Machine OPR

Count method 1

OFF

Md.31

Md.34

Md.20 Md.21

Pr.46

Pr.47

Md.34

Pr.50

Pr.55

Md.26

(1) (2) (3) (4)(5)

OPR speed

Standby

OPR

Standby

Inconsistent

Movement amount after near-point dog ON

Inconsistent

A value of the movement amount is stored.

OP address

Current feed value

Zero signal

Value of *1

Deviation counter clear output

Movement amount after near-point dog ON

Near-point dog

Creep speed

OPR request flag

OPR complete flag

Machine feed value

Setting for the movement amount after near-point dog ON

Have sufficient distance from the OP position to the near-point dog OFF.

Adjust the setting so that the object position after traveling of the set movement amount after near-point dog ON is as close as possible to the center of the zero signal HIGH level. If the position overlaps with Zero signal, the machine OPR stop position may deviate by one servomotor rotation.

One servomotor rotation

Deviation counter clear signal output time

Machine OPR start (Positioning start signal) [Y10, Y11, Y12, Y13]

Status: b3

Status: b4

Axis operation status

First zero signal after the object traveling of the movement amount set to Pr.50 Setting for the movement amount after near-point dog ON

The following shows an operation overview of Count method 1, one of the OPR methods. If a machine OPR operation is

started using Count method 1 from a point where the near-point dog is on, the machine moves in the direction reverse to the

OPR direction to go back to a point where the near-point dog turns off, and a normal machine OPR operation is performed.

The machine OPR can be performed using Count method 1 even in the following situations.

• Where the near-point dog is on

• After the machine OPR is completed

Operation chart

(1) The machine OPR is started.

(2) When the on state of the near-point dog is detected, the machine starts decelerating.

(3) The machine decelerates to the speed set in [Pr.47] Creep speed and moves at the creep speed after that.

(4) When the first zero signal is detected after the axis has traveled the movement amount set in [Pr.50] Setting for the movement amount after near-point dog

ON from the point where the near-point dog is turned on, the RD75 stops outputting pulses and produces Deviation counter clear output to the drive unit. (Deviation counter clear signal output time is set in [Pr.55].)

(5) After Deviation counter clear output is completed, OPR complete flag ([Md.31] Status: b4) turns on and OPR request flag ([Md.31] Status: b3) turns off.

2 OPR CONTROL

2.2 Machine OPR

Restrictions

OFF

(1) (5)

(4)

(3)

(2)

Pr.50

Near-point dog

Zero signal

Setting for the movement amount after near-point dog ON

A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, produce a zero signal

using an external signal.

Precautions during the operation

• If the distance set in [Pr.50] Setting for the movement amount after near-point dog ON is shorter than the deceleration

distance from [Pr.46] OPR speed to deceleration stop, Count method movement amount fault (Error code: 1944H) occurs

and the operation does not start.

• If the speed is changed to a speed faster than the speed set in [Pr.46] OPR speed using the speed change function

(Page 243 Speed change function) during a machine OPR operation, the distance required for deceleration stop may

not be ensured depending on the setting of [Pr.50] Setting for the movement amount after near-point dog ON. In this case,

Count method movement amount fault (Error code: 1944H) occurs and the machine OPR is stopped.

• The following shows the operation performed when the machine OPR is started while the near-point dog is on. [Operation when the machine OPR is started from a point

where the near-point dog is on]

(1) A machine OPR is started.

(2) The machine moves at the OPR speed in the direction reverse to the

specified OPR direction.

(3) The deceleration processing is performed according to the setting of [Pr.39]

Stop group 3 sudden stop selection when the off state of the near-point dog is detected.

(4) After the machine stops, the machine OPR is performed in the specified

OPR direction.

(5) The machine OPR is completed after the deviation counter clear output is

provided on the detection of the first zero signal after the workpiece travels for the movement amount set in [Pr.50] Setting for the movement amount after near-point dog ON from the point where the on state of the near-point dog is detected.

• The near-point dog must be turned off at a sufficient distance from the OP. There is no harm in operation even if the near-

point dog is turned off during a machine OPR. However, ensuring a sufficient distance from the OP is recommended for the

following reasons when the near-point dog is turned off.

• If the workpiece is at a point where the near-point dog is still on when the machine OPR is completed, another machine OPR can be performed from that point even though OPR complete flag ([Md.31] Status: b4) is on.

• If the workpiece is at a point where the near-point dog is off when the machine OPR is completed and another OPR is performed, the workpiece travels at the OPR speed until it reaches a limit switch. This causes Hardware stroke limit (+)/Hardware stroke limit (-) (Error code: 1905H/1907H). If a sufficient distance cannot be ensured for Near-point dog signal to be turned on, use the OPR retry function. When the OPR retry function is used, a retry operation can be performed using limit switches.

• When the machine OPR has been stopped by a stop signal, perform the machine OPR again. If Restart command is turned

on after the stop by a stop signal, OPR restart not possible (Error code: 1946H) occurs.

2 OPR CONTROL

2.2 Machine OPR

Count method 2

OFF

Md.31

Md.26

Md.34

Md.20

Md.21

Pr.46

Pr.47

Md.34

Pr.50

(1) (2) (3) (4)

OPR speed

Movement amount after near-point dog ON

Creep speed

Near-point dog

Standby

OPR

Standby

Axis operation status

Inconsistent

Movement amount after near-point dog ON

Inconsistent

A value of the movement amount is stored. OP address

Current feed value

Value of *1

OPR request flag

OPR complete flag

Machine feed value

Setting for the movement amount after near-point dog ON

Have sufficient distance from the OP position to the near-point dog OFF.

Machine OPR start (Positioning start signal) [Y10, Y11, Y12, Y13]

Status: b3

Status: b4

The following shows an operation overview of Count method 2, one of the OPR methods.

If a machine OPR operation is started using Count method 2 from a point where the near-point dog is on, the machine moves

in the direction reverse to the OPR direction to go back to a point where the near-point dog turns off, and a normal machine

OPR operation is performed.

Count method 2 is useful for a system that cannot use Zero signal. (Note that compared with Count method 1, the variation of

the stop position occurs in the machine OPR.)

As well as Count method 1, the machine OPR operation can be performed using Count method 2 even in the following

situations.

• Where the near-point dog is on

• After the machine OPR is completed

Operation chart

(1) The machine OPR is started.

(2) When the on state of the near-point dog is detected, the machine starts decelerating.

(3) The machine decelerates to the speed set in [Pr.47] Creep speed and moves at the creep speed after that.

(4) When the machine moves for the movement amount set in [Pr.50] Setting for the movement amount after near-point dog ON from the point where the near-

point dog signal on, the RD75 stops outputting pulses and the machine OPR will be completed.

Restrictions

Since an error of approximately 1ms occurs in taking in the on state of the near-point dog, the variation of the stop position

(OP) occurs compared with other OPR methods.

2 OPR CONTROL

2.2 Machine OPR

Precautions during the operation

OFF

Pr.50

(1) (5)

(4)

(3)

(2)

Near-point dog

Setting for the movement amount after near-point dog ON

• If the distance set in [Pr.50] Setting for the movement amount after near-point dog ON is shorter than the deceleration

distance from [Pr.46] OPR speed to deceleration stop, Count method movement amount fault (Error code: 1944H) occurs

and the operation does not start.

• If the speed is changed to a speed faster than the speed set in [Pr.46] OPR speed using the speed change function

(Page 243 Speed change function) during a machine OPR operation, the distance required for deceleration stop may

not be ensured depending on the setting of [Pr.50] Setting for the movement amount after near-point dog ON. In this case,

Count method movement amount fault (Error code: 1944H) occurs and the machine OPR is stopped.

• The following shows the operation performed when the machine OPR is started while the near-point dog is on. [Operation when the machine OPR is started from a point

where the near-point dog is on]

(1) A machine OPR is started.

(2) The machine moves at the OPR speed in the direction reverse to the

specified OPR direction.

(3) The deceleration processing is performed according to the setting of [Pr.39]

Stop group 3 sudden stop selection when the off state of the near-point dog is detected.

(4) After the machine stops, the machine OPR is performed in the specified

OPR direction.

(5) When the machine moves for the movement amount set in [Pr.50] Setting for

the movement amount after near-point dog ON from the point where the on state of the near-point dog is detected, the machine OPR will be completed.

• The near-point dog must be turned off at a sufficient distance from the OP. There is no harm in operation even if the near-

point dog is turned off during a machine OPR. However, ensuring a sufficient distance from the OP is recommended for the

following reasons when the near-point dog is turned off.

• When the machine OPR has been stopped by a stop signal, perform the machine OPR again. If Restart command is turned

on after the stop by a stop signal, OPR restart not possible (Error code: 1946H) occurs.

2 OPR CONTROL

2.2 Machine OPR

Data setting method

OFF

Pr.55

Md.26

Md.31

Md.20

Md.21

Machine OPR start (Positioning start signal) [Y10, Y11, Y12, Y13]

OPR request flag [ Status: b3]

OPR complete flag [ Status: b4]

Deviation counter clear output

Axis operation status

Current feed value

Machine feed value

Deviation counter clear signal output time

OPR

Standby

Inconsistent

A value of the movement amount is stored. OP address

Manual feed such as JOG operation

Data setting method is used to set a point at which the workpiece is positioned by a manual feed such as JOG operation as an

OP.

When the machine OPR is performed using the data setting method, Deviation counter clear signal is output to the drive unit

and the current feed value and machine feed value are overwritten with the OP address.

