Mitsubishi MELSEC-L02CPU-P, MELSEC-L06CPU-P, MELSEC-L06CPU, MELSEC-L02CPU, MELSEC-L02SCPU-P User Manual

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MELSEC-L CPU Module User's Manual (Built-In I/O Function)

-L02SCPU

-L02SCPU-P

-L02CPU

-L02CPU-P

-L06CPU

-L06CPU-P

-L26CPU

-L26CPU-P

-L26CPU-BT

-L26CPU-PBT

SAFETY PRECAUTIONS

WARNING

CAUTION

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

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.

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) Machine OPR (Original Point Return) of the positioning function 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.

(3) When the CPU module detects an error during control by the positioning function, the motion

slows down and stops.

(4) 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.

(5) 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-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection).

(6) Outputs may remain on or off due to a failure of a component such as a 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 relevant manuals for each network. Incorrect output or malfunction due to a communication failure may result in an accident.

[Design Precautions]

WARNING

● When changing data from a peripheral device connected to the CPU module during operation, 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 or operating status change) of a running programmable controller, read the relevant manuals carefully and ensure that the operation is safe before proceeding. 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.

● An absolute position restoration by the positioning function may turn off the servo-on signal (servo off) for approximately 20ms, 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.

[Installation Precautions]

WARNING

● Shut off the external power supply (all phases) used in the system before mounting or removing a 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 MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection). Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product.

● To interconnect modules, engage the respective connectors and securely lock the module joint levers until they click. Incorrect interconnection may cause malfunction, failure, or drop of the module.

● Do not directly touch any conductive parts and electronic components of the module. Doing so can cause malfunction or failure of the module.

● Securely connect an extension cable to the connectors of a branch module and an extension module. After connections, check that the cable is inserted completely. 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.

● Do not directly touch any conductive parts and electronic components of the module or SD memory card. 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 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 terminal of the programmable controller with a ground resistance of 100

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 a terminal block screw comes loose, resulting in failure.

● Check the rated voltage and terminal 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 a 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.

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

cables. 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.

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

● To use the high-speed counter function, ground the shield cable on the encoder side (relay box). Always ground the FG and LG terminals to the protective ground conductor. Failure to do so may cause malfunction.

● Mitsubishi 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 methods, refer to the MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection).

[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 block screws. Failure to do so may result in electric shock.

[Startup and Maintenance Precautions]

CAUTION

● Before performing online operations (especially, program modification, forced output, and operating status change) for the running CPU module from the peripheral device connected, read relevant manuals carefully and ensure the safety. Improper operation may damage machines or cause accidents.

● Do not disassemble or modify the module. 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 a module. Failure to do so may cause the module to fail or malfunction.

● Tighten the terminal block 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 (module, display unit, and terminal block), the number of connections/disconnections is limited to 50 times (in accordance with IEC 61131-2). Exceeding the limit may cause malfunction.

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

● 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.

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

[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-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection).)

[Transportation Precautions]

CAUTION

● When transporting lithium batteries, follow the transportation regulations. (For details on the regulated models, refer to the MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection).)

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

Remark

Thank you for purchasing the Mitsubishi MELSEC-L series programmable controllers. This manual describes the functions of the external I/O interface of the LCPU and programming.

Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC-L series programmable controller to handle the product correctly. When applying the program examples introduced in this manual to an actual system, ensure the applicability and confirm that it will not cause system control problems.

Please make sure that the end users read this manual.

 Relevant CPU modules

CPU module Model

LCPU

● This manual describes only built-in I/O functions for the CPU module. For the functions except for built-in I/O functions of the CPU module, refer to the following.

