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