Operation chart

Operation precautions

• The OPR parameter areas ([Pr.43] to [Pr.57]) other than [Pr.45] OP address and [Pr.55] Deviation counter clear signal

output time are not used for the data setting method. However, if a set value is outside the setting range and PLC READY

signal [Y0] is turned on, an error occurs and RD75 READY signal [X0] does not turn on. To avoid the occurrence of an error

when PLC READY signal [Y0] is turned on, Set values within the setting range (or initial values) for the unused OPR

parameter areas.

• When performing an OPR operation using Data setting method for a device for which the backlash compensation function

is used, perform the manual control beforehand. Otherwise the backlash compensation cannot be properly executed.

2 OPR CONTROL

2.2 Machine OPR

2.3 Fast OPR

Pr.46

Md.26

OPR speed

Machine OP (OP position)

Axis operation status

Standby

StandbyPosition control

Positioning to the OP

Fast OPR start (Positioning start signal) [Y10, Y11, Y12, Y13]

Operation overview of the fast OPR

Fast OPR operation

After the OP position is established by performing a machine OPR, the positioning control to the OP position is executed

without using a near-point dog or zero signal.

The following shows the operation after the fast OPR is started.

1. The fast OPR is started.

2. The positioning control to the OP position established by a machine OPR operation is performed at the speed set in the

OPR parameter areas ([Pr.43] to [Pr.57]).

3. The fast OPR is completed.

2 OPR CONTROL

2.3 Fast OPR

Operation timing and the processing time

Md.26

Position control

Standby

Positioning start signal [Y10, Y11, Y12, Y13]

BUSY signal [XC, XD, XE, XF]

Start complete signal [X10, X11, X12, X13]

Pulse output to an external source (PULSE)

Positioning operation

Axis operation status

The following shows the details on the operation timing and processing time in the fast OPR.

Normal timing time

t1 t2 t3

0.2 to 0.3ms 0.1ms or less 0 to 0.88ms

Precautions during the operation

• The fast OPR can only be executed after the OP is established by executing the machine OPR. Otherwise, OPR request

ON (Error code: 1945H) occurs. (OPR request flag ([Md.31] Status: b3) must be off.)

• If the pulse for the fraction after the decimal point is cleared to 0 by using the current value change or fixed-feed control,

executing the fast OPR causes an error equivalent to the cleared pulse.

• When a limitless-feed operation is executed by the speed control and the machine feed value overflows or underflows

once, the fast OPR cannot be executed normally.

• OPR complete flag ([Md.31] Status: b4) does not turn on.

• The axis operation status during the fast OPR is Position control.

2 OPR CONTROL

2.3 Fast OPR

3 MAJOR POSITIONING CONTROL

This chapter describes the details and usage of the major positioning control (the control function using Positioning data).

As the major positioning control, Position control (positioning to the specified position using address information), Speed

control (controlling a rotating body at a fixed speed), Speed-position switching control (switching the control type from Speed

control to Position control), Position-speed switching control (switching the control type from Position control to Speed

control), and others are provided.

Configure the settings required for each control.

3.1 Overview of the Major Positioning Controls

Major positioning controls are performed using Positioning data stored in the RD75.

The positioning controls, such as the position control and speed control, are executed by setting the required items in this

Positioning data and starting that positioning data.

The control method of Major positioning control is set in [Da.2] Control method of the positioning data.

The control defined as Major positioning control performs the following control depending on the setting in [Da.2] Control

method.

Major positioning control [Da.2] Control

method

Position control

Linear control 1-axis linear control ABS linear 1

2-axis linear interpolation control

3-axis linear interpolation control

4-axis linear interpolation control

Fixed-feed control 1-axis fixed-feed control Fixed-feed 1 Performs the positioning control from the start point address

2-axis fixed-feed

control

3-axis fixed-feed

control

4-axis fixed-feed

control

2-axis circular interpolation control

3-axis helical interpolation control

Sub point specification ABS circular sub

Center point specification

Sub point specification ABS helical sub

Center point specification

INC linear 1

ABS linear 2

INC linear 2

ABS linear 3

INC linear 3

ABS linear 4

INC linear 4

Fixed-feed 2 Performs the linear interpolation control from the start point

Fixed-feed 3 Performs the linear interpolation control from the start point

Fixed-feed 4 Performs the linear interpolation control from the start point

INC circular sub

ABS circular right ABS circular left INC circular right INC circular left

INC helical sub

ABS helical right ABS helical left INC helical right INC helical sub

Description

Performs the positioning control from the start point address (current stop position) to the specified position using the specified one axis.

Performs the linear interpolation control from the start point address (current stop position) to the specified position using the specified two axes.

Performs the linear interpolation control from the start point address (current stop position) to the specified position using the specified three axes.

Performs the linear interpolation control from the start point address (current stop position) to the specified position using four axes.

(current stop position) using the specified one axis. ([Md.20] Current feed value is set to 0 at the start.)

address (current stop position) using the specified two axes. ([Md.20] Current feed value is set to 0 at the start.)

address (current stop position) using the specified three axes. ([Md.20] Current feed value is set to 0 at the start.)

address (current stop position) using four axes. ([Md.20] Current feed value is set to 0 at the start.)

Performs the positioning control in an arc path from the start point address (current stop position) to the specified position using the specified two axes.

Performs the circular interpolation control using two axes of the three axes. The remaining axis is used for the positioning of the helical, tangent line, or normal line control to follow the circular interpolation control.

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Major positioning control [Da.2] Control

Description

method

Speed control

Speed-position switching control Forward run speed-

Position-speed switching control Forward run position-

Other controls NOP instruction NOP instruction A control method that is not executed. When the NOP

1-axis speed control Forward run speed 1

Reverse run speed 1

2-axis speed control

3-axis speed control

4-axis speed control

Current value change Current value change Changes the value in [Md.20] Current feed value to the address

JUMP instruction JUMP instruction Unconditionally or conditionally jumps to the specified

LOOP LOOP Performs the repetition control with the LOOP to LEND

LEND LEND Returns to the beginning of the repetition control with LOOP to

Forward run speed 2 Reverse run speed 2

Forward run speed 3 Reverse run speed 3

Forward run speed 4 Reverse run speed 4

position Reverse run speedposition

speed Reverse run positionspeed

Performs the speed control of the specified one axis.

Performs the speed control of the specified two axes.

Performs the speed control of the specified three axes.

Performs the speed control of four axes.

Performs the speed control, and position control (Positioning with the specified address or movement amount) immediately after that by turning on Speed-position switching signal.

Performs the position control, and speed control immediately after that by turning on Position-speed switching signal.

instruction is set, the operation of the next data starts and this instruction is not executed.

set in the positioning data. The following two methods can be used. (Machine feed value cannot be changed.)

• Current value change using the control method

• Current value change using the start No. for a current value change (No.9003)

positioning data No.

instructions.

LEND instructions. When the repetition of the instructions has been completed for the specified number of times, the operation of the next positioning data starts.

*1 In 2-axis linear interpolation control, 3-axis linear interpolation control, 4-axis linear interpolation control, 2-axis fixed-feed control, 3-axis

fixed-feed control, 4-axis fixed-feed control, 2-axis circular interpolation control, 3-axis helical interpolation control, 2-axis speed control, 3-axis speed control, and 4-axis speed control, use a motor set for the directions of two or more axes to control the positioning drawing a straight line or an arc path. This type of control is called interpolation control. (Page 77 Interpolation control)

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Data required for major positioning control

The following table lists Positioning data required for performing Major positioning control.

Setting item Setting detail

Positioning data

[Da.1] Operation pattern Set an operation pattern for the continuous positioning data (example: Positioning data No.1 to 3).

[Da.2] Control method Set a control method defined for Major positioning control used. (Page 59 Overview of the

[Da.3] Acceleration time No. Select and set an acceleration time at the start of the control. (Select one from four values set in

[Da.4] Deceleration time No. Select and set a deceleration time at the stop of the control. (Select one from four values set in

[Da.5] Axis to be interpolated Set a target axis (partner axis) for the 2-axis interpolation control, and a circular interpolation axis

[Da.6] Positioning address/movement

amount

[Da.7] Arc address Set a sub point or a center point address for the circular interpolation control.

[Da.8] Command speed Set the speed at the execution of the control.

[Da.9] Dwell time The time from when the command pulse output is completed to when Positioning complete signal

[Da.10] M code Set an M code to issue a command for a subsidiary work (such as stopping clamps or drills and

[Da.27] M code ON signal output timing Set the M code ON signal output timing for each positioning data.

[Da.28] ABS direction in degrees Set the ABS direction in degrees for each positioning data.

[Da.29] Interpolation speed specification

method

(Page 62 Operation pattern of major positioning control)

Major Positioning Controls)

[Pr.9], [Pr.25], [Pr.26], and [Pr.27] as the acceleration time.)

[Pr.10], [Pr.28], [Pr.29], and [Pr.30] as the deceleration time.)

for the 3-axis helical interpolation control. (Page 77 Interpolation control)

Set a target value for the position control. (Page 71 Specifying the positioning address)

is turned on. Set this time to absorb the delay of machine systems to the command, such as the delay (deviation) of the servo system.

changing tools) corresponding to each M code number that can be related to the execution of the positioning data.

Set the interpolation speed specification method for each positioning data.

The settings of [Da.1] to [Da.10] and [Da.27] to [Da.29] differ depending on the setting of [Da.2] Control method. (Page 82

Positioning Data Setting)

Sub functions for major positioning control

For details on the sub functions that can be combined with the major positioning control, refer to the following.  MELSEC iQ-R Positioning Module User's Manual (Startup)

For details on each sub function, refer to the following.  MELSEC iQ-R Positioning Module User's Manual (Startup)

Major positioning control from an engineering tool

Major positioning controls can be executed using the positioning test of the engineering tool. For details on the positioning

test, refer to the following. Page 332 Positioning Test

Up to 600 positioning data (Positioning data No.1 to 600) can be set for each axis.