 MELSEC-L CPU Module User's Manual (Function Explanation, Program Fundamentals)  MELSEC-L CPU Module User's Manual (Built-In Ethernet Function)  QnUDVCPU/LCPU User's Manual (Data Logging Function)

● Unless otherwise specified, this manual describes examples of assigning from X0 to XF for input numbers and from Y0 to Y7 for output numbers in each function. For I/O number assignment, refer to the following.  MELSEC-L CPU Module User's Manual (Function Explanation, Program Fundamentals)

● Unless otherwise specified, Chapter 7 POSITIONING FUNCTION in this manual is described as using examples of the setting, special relay, special register, dedicated instruction, error code and warning code supported for Axis 1.

● Unless otherwise specified, Chapter 8 HIGH-SPEED COUNTER FUNCTION in this manual is described as using examples of the setting, special relay, special register, dedicated instruction, error code and warning code supported for CH1.

L02SCPU, L02SCPU-P, L02CPU, L02CPU-P, L06CPU, L06CPU-P, L26CPU, L26CPU-P, L26CPU-BT, L26CPU-PBT

RELEVANT MANUALS

(1) CPU module user's manual

Manual name

MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection)

<SH-080890ENG, 13JZ36>

MELSEC-L CPU Module User's Manual (Function Explanation, Program Fundamentals)

<SH-080889ENG, 13JZ35>

MELSEC-L CPU Module User's Manual (Built-In Ethernet Function)

<SH-080891ENG, 13JZ37>

QnUDVCPU/LCPU User's Manual (Data Logging Function)

<SH-080893ENG, 13JZ39>

(2) Programming manual

Manual name

MELSEC-Q/L Programming Manual (Common Instruction)

<SH-080809ENG, 13JW10>

Description

Specifications of the CPU modules, power supply modules, display unit, branch module, extension module, SD memory cards, and batteries, information on how to establish a system, maintenance and inspection, and troubleshooting

Functions and devices of the CPU module, and programming

The built-in Ethernet function of the CPU module

The data logging function of the CPU module

Description

Detailed description and usage of instructions used in programs

(3) Operating manual

Manual name

GX Works2 Version 1 Operating Manual (Common)

<SH-080779ENG, 13JU63>

GX Developer Version 8 Operating Manual

<SH-080373E, 13JU41>

System configuration, parameter settings, and online operations of GX Works2, which are common to Simple projects and Structured projects

Operating methods of GX Developer, such as programming, printing, monitoring, and debugging

(4) I/O module and intelligent function module manual

Manual name

MELSEC-L I/O Module User's Manual

<SH-080888ENG, 13JZ34>

Specifications and troubleshooting of the I/O module

Description

Memo

CONTENTS

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

CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

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

RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

MANUAL PAGE ORGANIZATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

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

CHAPTER 1 OVERVIEW 20

CHAPTER 2 EXTERNAL I/O SPECIFICATIONS 22

CHAPTER 3 GENERAL-PURPOSE INPUT FUNCTION 31

CHAPTER 4 GENERAL-PURPOSE OUTPUT FUNCTION 33

CHAPTER 5 INTERRUPT INPUT FUNCTION 35

CHAPTER 6 PULSE CATCH FUNCTION 39

CHAPTER 7 POSITIONING FUNCTION 42

7.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7.1.1 Procedure for performing the positioning function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