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Operation pattern of major positioning control

In Major positioning control (Advanced positioning control), [Da.1] Operation pattern can be set to specify whether to continue

executing positioning data after the started positioning data. Operation pattern can be classified into the following three

patterns.

Positioning control Operation pattern

Positioning complete Independent positioning control (operation pattern: 00)

Positioning continue Continuous positioning control (operation pattern: 01)

Continuous path control (operation pattern: 11)

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Independent positioning control (positioning complete)

OFF

[X10, X11, X12, X13]

OFF

[Y10, Y11, Y12, Y13]

[XC, XD, XE, XF]

[X14, X15, X16, X17]

Time

Positioning start signal

Dwell time

Start complete signal

BUSY signal

Positioning complete signal

Positioning complete (00)

OFF

[Y10, Y11, Y12, Y13]

[X10, X11, X12, X13]

[XC, XD, XE, XF]

[X14, X15, X16, X17]

Time

Positioning start signal

Start complete signal

BUSY signal

Positioning complete signal

Positioning continue (01)

Address (+) direction

Address (-) direction

Positioning continue (01)

Positioning complete (00)

Dwell time

Dwell time is not specified.

Set this pattern when executing the positioning of only one specified data. If a dwell time is specified, the positioning will be

completed when the specified time elapses.

For the block positioning, this data (operation pattern: 00) is the end of the data. (The positioning stops after this data is

executed.)

Continuous positioning control

• The machine always automatically decelerates each time the positioning of one positioning data is completed. Acceleration

to execute the next positioning data is performed after the command speed of the RD75 reaches 0. If a dwell time is

specified, the acceleration is performed after the specified time elapses.

• In the operation by the continuous positioning control (operation pattern: 01), the positioning of the next positioning No. is

automatically executed. Always set Operation pattern: 00 to the last positioning data to complete the positioning. If the

operation pattern is Positioning continue (01 or 11), the operation continues until Operation pattern: 00 is found. Therefore,

if Positioning complete (operation pattern: 00) is not set, the operation continues until the positioning data No. 600. If the

operation pattern of the positioning data No. 600 is not set to Positioning complete, the operation will be started again from

the positioning data No. 1.

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Continuous path control

OFF

[Y10, Y11, Y12, Y13]

[X10, X11, X12, X13]

[XC, XD, XE, XF]

[X14, X15, X16, X17]

Time

Positioning continue (11)

Address (+) direction

Address (-) direction

Positioning continue (11)

Positioning complete (00)

Dwell time

Positioning start signal

Start complete signal

BUSY signal

Positioning complete signal

■ Continuous path control

• The speed changes without the deceleration stop from the command speed of the positioning data No. currently being

executed to the speed of the next positioning data No. When the current speed is equal to the next speed, the speed does

not change.

• When the command speed is set to -1, the speed used in the previous positioning operation is used.

• The dwell time is ignored even if it is set.

• In the operation by the continuous path control (operation pattern: 11), the positioning of the next positioning No. is

automatically executed. Always set Operation pattern: 00 to the last positioning data to complete the positioning. If the

operation pattern is Positioning continue (01 or 11), the operation continues until Operation pattern: 00 is found. Therefore,

if Positioning complete (operation pattern: 00) is not set, the operation continues until the positioning data No. 600. If the

operation pattern of the positioning data No. 600 is not set to Positioning complete, the operation will be started again from

the positioning data No. 1.

• The speed switching is classified into two modes: the front-loading speed switching mode in which the speed is changed at

the end of the current positioning side and the standard speed switching mode in which the speed is changed at the start of the next positioning side. (Page 396 [Pr.19] Speed switching mode)

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

• In the continuous path control, the positioning may be completed before the set address/movement amount by the distance

Positioning data No.1

Positioning data No.2

Acceleration/deceleration (actual one)

Positioning data No.1

Positioning data No.2

Acceleration/deceleration (setting)

The object reached the address specified in the positioning data No.1.

Distance ∆d

Less than 0.88ms

Distance ∆d

0.88ms or more

d, and the data to be controlled may be switched to the next positioning data No. The range of the value of the distance d

is as follows.

0  d < (Moving distance in 0.88ms at the command speed)

The distance d is output when the next positioning data No. is executed at the constant speed. Therefore, the execution time

of the next positioning data may be extended longer than the set execution time of the positioning control.

If the extension of

the execution time is a problem, perform the following actions.

Corrective action Description

Use the near pass control output timing selection function.

Use the speed change function. Change the speed using the speed change function instead of the continuous path control.

By setting the output timing to At deceleration, the execution time of the next positioning is equivalent to the set execution time of the positioning control. (Page 228 Output timing selection of near pass control)

(Page 243 Speed change function)

*1 For the continuous path control, when the command speed V1 of the positioning data and the command speed V2 of the next

positioning data is different significantly, and V1 > V2

For the positioning data in which the automatic deceleration is performed, the positioning is completed at the set address.

Therefore, in the continuous path control, the address where the positioning is completed may be different from the set value.

However, the address will be the specified one at the completion of the automatic deceleration by Continuous path control

(01) or Positioning complete (00).

In the continuous path control, the speed is not changed when the positioning data No. is switched by the near pass function. (Page 226 Near pass function)

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

■Conditions of deceleration stop during the continuous path control

Positioning data No.1

Operation pattern: 11

Positioning data No.2

Operation pattern: 00

The speed becomes 0.

Positioning by interpolation Reference axis operation

Partner axis

Positioning data No.1

Reference axis

Positioning data No.2

Positioning data No.1 ⋅ ⋅ ⋅ Continuous path control

Positioning data No.1

Positioning data No.2

Positioning data No.1

Positioning data No.2

Partner axis operation

The deceleration stop is not performed in the continuous path control. However, in the following three cases, the deceleration

stop is performed and the speed becomes 0 once.

• When the operation pattern of the positioning data currently being executed is Continuous path control: 11 and the

movement direction of the positioning data currently being executed differs from that of the next positioning data. (Only for

the positioning control of one axis. (Refer to Point.))

• During the operation with the step operation (Page 273 Step function)

• When an error exists in the next positioning data, the positioning may stop immediately depending on an error. (Page

32 Stopping)

• In the positioning data of the continuous path control, the command speed becomes 0 for about 0.88ms

when [Da.6] Positioning address/movement amount is set to 0. If [Da.6] Positioning address/movement

amount is set to 0 to increase the number of speed change points in the future, change the setting of [Da.2] Control method to NOP instruction not to execute the positioning data No. (Page 149 NOP instruction)

• In the positioning data of the continuous path control, ensure the movement amount so that the execution

time of the data becomes 100ms or longer, or reduce the command speed.

■Operation for sudden direction reversal

• The movement direction is not checked during the interpolation control. Thus, the deceleration stop is not performed even if

the movement direction is changed. Therefore, the interpolation axis may suddenly reverse its direction. To avoid the

sudden direction reversal, set Continuous positioning control: 01 for the positioning data at the passing point instead of

Continuous path control: 11.

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

• When the interpolation axis suddenly reverses its direction, the command pulses from the RD75 are output as follows.

Forward run command

Reverse run command

2000

1000

3000

1000

-1

3000-13000-13000

P1 P2 P3 P4 P5

3000

Da. 8

Md.27

2000

1000

3000

1000

-1

3000-13000-13000

P1 P2 P3 P4 P5

3000

Da. 8

Md.27

Command speed

Current speed

Speed

PositionPosition

Command speed

Current speed

Speed

The current speed is changed even if the object does not reach command speed in P2.

When a command frequency is f (pulse/s), t1 and t2 are determined using the following calculation formulas.

t1 = 1/2f [s]

t2 = 1/f [s]

A time of t1 must be ensured by the drive unit for a specified time T [s] or longer. (The time T depends on the specifications of

the drive unit.)

When the time of t1 cannot be ensured for T or longer, reduce the value in [Da.8] Command speed of the positioning data.

■Speed handling

• The command speed of the continuous path control is set for each positioning data. The RD75 performs the positioning at

the speed specified with each positioning data.

• The command speed can be set to -1 in the continuous path control. When the command speed is set to -1, the control is

performed at the speed used in the previous positioning data No. (When the positioning data is set using an engineering

tool, Current speed is displayed in the command speed of the engineering tool. Current speed is the speed of the

positioning control currently being executed.)

• If the command speed has been set to -1 before the uniform speed control is executed, the speed does not need to be set

in each positioning data.

• If the speed is changed or the override function is executed in the previous positioning data when the command speed has

been set to -1, the control can be continued at the new speed.

• If -1 is set in the command speed of the first positioning data at the start, No command speed (Error code: 1A12H) occurs

and the positioning cannot be started.

[Relation between the command speed and current speed]

3.1 Overview of the Major Positioning Controls

3 MAJOR POSITIONING CONTROL

• In the continuous path control, the speed is not changed when the positioning data No. is switched by the

near pass function. (Page 226 Near pass function)

• The RD75 holds the command speed set with the positioning data and the latest speed value set with the

speed change request as [Md.27] Current speed to control with the current speed when -1 is set for the

command speed. (Depending on the relation between the movement amount and the speed, the feedrate

may not reach the command speed. However, even in that case, the current speed will be updated.)

• When the address for the speed change is identified beforehand, create and execute the positioning data

for the speed change with the continuous path control to perform the speed change without requesting the

speed change using a program.

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

■Switching speed (Refer to [Pr.19] Speed switching mode.)

n n + 1

Speed Speed

Switch the speed when executing the next positioning data.

Positioning is started at the specified speed for the next positioning data execution.

n: Positioning

data No.

For standard switching For front-loading switching

OFF

11 11 11 01

Da. 1

[XC, XD, XE, XF]

[X10, X11, X12, X13]

[Y10, Y11, Y12, Y13]

[X14, X15, X16, X17]

Positioning

Operation pattern

Dwell time

Speed switching

Dwell time

Positioning start signal

Start complete signal

BUSY signal

Positioning complete signal

The following two modes are provided to change the speed.

Speed switching mode Description

Standard switching Switches the speed when executing the next positioning data.

Front-loading switching Switches the speed at the end of the positioning data currently being

executed.

• Standard speed switching mode

1) If the command speed of the positioning data currently being executed and that of the next positioning data differ, the machine will accelerate or decelerate after reaching the positioning point set in the positioning data currently being executed, and the speed will change over to the speed set in the next positioning data.

2) The parameters used in the acceleration/deceleration processing to the command speed set in the next positioning data to be executed are those of the next positioning data to be executed. If the command speeds are the same, the speed changed will not be performed.

3) Speed switching condition If the movement amount is small to the target speed and may not reach the target speed even if the acceleration/deceleration is performed, the machine is accelerated or decelerated to get close to the target speed. If the movement amount will be exceeded when the automatic deceleration needs to be performed (such as when the operation pattern is 00 or 01), the machine will immediately stop at the specified positioning address, and Insufficient movement amount (Warning code: 0998H) occurs.

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

[When the speed cannot be changed in P2] [When the movement amount is small during the automatic deceleration]

P2 P3 P4

Pn Pn+1

Positioning address

OFF

11 11 11 01

Da. 1

[Y10, Y11, Y12, Y13]

[X10, X11, X12, X13]

[XC, XD, XE, XF]

[X14, X15, X16, X17]

Positioning

Operation pattern

Dwell time

Positioning start signal

Start complete signal

BUSY signal

Positioning complete signal

Dwell time

P1 P2 P3 P4

Pn Pn+1

Positioning address

When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2 Since the movement amount required to perform the automatic deceleration cannot be

secured, the machine immediately stops in the status of the speed  0.

• Front-loading speed switching mode

1) If the command speed of the positioning data currently being executed and that of the next positioning data differ, the speed will change over to the speed set in the next positioning data at the end of the positioning data currently being executed.

[When the speed cannot be changed to the P2 speed in P1]

When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2 Since the movement amount required to perform the automatic deceleration cannot be

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

[When the movement amount is small during the automatic deceleration]

secured, the machine immediately stops in the status of the speed  0.

Specifying the positioning address

100

150 300

Address 100

Address 150

Address 300

Address 100

Address 150

Start point

End point

Address 100

A point

OP (reference point)

B point C point

Within the stroke limit range

Address 150

300150100

Movement amount +100

Movement amount -150

Movement amount +100

Within the stroke limit range

Start point

End point

Movement amount -100

Movement amount +50

A point

OP (reference point)

B point C point

Movement amount -100

Movement amount +100

One of the following two methods can be used for commanding the position in the control using positioning data.

Absolute system

The positioning is performed to a specified position (absolute address) having the OP as a reference. This address is

regarded as the positioning address. (Any address can be set as the start point.)

Incremental system

The position where the machine is currently stopped is regarded as the start point, and the positioning is performed for a

specified movement amount in a specified movement direction.

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Checking the current value

20000

10000

1 to

Current feed value

The current value has been changed to 20000 with the current value change.

1 to

Machine feed value

The address after the current value change is stored.

The address does not change even after the current value has been changed.

Md.20

Md.21

Values indicating the current values

In the RD75, the following two types of address are used as values to indicate the position.

These addresses (Current feed value and Machine feed value) are stored in the monitor data area, and used for monitoring

the current value display.

Item Description

Current feed value • The value stored in [Md.20] Current feed value.

Machine feed value • The value stored in [Md.21] Machine feed value.

Current feed value and Machine feed value are used for monitoring the current value display.

• This value has an address established with Machine OPR as a reference. However, the address can be changed by changing the current value.

• This value is updated every 0.88ms.

• This value always has an address established with Machine OPR as a reference. The address cannot be changed even if the current value is changed to a new value.

• This value is updated every 0.88ms.

Restrictions

When the stored Current feed value is used for the control, an error of 0.88ms will occur in the update timing of the current

value. When the stored Machine feed value is used for the control, an error of 0.88ms will occur in the update timing of the

current value.

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Monitoring the current value

Current feed value and Machine feed value are stored in the following buffer memory areas, and can be read using a DFROM

(P) instruction or DMOV (P) instruction from the CPU module.

Buffer memory address

Axis 1 Axis 2 Axis 3 Axis 4

[Md.20] Current feed value 800, 801 900, 901 1000, 1001 1100, 1101

[Md.21] Machine feed value 802, 803 902, 903 1002, 1003 1102, 1103

The following shows an example of the program that stores the current feed value of the axis 1 in the specified device.

Classification Label Name Description

Module label RD75_1.stnAxisMonitorData_Axis_D[0].dCurrentFeedValue_D [Md.20] Current feed value of the axis

Global label, local label Define the global label or local label as follows. Setting Assign (Device/Label) for labels is not necessary because the unused

internal relay and data device are automatically assigned to the labels.

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Handling degree (control unit)

0° 0° 0°

359.99999° 359.99999°

315.00000°

90.00000°

0°

Section A

Section B

Clockwise direction

If degree is set as the control unit, the following items differ from the ones for when other control units are set.

Addresses of Current feed value and Machine feed value

The address of [Md.20] Current feed value is a ring address from 0 to 359.99999. However, the address of [Md.21] Machine

feed value does not become a ring address.

Software stroke limit valid/invalid setting

When the control unit is degree, the upper/lower limit values of the software stroke limit are 0 to 359.99999.

■Setting to validate the software stroke limit

To validate the software stroke limit, set the lower limit value and upper limit value of the software stroke limit in a clockwise

rotation.

1) To set the movement range of section A, set as follows.

• Software stroke limit lower limit value: 315.00000

• Software stroke limit upper limit value: 90.00000

2) To set the movement range of section B, set as follows.

• Software stroke limit lower limit value: 90.00000

• Software stroke limit upper limit value: 315.00000

■Setting to invalidate the software stroke limit

To invalidate the software stroke limit, set the software stroke limit lower limit value equal to the software stroke limit upper

limit value.

The control can be performed regardless of the setting of the software stroke limit.

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Positioning control method when degree is set as the control unit

315° 45°

315°

45°

Moved from 45° to 315°.Moved from 315° to 45°.

Example

(1) Positioning is carried out in a clockwise direction when the current value is moved from 315° to 45°.

(2) Positioning is carried out in a counterclockwise direction when the current value is moved from 45° to 315°.

■When the absolute system is used

• When the software stroke limit is invalid

The positioning is performed in the direction nearest to the specified address, using the current value as a reference. (This

control is called shortcut control.)

When the rotation angle is 180, the rotation direction is determined depending on the start point position.

Start point position Rotation direction

0  Start point < 180 Clockwise

180  Start point < 0 Counterclockwise

To specify the positioning direction (when the shortcut control is not performed), invalidate the shortcut control using "[Cd.40]

ABS direction in degrees" or "[Da.28] ABS direction in degrees". The positioning in the specified direction can be performed.

This function can be executed when the software stroke limit is invalid. When the software stroke limit is valid, Illegal setting of

ABS direction in unit of degree (Error code: 19A5H) occurs and the positioning is not started.

With "[Cd.40] ABS direction in degrees" or "[Da.28] ABS direction in degrees", the setting value of the reference axis is

applied to the reference axis and interpolation axis. Even if a unit other than degree is set for the reference axis, the setting of

the reference axis is applied to the interpolation axis as follows (for the 3-axis linear interpolation control (ABS3)).

Axis Unit setting "[Cd.40] ABS direction in

degrees"

Reference axis pulse 1: ABS clockwise 

Interpolation axis 1 degree  1: ABS clockwise

Interpolation axis 2 degree  1: ABS clockwise

Rotation direction in degrees

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

• To specify the rotation direction in degrees for each positioning data, especially for the continuous positioning control and

0°

345.00000°

315.00000°

Example

Positioning is carried out in a clockwise direction.

When the current value is moved from 0° to 315°, positioning is carried out in a clockwise direction if the software stroke limit lower limit value is 0° and the upper limit value is 345°.

continuous path control, use "[Da.28] ABS direction in degrees".

• To set the same rotation direction for all positioning data, use "[Cd.40] ABS direction in degrees". The same rotation

direction can be set for each positioning data in a batch.

• When "[Cd.40] ABS direction in degrees" is used, set 0 in "[Da.28] ABS direction in degrees". When a value other than 0 is set, "[Da.28] ABS direction in degrees" is enabled.

• The setting value in "[Cd.40] ABS direction in degrees" is effective only at the start of positioning control. In the continuous positioning control or continuous path control, the operation continues with the setting configured at the start even if the setting is changed during the operation.

Name Function Buffer memory address Initial value

Axis 1 Axis 2 Axis 3 Axis 4

[Cd.40] ABS direction in degrees

[Da.28] ABS direction in degrees

Specify the ABS movement direction in increments of degrees. 0: Shortcut (the direction setting is invalid) 1: ABS clockwise 2: ABS counterclockwise

Set "[Cd.40] ABS direction in degrees" for each positioning data. 0: Use the set value of "[Cd.40] ABS direction in degrees" 1: ABS clockwise 2: ABS counterclockwise 3: Shortcut (Direction setting invalid)

1550 1650 1750 1850 0

2003 (b2 to b3)

8003+N (b2 to b3)

14003+N (b2 to b3)

20003+N (b2 to b3)

*1 N indicates the offset address of each positioning data.