7.2 Connection to External Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51

7.2.1 I/O signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51

7.2.2 Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55

7.3 Parameter Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

7.3.1 Positioning parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57

7.4 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

7.5 Checking Current Position and Operation Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

7.6 OPR Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

7.6.1 Machine OPR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71

7.6.2 Fast OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89

7.6.3 Forced off of Axis 1 OPR request (SM1842) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90

7.6.4 Precautions on Axis 1 OPR request (SM1842) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90

7.7 Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

7.7.1 Start of positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95

7.7.2 Position control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97

7.7.3 Speed/position switching control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98

7.7.4 Current value change. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100

7.7.5 Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101

7.8 Multiple Axes Simultaneous Start Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

7.9 JOG Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

7.10 Sub Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

7.10.1 OPR retry function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

7.10.2 Speed limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

7.10.3 Speed change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .115

7.10.4 Software stroke limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120

7.10.5 Hardware stroke limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123

7.10.6 Target position change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .124

7.10.7 Acceleration/deceleration processing function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .128

7.10.8 Stop processing function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130

7.11 Absolute Position Restoration Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

7.12 Dedicated Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

7.12.1 Details of dedicated instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .138

7.12.2 Precautions on dedicated instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .161

7.13 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

7.14 Errors and Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

7.15 Monitoring with a Programming Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

CHAPTER 8 HIGH-SPEED COUNTER FUNCTION 179

8.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

8.1.1 Procedure for performing the high-speed counter function . . . . . . . . . . . . . . . . . . . . . . . . . .181

8.2 Connecting to External Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

8.2.1 I/O signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .182

8.2.2 Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .185

8.3 Parameter Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

8.3.1 Common settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193

8.4 Normal Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

8.4.1 Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .202

8.4.2 Coincidence output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .205

8.4.3 Coincidence detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .208

8.4.4 Counter function selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .211

8.5 Frequency Measurement Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

8.6 Rotation Speed Measurement Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

8.7 Pulse Measurement Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

8.8 PWM Output Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

8.9 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

8.10 Dedicated Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

8.10.1 Details of dedicated instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .242

8.10.2 Precautions on dedicated instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .257

8.11 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258

8.12 Errors and Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265

8.13 When the LCPU Stops Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267

8.14 Monitoring with a Programming Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268

APPENDICES 269

Appendix 1 Processing Time of Each Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269

Appendix 2 Connection Examples with Servo Amplifiers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

Appendix 2.1 Connection examples with servo amplifiers manufactured by Mitsubishi . . . . . . . . .271

Appendix 2.2 Connection examples with stepping motors manufactured by ORIENTAL MOTOR

CO.,LTD. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .273

Appendix 2.3 Connection examples with servo amplifiers manufactured by Panasonic Corporation

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .277

Appendix 2.4 Connection examples with servo amplifiers manufactured by SANYODENKI CO.,LTD

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .279

Appendix 2.5 Connection examples with servo amplifiers manufactured by YASKAWA Electric

Corporation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .280

INDEX 281

INSTRUCTION INDEX 284

REVISIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

MANUAL PAGE ORGANIZATION

The section of the current page is shown.

The chapter of the current page is shown.

"" is used for screen names and items.

[ ] is used for items in the menu bar and the project window.

shows operating procedures.

shows reference manuals.

shows notes that requires attention.

shows mouse operations.

shows reference pages.

shows setting or operating examples.

Ex.

shows useful information.

A window selected in the view selection area is displayed.

View selection area

[Online] [Write to PLC...]

Select [Online] on the menu bar, and then select [Write to PLC...].

Project window

[Parameter]

[PLC Parameter]

Select [Project] from the view selection area to open the Project window.

Menu bar

Ex.

In the Project window, expand [Parameter] and select [PLC Parameter].

In this manual, pages are organized and the symbols are used as shown below. The following illustration is for explanation purpose only, and should not be referred to as an actual documentation.

*1 The mouse operation example (for GX Works2) is provided below.

Pages describing instructions are organized as shown below.

Descriptions of

setting data and data type

Instruction name

Structure of the instruction in the ladder mode

shows the devices applicable to the instruction

Descriptions of control data (if any)

Execution condition of the instruction

Setting side User

: Device value is set by the user. System: Device value is set by the CPU module.

error codes For the errors not described in this manual, refer to the following. MELSEC-Q/L Programming Manual (Common Instruction)

Simple program example(s) and descriptions of the devices used

Detailed descriptions of the instruction

The following illustration is for explanation purpose only, and should not be referred to as an actual documentation.

onditions for the error and

• Instructions can be executed under the following conditions.

Execution condition Any time During on On the rising edge During off On the falling edge

Symbol No symbol

• The following devices can be used.