N = ((Positioning data No.) - 1)  10

• When the software stroke limit is valid

The positioning is performed in a clockwise or counterclockwise direction depending on the setting method of the software

stroke limit range.

Therefore, the positioning with the shortcut control may not be possible.

The range of positioning addresses is 0 to 359.99999.

To perform the positioning of one rotation or more, use the incremental system.

■When the incremental system is used

The positioning is performed for a specified movement amount in a specified direction. The movement direction is determined

by the sign of the movement amount.

• When the movement direction is positive: Clockwise

• When the movement direction is negative: Counterclockwise

The positioning of 360 or more can be performed with the incremental system.

In this case, invalidate the software stroke limit by setting values as follows.

(Set a value within the setting range of 0 to 359.99999.)

[Software stroke limit upper limit value = Software stroke limit lower limit value]

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Interpolation control

Meaning of the interpolation control

For 2-axis linear interpolation control, 3-axis linear interpolation control, 4-axis linear interpolation control, 2-axis fixed-feed

control, 3-axis fixed-feed control, 4-axis fixed-feed control, 2-axis speed control, 3-axis speed control, 4-axis speed control, 2-

axis circular interpolation control, and 3-axis helical interpolation control, each control is performed so that linear and arc

paths are drawn using motors set in the directions of two to four axes. This type of control is called interpolation control.

In the interpolation control, the axis in which the control method is set is defined as the reference axis and the other axes are

defined as the interpolation axes. The RD75 controls the reference axis following the positioning data set in the reference

axis, and controls of the interpolation axes corresponding to the control of the reference axis so that a linear or arc path is

drawn.

The following table shows the combinations of the reference axis and interpolation axes.

Interpolation control set in [Da.2] Control method

2-axis linear interpolation control, 2-axis fixed-feed control, 2-axis circular interpolation control, and 2-axis speed control

3-axis linear interpolation control, 3-axis fixed-feed control, and 3-axis speed control

4-axis linear interpolation control, 4-axis fixed-feed control, and 4-axis speed control

Reference axis Interpolation axis

Any of Axis 1 to 4 Depends on the axis to be interpolated set in the

reference axis

Axis 1 Axis 2, Axis 3

Axis 2 Axis 3, Axis 4

Axis 3 Axis 4, Axis 1

Axis 4 Axis 1, Axis 2

Axis 1 Axis 2, Axis 3, Axis 4

Axis 2 Axis 3, Axis 4, Axis 1

Axis 3 Axis 4, Axis 1, Axis 2

Axis 4 Axis 1, Axis 2, Axis 3

The combinations of axes available for the 3-axis helical interpolation control are the same as the ones for the 3-axis linear

interpolation control, 3-axis fixed-feed control, and 3-axis speed control. However, the circular interpolation axis can be

specified in [Da.5] Axis to be interpolated of the reference axis. The following table shows the combinations of the reference

axis, circular interpolation axis, and linear interpolation axis for the 3-axis helical interpolation control.

Interpolation control set in [Da.2] Control method

3-axis helical interpolation control Axis 1 Axis 2 Axis 3

*1 Specified in [Da.5] Axis to be interpolated of the reference axis. *2 An axis that is not specified in [Da.5] Axis to be interpolated of the reference axis is automatically assigned.

Reference axis Circular interpolation axis*1Linear interpolation axis

Axis 3 Axis 2

Axis 2 Axis 3 Axis 4

Axis 4 Axis 3

Axis 3 Axis 4 Axis 1

Axis 1 Axis 4

Axis 4 Axis 1 Axis 2

Axis 2 Axis 1

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Positioning data setting

When the interpolation control is performed, the same positioning data No. are set for the reference axis and interpolation

axis. The following table shows the setting items of Positioning data of the reference axis and interpolation axis. : Always set, : Set as required, : Setting restricted

: Setting not required (Because this item is an irrelevant item, the set value is ignored. Set the value within the setting

range, such as the initial value.)

Setting item Setting item of reference axis Setting item of interpolation

axis

Same positioning data No.

[Da.1] Operation pattern 

[Da.2] Control method 

[Da.3] Acceleration time No. 

[Da.4] Deceleration time No. 

[Da.5] Axis to be interpolated 

[Da.6] Positioning address/movement

amount

[Da.7] Arc address 

[Da.8] Command speed 

[Da.9] Dwell time 

[Da.10] M code 

[Da.27] M code ON signal output timing 

[Da.28] ABS direction in degrees 

[Da.29] Interpolation speed specification

method

Line 2, 3, 4 Fixed-feed 2, 3, 4 Circular sub, circular right, circular left Helical sub, helical right, helical left Forward run speed 2, 3, 4 Reverse run speed 2, 3, 4

*1*2



Not required for Forward run speed 2, 3, 4 and Reverse run speed 2, 3, 4

Required only for circular sub, circular right, circular left, helical sub, helical right, and helical left







Not required for Forward run speed 2, 3, 4 and Reverse run speed 2, 3, 4



Required only for circular sub, circular right, circular left, helical sub, helical right, and helical left

Required for Forward run speed 2, 3, 4 and Reverse run speed 2, 3, 4

Set the number of pitch for the linear interpolation axis only for helical sub, helical right, and helical left.

*1 The partner axis is set for the axis interpolation. If the self-axis is set, Illegal interpolation description command (Error code: 1A22H)

occurs. For the 3- and 4-axis interpolation, the axis setting is not required.

*2 For the combinations of the reference axis and interpolation axes in the 3-axis helical interpolation, refer to Page 77 Interpolation

control. If any setting other than the setting described is configured, Illegal interpolation description command (Error code: 1A22H) occurs.

For details on the settings, refer to the following. Page 420 Positioning Data

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Starting the interpolation control

To start the interpolation control, the positioning data Nos. of the reference axis (the axis for which the interpolation control

was set in [Da.2] Control method) are started. (Starting of the interpolation axis is not required.)

If both the reference axis and interpolation axis are started, the following errors or warning will occur and the positioning will

not start.

• Reference axis: Interpolation while partner axis BUSY (Error code: 1998H)

• Interpolation axis: Control method setting error (Error code: 1A24H), Start during operation (Warning code: 0900H)

Interpolation control continuous positioning

To perform the interpolation control in which Continuous positioning control and Continuous path control are specified in the

operation pattern, the positioning method for all the positioning data from the started positioning data to the positioning data in

which Positioning complete is set must be set to the interpolation control.

The number of interpolation axes and axes to be interpolated cannot be changed from the intermediate positioning data. If the

number of interpolation axes and axes to be interpolated are changed, Control method setting error (Error code: 1A25H)

occurs and the positioning will stop.

Precautions

• When a stepping motor is used, the circular interpolation control and 3-axis helical interpolation control cannot be

performed. Use a servomotor when the circular interpolation control or 3-axis helical interpolation control is performed.

• If any axis exceeds the value in [Pr.8] Speed limit value during either of the 2-axis speed control, 3-axis speed control, and

4-axis speed control, the axis exceeding the speed limit value is controlled with the speed limit value. The speeds of the

other axes being interpolated are suppressed by the command speed ratio.

• If any axis exceeds the value in [Pr.8] Speed limit value during any of the 2-axis linear interpolation control, 3-axis linear

interpolation control, 4-axis linear interpolation control, 2-axis fixed-feed control, 3-axis fixed-feed control, 4-axis fixed-feed

control, 2-axis circular interpolation control, and 3-axis helical interpolation control, the axis exceeding the speed limit value

is controlled with the speed limit value. The speeds of the other axes being interpolated are suppressed by the movement

amount ratio.

• In the 2-axis linear interpolation control, 3-axis linear interpolation control, 4-axis linear interpolation control, 2-axis fixed-

feed control, 3-axis fixed-feed control, or 4-axis fixed-feed control, when 1: Reference axis speed is set in [Pr.20]

Interpolation speed specification method, and when the reference axis is the minor axis and the interpolation axis is the

major axis, the speed limit value of the interpolation axis may not function.

• In the 3-axis helical interpolation control, the composite speed of the circular interpolation axis or the speed of the linear

interpolation axis is controlled not to exceed the value in [Pr.8] Speed limit value.

• In the 2-axis interpolation, the combination of the interpolation axes cannot be changed during the operation.

If Reference axis speed is set for the interpolation control, set the major axis as the reference axis. If the minor

axis is set as the reference axis, the speed of the major axis cannot be suppressed with [Pr.8] Speed limit

value.

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Interpolation speed specification method

Specify composite speed.

X axis

Calculated by the RD75

Y axis

X axis

Calculated by the RD75.

Y axis

Specify speed for the reference axis.

For the interpolation control, set the composite speed or reference axis speed with "[Pr.20] Interpolation speed specification

method" or "[Da.29] Interpolation speed specification method" of the reference axis.

• Composite speed: The movement speed for the control target is specified, and the speed for each axis is calculated by the

RD75.

• Reference axis speed: The axis speed set in the reference axis is specified, and the speed for the other axis performing

interpolation is calculated by the RD75.

When the composite speed is specified When the speed for the reference axis is specified

• To specify the interpolation speed for each positioning data, use "[Da.29] Interpolation speed specification method".

• To set the same interpolation speed for all positioning data, use "[Pr.20] Interpolation speed specification method". The

same interpolation speed specification method can be specified for each positioning data in a batch. When "[Pr.20]

Interpolation speed specification method" is used, set 0 in "[Da.29] Interpolation speed specification method". When a

value other than 0 is set, "[Da.29] Interpolation speed specification method" is enabled.

Name Function Buffer memory address

Axis 1 Axis 2 Axis 3 Axis 4

[Pr.20] Interpolation speed specification method

[Da.29] Interpolation speed specification method

When performing linear interpolation/circular interpolation, set whether to specify the composite speed or the speed for the reference axis. 0: Composite speed 1: Reference axis speed

Set "[Pr.20] Interpolation speed specification method" for each positioning data. 0: Use the set value of "[Pr.20] Interpolation speed specification method" 1: Composite speed 2: Reference axis speed

1550 1650 1750 1850

2003+N (b4 to b6)

8003+N (b4 to b6)

14003+N (b4 to b6)

20003+N (b4 to b6)

*1 N indicates the offset address of each positioning data.

N = ((Positioning data No.) - 1)  10

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Limits of the interpolation control

Limits are provided on the interpolation control that can be executed and speed ([Pr.20] Interpolation speed specification

method) that can be set, depending on the settings in [Pr.1] Unit setting of the reference axis and interpolation axis. (For

example, the circular interpolation control cannot be performed if the unit of the reference axis and that of the interpolation

axis differ.)

The following table shows the limits of the interpolation control and speed specification. : Setting possible, : Setting not possible, : No interpolation axis

Interpolation control set in [Da.2] Control method

[Pr.20] Interpolation speed specification method

[Pr.1] Unit setting

The units of the reference axis and interpolation axis are the same, or the combination of mm and inch is used.

1-axis linear control 1-axis fixed-feed control Speed-position switching control Position-speed switching control

2-/3-axis linear interpolation control 2-/3-axis fixed-feed control

4-axis linear interpolation control 4-axis fixed-feed control

1-axis speed control Composite speed 

2-/3-/4-axis speed control Composite speed

Composite speed 

Reference axis speed 

Composite speed 

Reference axis speed 

Composite speed

Reference axis speed 

Reference axis speed 



The units of the reference axis and interpolation axis differ

Reference axis speed 

2-axis circular interpolation control Composite speed 

Reference axis speed

3-axis helical interpolation control Composite speed 

Reference axis speed







*1 The units of mm and inch can be mixed. *2 If Composite speed is set for the 2-axis speed control, 3-axis speed control, 4-axis speed control, and 4-axis linear interpolation control

and the positioning is started, Interpolation mode error (Error code: 199AH) occurs and the positioning will not start.

*3 If Reference axis speed is set for the 2-axis circular interpolation control and 3-axis helical interpolation control and the positioning is

started, Interpolation mode error (Error code: 199BH) occurs and the positioning will not start. *4 If the units are different or if mm and inch are mixed, use the unit set to the reference axis for the unit of the speed being controlled. *5 The unit of degree cannot be set. If the circular interpolation control or 3-axis helical interpolation control is set when the unit is degree,

Circular interpolation (Error code: 199FH) occurs and the positioning will not start. During the positioning control, the operation

decelerates to stop at the detection of the error. *6 Only linear interpolation axis can use a unit different from that of the reference axis.

Axis operation status during the interpolation control

During the interpolation control, Interpolation is stored in [Md.26] Axis operation status. When the interpolation control is

finished, Standby will be stored. If an error occurs during the interpolation control, both the reference axis and interpolation

axis will perform a deceleration stop, and Error is stored in [Md.26] Axis operation status.

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

3.2 Positioning Data Setting

Relation between each control and positioning data

The setting requirements and details on the setting items of the positioning data differ according to the setting in [Da.2] Control

method.

The following table shows the setting items of positioning data prepared for various control systems. (The settings of

positioning data in this section are assumed to be performed using an engineering tool.)

: Always set, : Set as required

: Setting not possible (If these items are set, Continuous path control not possible (Error code: 1A1EH, 1A1FH) occurs at

the start.) : Setting not required (The set value is ignored. Set the value within the setting range, such as the initial value.)

Setting items for positioning data Position control Speed control Speed-

1-axis linear control 2-axis linear interpolation control 3-axis linear interpolation control

1-axis fixedfeed control 2-axis fixedfeed control 3-axis fixedfeed control 4-axis fixedfeed control

2-axis circular interpolation control

3-axis helical interpolation control

1-axis speed control 2-axis speed control 3-axis speed control 4-axis speed

control 4-axis linear interpolation control

[Da.1] Operation

pattern

[Da.2] Control method Line 1

[Da.3] Acceleration time No.  

[Da.4] Deceleration time No.  

[Da.5] Axis to be interpolated : 2-axis interpolation control, 3-axis helical interpolation control

[Da.6] Positioning address/movement

amount

[Da.7] Arc address  

[Da.8] Command speed  

[Da.9] Dwell time  

[Da.10] M code 

[Da.27] M code ON signal output timing  

[Da.28] ABS direction in degrees  

[Da.29] Interpolation speed specification

method

Independent positioning control (positioning complete)

Continuous positioning control

Continuous path control

 

 

 

Line 2 Line 3 Line 4

: 1-axis control, 3-axis interpolation control, 4-axis interpolation control

 

: 1-axis control, : 2-axis interpolation control, 3-axis interpolation control, 4-axis interpolation control

Fixed-feed 1 Fixed-feed 2 Fixed-feed 3 Fixed-feed 4

Circular sub Circular right Circular left

Helical sub Helical right Helical left

Forward run speed 1

Reverse run speed 1

Forward run speed 2

Reverse run speed 2

Forward run speed 3

Reverse run speed 3

Forward run speed 4

Reverse run speed 4



position switching control

Forward run speedposition Reverse run speedposition



*1 Two control methods are available: Absolute (ABS) system and Incremental (INC) system. *2 Set an M code for the reference axis and set the number of pitches for the linear interpolation axis.

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

Setting Positioning data using an engineering tool is recommended. To perform the setting using programs,

many programs and devices are required. The execution becomes complicated, and the scan times will

increase.

: Always set, : Set as required

: Setting not possible (If these items are set, New current value not possible (Error code: 1A1CH) or Continuous path

control not possible (Error code: 1A1EH, 1A1FH) occurs at the start.) : Setting not required (The set value is ignored. Set the value within the setting range, such as the initial value.)

Setting items for positioning data Position-

speed switching control

[Da.1] Operation

pattern

[Da.2] Control method Forward run

[Da.3] Acceleration time No.  

[Da.4] Deceleration time No.  

[Da.5] Axis to be interpolated  

[Da.6] Positioning address/movement

amount

[Da.7] Arc address  

[Da.8] Command speed  

[Da.9] Dwell time 

[Da.10] M code 

[Da.27] M code ON signal output timing 

[Da.28] ABS direction in degrees  

[Da.29] Interpolation speed specification

method

Independent positioning control (Positioning complete)

Continuous positioning control

Continuous path control







position-speed Reverse run position-speed



 

Other controls

NOP instruction

Current value change

Address after change

JUMP instruction



JUMP destination positioning data No.

Condition data No. at JUMP

LOOP instruction





Number of repetitions

LEND instruction



3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

1-axis linear control

01000 8000

Positioning control (movement amount: 7000)

Start point address

(current stop position)

End point address

(positioning address)

When the start point address (current stop position) is 1000 and the end point address (positioning address) is 8000, positioning is carried out in a forward direction with a movement amount of 7000 (8000 - 1000).

Example

In the 1-axis linear control ([Da.2] Control method = ABS linear 1, INC linear 1), one motor is used to perform the position

control in the set axis direction.

1-axis linear control (ABS linear 1)

■Operation chart

In the 1-axis linear control of the absolute system, the positioning is performed from the current stop position (start point

address) to the address set in [Da.6] Positioning address/movement amount (end point address).

■Positioning data to be set

To use the 1-axis linear control (ABS linear 1), set the following positioning data. : Always set, : Set as required, : Setting not required

Setting item Setting requirement

[Da.1] Operation pattern 

[Da.2] Control method  (Set ABS linear 1.)

[Da.3] Acceleration time No. 

[Da.4] Deceleration time No. 

[Da.5] Axis to be interpolated 

[Da.6] Positioning address/movement amount 

[Da.7] Arc address 

[Da.8] Command speed 

[Da.9] Dwell time 

[Da.10] M code 

[Da.27] M code ON signal output timing 

[Da.28] ABS direction in degrees 

[Da.29] Interpolation speed specification method 

For details on the settings, refer to the following. Page 420 Positioning Data

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

1-axis linear control (INC linear 1)

Reverse direction

Forward direction

Start point address (current stop position)

Movement direction with a negative movement amount

Movement direction with a positive movement amount

50004000 6000-2000-3000 -1000

200010000 3000

Positioning control in the reverse direction (movement amount: -7000)

Address after positioning control

Start point address (current stop position)

Example

When the start point address is 5000 and the movement amount is -7000, positioning is carried out to the -2000 position.

■Operation chart

In the 1-axis linear control of the incremental system, the positioning for the movement amount set in [Da.6] Positioning

address/movement amount is performed from the current stop position (start point address). The movement direction is

determined by the sign of the movement amount.

■Positioning data to be set

To use the 1-axis linear control (INC linear 1), set the following positioning data. : Always set, : Set as required, : Setting not required

Setting item Setting requirement

[Da.1] Operation pattern 

[Da.2] Control method  (Set INC linear 1.)

[Da.3] Acceleration time No. 

[Da.4] Deceleration time No. 

[Da.5] Axis to be interpolated 

[Da.6] Positioning address/movement amount 

[Da.7] Arc address 

[Da.8] Command speed 

[Da.9] Dwell time 

[Da.10] M code 

[Da.27] M code ON signal output timing 

[Da.28] ABS direction in degrees 

[Da.29] Interpolation speed specification method 

For details on the settings, refer to the following. Page 420 Positioning Data

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

2-axis linear interpolation control

X1 X2

Y axis movement amount

X axis movement amount

Reverse direction

Forward direction (X axis)

Reverse direction

Forward direction (Y axis)

Movement by linear interpolation of the X axis and Y axis

(current stop position)

(positioning address)

Start point address (X1, Y1)

End point address (X2, Y2)

5000

4000

1000

10000

Axis 1 movement amount (10000 - 1000 = 9000)

Axis 2 movement amount (4000 - 1000 = 3000)

Axis 2

Axis 1

Start point address (current stop position)

(positioning address)

When the start point address (current stop position) is (1000, 1000) and the end point address (positioning address) is (10000, 4000), positioning is carried out as follows.

End point address

Example

In the 2-axis linear interpolation control ([Da.2] Control method = ABS linear 2, INC linear 2), two motors are used to perform

the position control in a linear path while the interpolation is performed for the axis directions set in each axis.

For details on the interpolation control, refer to the following. Page 77 Interpolation control

2-axis linear interpolation control (ABS linear 2)

■Operation chart

In the 2-axis linear interpolation control of the absolute system, specified two axes are used to perform the linear interpolation

positioning from the current stop position (start point address) to the address set in [Da.6] Positioning address/movement

amount (end point address).

■Restrictions

In the following case, an error occurs and the positioning will not start. During the positioning control, the operation stops

immediately at the detection of the error.

• If the movement amount of each axis exceeds 1073741824 (= 2

).)

speed specification method, Outside linear movement amount range (Error code: 1A15H) occurs at the start of the

positioning. (The maximum movement amount that can be set in [Da.6] Positioning address/movement amount is

1073741824 (= 2

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

) when 0: Composite speed is set in [Pr.20] Interpolation

■Positioning data to be set

To use the 2-axis linear interpolation control (ABS linear 2), set the following positioning data. : Always set, : Set as required, : Setting not required

Setting item Setting requirement of

reference axis

[Da.1] Operation pattern 

[Da.2] Control method  (Set ABS linear 2.) 

[Da.3] Acceleration time No. 

[Da.4] Deceleration time No. 

[Da.5] Axis to be interpolated 

[Da.6] Positioning address/movement amount 

[Da.7] Arc address 

[Da.8] Command speed 

[Da.9] Dwell time 

[Da.10] M code 

[Da.27] M code ON signal output timing 

[Da.28] ABS direction in degrees 

[Da.29] Interpolation speed specification method 

For details on the settings, refer to the following. Page 420 Positioning Data

Setting requirement of interpolation axis

If Reference axis speed is used for the 2-axis linear interpolation control, set the major axis as the reference

axis. If the minor axis is set as the reference axis, the speed of the major axis cannot be suppressed with

[Pr.8] Speed limit value.

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

2-axis linear interpolation control (INC linear 2)

X1 X2

Forward direction (Y axis)

Start point address (X1, Y1) (current stop position)

Movement by linear interpolation of the X axis and Y axis

Forward direction (X axis)

Y axis movement amount

Reverse direction

X axis movement amount

500010000 10000

4000

1000

Example

Start point address

Stop address after the positioning control

Axis 2

Axis 1

(current stop position)

When the axis 1 movement amount is 9000 and the axis 2 movement amount is -3000, positioning is carried out as follows.

Axis 2 movement amount (-3000)

Axis 1 movement amount (9000)

■Operation chart

In the 2-axis linear interpolation control of the incremental system, specified two axes are used to perform the linear

interpolation positioning for the movement amount set in [Da.6] Positioning address/movement amount from the current stop

position (start point address). The movement direction is determined by the sign of the movement amount.

■Restrictions

In the following case, an error occurs and the positioning will not start. During the positioning control, the operation stops

immediately at the detection of the error.

• If the movement amount of each axis exceeds 1073741824 (= 2

speed specification method, Outside linear movement amount range (Error code: 1A15H) occurs at the start of the

positioning. (The maximum movement amount that can be set in [Da.6] Positioning address/movement amount is

1073741824 (= 2

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

).)

) when 0: Composite speed is set in [Pr.20] Interpolation

■Positioning data to be set

To use the 2-axis linear interpolation control (INC linear 2), set the following positioning data. : Always set, : Set as required, : Setting not required

Setting item Setting requirement of

reference axis

[Da.1] Operation pattern 

[Da.2] Control method  (Set INC linear 2.) 

[Da.3] Acceleration time No. 

[Da.4] Deceleration time No. 

[Da.5] Axis to be interpolated 

[Da.6] Positioning address/movement amount 

[Da.7] Arc address 

[Da.8] Command speed 

[Da.9] Dwell time 

[Da.10] M code 

[Da.27] M code ON signal output timing 

[Da.28] ABS direction in degrees 

[Da.29] Interpolation speed specification method 

For details on the settings, refer to the following. Page 420 Positioning Data

Setting requirement of interpolation axis

If Reference axis speed is used for the 2-axis linear interpolation control, set the major axis as the reference

axis. If the minor axis is set as the reference axis, the speed of the major axis cannot be suppressed with

[Pr.8] Speed limit value.

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

3-axis linear interpolation control

(positioning address)

Y axis movement amount

(current stop position)

Forward direction (X axis)

Forward direction (Z axis)

Reverse direction

X axis movement amount

Z axis movement amount

Reverse direction Reverse direction

Forward direction (Y axis)

End point address (X2, Y2, Z2)

Movement by linear interpolation of the X axis, Y axis, and Z axis

Start point address (X1, Y1, Z1)

8000

4000

2000

1000

4000

End point address (positioning address)

Axis 2 movement amount (8000 - 2000 = 6000)

Start point address (current stop position)

Axis 1

Axis 3

Axis 2

Axis 3 movement amount (4000 - 1000 = 3000)

Axis 1 movement amount (4000 - 1000 = 3000)

Example

When the start point address (current stop position) is (1000, 2000, 1000) and the end point address (positioning address) is (4000, 8000, 4000), positioning is carried out as follows.

In the 3-axis linear interpolation control ([Da.2] Control method = ABS linear 3, INC linear 3), three motors are used to perform

the position control in a linear path while the interpolation is performed for the axis directions set in each axis.

For details on the interpolation control, refer to the following. Page 77 Interpolation control

3-axis linear interpolation control (ABS linear 3)

■Operation chart

In the 3-axis linear interpolation control of the absolute system, three axes are used to perform the linear interpolation

positioning from the current stop position (start point address) to the address set in [Da.6] Positioning address/movement

amount (end point address).

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

■Restrictions

In the following case, an error occurs and the positioning will not start. During the positioning control, the operation stops

immediately at the detection of the error.

• If the movement amount of each axis exceeds 1073741824 (= 2

speed specification method, Outside linear movement amount range (Error code: 1A15H) occurs at the start of the

positioning. (The maximum movement amount that can be set in [Da.6] Positioning address/movement amount is

1073741824 (= 2

).)

) when 0: Composite speed is set in [Pr.20] Interpolation

■Positioning data to be set

To use the 3-axis linear interpolation control (ABS linear 3), set the following positioning data. : Always set, : Set as required, : Setting not required

Setting item Setting requirement of

reference axis

[Da.1] Operation pattern 

[Da.2] Control method  (Set ABS linear 3.) 

[Da.3] Acceleration time No. 

[Da.4] Deceleration time No. 

[Da.5] Axis to be interpolated 

[Da.6] Positioning address/movement amount 

[Da.7] Arc address 

[Da.8] Command speed 

[Da.9] Dwell time 

[Da.10] M code 

[Da.27] M code ON signal output timing 

[Da.28] ABS direction in degrees 

[Da.29] Interpolation speed specification method 

For details on the settings, refer to the following. Page 420 Positioning Data

Setting requirement of interpolation axis

• If Reference axis speed is used for the 3-axis linear interpolation control, set the major axis as the reference

axis. If the minor axis is set as the reference axis, the speed of the major axis cannot be suppressed with

[Pr.8] Speed limit value.

• For the combinations of the reference axis and interpolation axes, refer to the following. Page 77 Interpolation control

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

3-axis linear interpolation control (INC linear 3)

Z axis movement amount

X axis movement amount

Y axis movement amount

Start point address (X1, Y1, Z1)

(current stop position)

Forward direction

Movement by linear interpolation of the X axis, Y axis, and Z axis

Reverse direction

6000

5000

5000 10000

When the axis 1 movement amount is 10000, the axis 2 movement amount is 5000, and the axis 3 movement amount is 6000, positioning is carried out as follows.

Start point address

(current stop position)

Axis 1

Axis 3

Stop address after the positioning control

Axis 2

Axis 3 movement amount (6000)

Axis 2 movement amount (5000)

Axis 1 movement amount (10000)

Example

■Operation chart

In the 3-axis linear interpolation control of the incremental system, three axes are used to perform the linear interpolation

positioning for the movement amount set in [Da.6] Positioning address/movement amount from the current stop position (start

point address). The movement direction is determined by the sign of the movement amount.

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

■Restrictions

In the following case, an error occurs and the positioning will not start. During the positioning control, the operation stops

immediately at the detection of the error.

• If the movement amount of each axis exceeds 1073741824 (= 2

speed specification method, Outside linear movement amount range (Error code: 1A15H) occurs at the start of the

positioning. (The maximum movement amount that can be set in [Da.6] Positioning address/movement amount is

1073741824 (= 2

).)

) when 0: Composite speed is set in [Pr.20] Interpolation

■Positioning data to be set

To use the 3-axis linear interpolation control (INC linear 3), set the following positioning data. : Always set, : Set as required, : Setting not required

Setting item Setting requirement of

reference axis

[Da.1] Operation pattern 

[Da.2] Control method  (Set INC linear 3.) 

[Da.3] Acceleration time No. 

[Da.4] Deceleration time No. 

[Da.5] Axis to be interpolated 

[Da.6] Positioning address/movement amount 

[Da.7] Arc address 

[Da.8] Command speed 

[Da.9] Dwell time 

[Da.10] M code 

[Da.27] M code ON signal output timing 

[Da.28] ABS direction in degrees 

[Da.29] Interpolation speed specification method 

For details on the settings, refer to the following. Page 420 Positioning Data

Setting requirement of interpolation axis

• If Reference axis speed is used for the 3-axis linear interpolation control, set the major axis as the reference

axis. If the minor axis is set as the reference axis, the speed of the major axis cannot be suppressed with

[Pr.8] Speed limit value.

• For the combinations of the reference axis and interpolation axes, refer to the following. Page 77 Interpolation control

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

4-axis linear interpolation control

In the 4-axis linear interpolation control ([Da.2] Control method = ABS linear 4, INC linear 4), four motors are used to perform

the position control in a linear path while the interpolation is performed for the axis directions set in each axis.

For details on the interpolation control, refer to the following. Page 77 Interpolation control

4-axis linear interpolation control (ABS linear 4)

In the 4-axis linear interpolation control of the absolute system, four axes are used to perform the linear interpolation

positioning from the current stop position (start point address) to the address set in [Da.6] Positioning address/movement

amount (end point address).

■Positioning data to be set

To use the 4-axis linear interpolation control (ABS linear 4), set the following positioning data. : Always set, : Set as required, : Setting not required

Setting item Setting requirement of

reference axis

[Da.1] Operation pattern 

[Da.2] Control method  (Set ABS linear 4.) 

[Da.3] Acceleration time No. 

[Da.4] Deceleration time No. 

[Da.5] Axis to be interpolated 

[Da.6] Positioning address/movement amount 

[Da.7] Arc address 

[Da.8] Command speed 

[Da.9] Dwell time 

[Da.10] M code 

[Da.27] M code ON signal output timing 

[Da.28] ABS direction in degrees 

[Da.29] Interpolation speed specification method 

Setting requirement of interpolation axis

For details on the settings, refer to the following. Page 420 Positioning Data

• For the 4-axis linear interpolation control, set Reference axis speed and set the major axis as the reference

axis. If the minor axis is set as the reference axis, the speed of the major axis cannot be suppressed with

[Pr.8] Speed limit value.

• For the combinations of the reference axis and interpolation axes, refer to the following. Page 77 Interpolation control

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

4-axis linear interpolation control (INC linear 4)

In the 4-axis linear interpolation control of the incremental system, four axes are used to perform the linear interpolation

positioning of the movement amount set in [Da.6] Positioning address/movement amount from the current stop position (start

point address). The movement direction is determined by the sign of the movement amount.

■Positioning data to be set

To use the 4-axis linear interpolation control (INC linear 4), set the following positioning data. : Always set, : Set as required, : Setting not required

Setting item Setting requirement of

reference axis

[Da.1] Operation pattern 

[Da.2] Control method  (Set INC linear 4.) 

[Da.3] Acceleration time No. 

[Da.4] Deceleration time No. 

[Da.5] Axis to be interpolated 

[Da.6] Positioning address/movement amount 

[Da.7] Arc address 

[Da.8] Command speed 

[Da.9] Dwell time 

[Da.10] M code 

[Da.27] M code ON signal output timing 

[Da.28] ABS direction in degrees 

[Da.29] Interpolation speed specification method 

Setting requirement of interpolation axis

For details on the settings, refer to the following. Page 420 Positioning Data

• For the 4-axis linear interpolation control, set Reference axis speed and set the major axis as the reference

axis. If the minor axis is set as the reference axis, the speed of the major axis cannot be suppressed with

[Pr.8] Speed limit value.

• For the combinations of the reference axis and interpolation axes, refer to the following. Page 77 Interpolation control

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

Fixed-feed control

00 000

Md.20 Current feed value is set to 0 at the positioning start.

Positioning start

Reverse direction

Forward direction

Stop position

Movement direction with a negative movement amount

Movement direction with a positive movement amount

Specified movement amount

(0, 0)

Y axis

X axis

Md.20 Current feed value of each axis is set to 0 at the positioning start.

Specified movement amount

In the fixed-feed control ([Da.2] Control method = Fixed-feed 1, 2, 3, or 4), motors for the number of specified axes are used

to perform the fixed-feed control in the set axis direction.

In the fixed-feed control, any reminder of the movement amount specified in the positioning data is rounded down to output

the same amount of pulses if it is less than that required for control accuracy.

Operation chart

In the fixed-feed control, the address ([Md.20] Current feed value) of the current stop position (start point address) is set to 0,

and the positioning for the movement amount set in [Da.6] Positioning address/movement amount is performed. The

movement direction is determined by the sign of the movement amount.

• Example of the 1-axis fixed-feed control

• Example of the 2-axis fixed-feed control

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

Restrictions

• If Continuous path control is set in [Da.1] Operation pattern, Continuous path control not possible (Error code: 1A1FH)

occurs and the control will not start. (In the fixed-feed control, Continuous path control cannot be set.)

• Fixed-feed cannot be set in [Da.2] Control method in the positioning data when Continuous path control is set in [Da.1]

Operation pattern of the immediately previous positioning data. For example, if the operation pattern of the positioning data

No.1 is Continuous path control, the fixed-feed control cannot be set to the positioning data No.2. If this setting is

configured, Continuous path control not possible (Error code: 1A1FH) occurs and the deceleration stop is performed.

• In the 2-axis control or 3-axis control, if the movement amount of each axis exceeds 1073741824 (= 2

) when 0:

Composite speed is set in [Pr.20] Interpolation speed specification method, Outside linear movement amount range (Error

code: 1A15H) occurs at the start of the positioning and the positioning will not start. (The maximum movement amount that

can be set in [Da.6] Positioning address/movement amount is 1073741824 (= 2

).)

• For the 4-axis fixed-feed control, set 1: Reference axis speed in [Pr.20] Interpolation speed specification method. If 0:

Composite speed is set, Interpolation mode error (Error code: 199AH) occurs and the positioning will not start.

Positioning data to be set

To use the fixed-feed control, set the following positioning data. : Always set, : Set as required, : Setting not required

Setting item Setting requirement of

reference axis

[Da.1] Operation pattern 

[Da.2] Control method 

[Da.3] Acceleration time No. 

[Da.4] Deceleration time No. 

[Da.5] Axis to be interpolated 

[Da.6] Positioning address/movement amount 

[Da.7] Arc address 

[Da.8] Command speed 

[Da.9] Dwell time 

[Da.10] M code 

[Da.27] M code ON signal output timing 

[Da.28] ABS direction in degrees 

[Da.29] Interpolation speed specification method 

Setting requirement of interpolation axis



*1 To use the 2-axis fixed-feed control (interpolation), the axis to be used as the interpolation axis needs to be set. *2 To use the 1-axis fixed-feed control, the setting is not required.

For details on the settings, refer to the following. Page 420 Positioning Data

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

• When the movement amount is converted to the actual number of output pulses, a fraction after the decimal

point appears according to the movement amount per pulse. This fraction is usually retained in the RD75

and will be reflected at the next positioning. For the fixed-feed control, since the movement amount is

maintained constant (= the number of output pulses is maintained constant), the control is performed after

the fractional pulses are cleared to 0 at the start.

Accumulation/cutoff of fractional pulses

When movement amount per pulse is 1.0μm and movement of 2.5μm is executed twice;

Conversion to output pulses: 2.5[μm] ÷ 1.0 = 2.5 pulses

Movement amount

Pulse output

INC1

Fixed-feed 1

2.5μm 2.5μm

2 pulses

3 pulses (= 2.5 + 0.5)

2 pulses

The 0.5 pulse held by the RD75 is carried over to the next positioning.

The 0.5 pulse held by the RD75 is cleared to 0 at start and not carried over to the next positioning.

• If Reference axis speed is used for the 2-axis fixed-feed control, 3-axis fixed-feed control, or 4-axis fixed-

feed control, set the major axis as the reference axis. If the minor axis is set as the reference axis, the

speed of the major axis cannot be suppressed with [Pr.8] Speed limit value.

• For the combinations of the reference axis and interpolation axes, refer to the following. Page 77 Interpolation control

3 MAJOR POSITIONING CONTROL

3.2 Positioning Data Setting

Mitsubishi Electric MELSEC iQ-R-RD75P4, MELSEC iQ-R-RD75P2, MELSEC iQ-R-RD75D2, MELSEC iQ-R-RD75D4 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

CONDITIONS OF USE FOR THE PRODUCT

INTRODUCTION

CONTENTS

RELEVANT MANUALS

TERMS

1 STARTING AND STOPPING

1.1 Starting

Normal start

Quick start

Multiple axes simultaneous start

1.2 Stopping

1.3 Restarting

Two types of OPR controls

2 OPR CONTROL

2.1 Overview of the OPR Control

Operation overview of the machine OPR

2.2 Machine OPR

Machine OPR method

Near-point dog method

Stopper method 1

Stopper method 2

Stopper method 3

Count method 1

Count method 2

Data setting method

Operation overview of the fast OPR

2.3 Fast OPR

3 MAJOR POSITIONING CONTROL

3.1 Overview of the Major Positioning Controls

Data required for major positioning control

Operation pattern of major positioning control

Specifying the positioning address

Checking the current value

Handling degree (control unit)

Interpolation control

Relation between each control and positioning data

3.2 Positioning Data Setting

1-axis linear control

2-axis linear interpolation control

3-axis linear interpolation control

4-axis linear interpolation control

Fixed-feed control