Internal device

Setting

data

Applicable

device

(system, user)

Bit Word Bit Word

X, Y, M, L, S, M, F, B,

SB, FX, FY

T, ST, C, D, W, SD, SW,

FD, @

File

R, ZR  U\G ZK, H, E, $

*1 For details on each device, refer to the following.

 MELSEC-L CPU Module User's Manual (Function Explanation, Program Fundamentals)

*2 FX and FY can be used for bit data only, and FD for word data only. *3 In the "Constant" and "Others" columns, a device(s) that can be set for each instruction is shown.

Link direct device

J\

Intelligent

function module

device

U\G

Index

Constant *3Others

P, I, J,

U, D, X,

DY, N,

BL, TR,

BL\S,V

• The following data types can be used.

Data type Description

Bit Bit data or the start number of bit data

BIN 16-bit 16-bit binary data or the start number of word device

BIN 32-bit 32-bit binary data or the start number of double-word device

BCD 4-digit Four-digit binary-coded decimal data

BCD 8-digit Eight-digit binary-coded decimal data

Real number Floating-point data

Character string Character string data

Device name Device name data

TERMS

Unless otherwise specified, this manual uses the following terms.

Ter m Description

CPU module The abbreviation for the MELSEC-L series CPU module

Power supply module The abbreviation for the MELSEC-L series power supply module

Branch module The abbreviation for the MELSEC-L series branch module

Extension module The abbreviation for the MELSEC-L series extension module

END cover A cover to be attached to the right side of the rightmost MELSEC-L series module

Display unit A liquid crystal display to be attached to the CPU module

Extension cable The abbreviation for the MELSEC-L series extension cable

LCPU Another term for the MELSEC-L series CPU module

Programming tool A generic term for GX Works2 and GX Developer

GX Works2

GX Developer

Encoder One of the pulse generators that converts input data into binary data (on and off)

Near-point dog

Servo on

Servo motor

Stepping motor

Zero signal PG0 of a pulse generator (encoder), that is detected once in one rotation

Drive unit (servo amplifier)

Pulse generator

Warning

PWM

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

A switch used in positioning systems, placed in front of the starting point of a workpiece When this switch turns on, the feed speed is switched to creep speed. Therefore, the deceleration time is required while this switch is on.

A signal that indicates the normal status of a servo amplifier. A servo amplifier is operable only when this signal is on.

A motor that rotates according to a command. This motor is highly responsive, therefore frequent and rapid start and stop are available with high precision. DC and AC type motors are available. Feedback control is available with the included pulse generator that detects the number of rotations.

A motor that rotates by the predetermined angle for every pulse. The number of rotations is proportional to the number of pulses. A small power motor is applied, and it rotates accurately without feedbacks. Do not overload the motor, otherwise it will be out of step.

A unit used to amplify the power and control the motor in the operation by the positioning function since the signals, such as pulses, that are output from the CPU module are low voltage and small current. The unit, also called a servo amplifier, is provided with a servomotor and step motor.

A device that generates pulses. For example, by attaching this device on a motor axis, pulses can be generated by the rotation of the axis.

Different from an error, a warning is a minor error that does not terminate or stop the operation even if it is detected.

The abbreviation for pulse-width modulation, a method of changing a ratio of on width to off width of a pulse wave

Memo

CHAPTER 1 OVERVIEW

The LCPU supports the following built-in I/O functions. The built-in I/O functions allow constructing a small-scale system using the LCPU alone because dedicated modules for these functions are not required. Therefore, the system cost can be reduced.

• General-purpose input function

• General-purpose output function

• Interrupt input function

• Pulse catch function

• Positioning function

• High-speed counter function

General-purpose input function, interrupt input function, and pulse catch function

General-purpose output function

Positioning function

High-speed counter function

CHAPTER 1 OVERVIEW

(1) Number of points used for each function

X0 to XF and Y0 to Y7 are sorted for each function.

Function Available range

General-purpose input function

General-purpose output function

Interrupt input function 0 to 16 points (input signal) 0 to 16 points 

Pulse catch function 0 to 16 points (input signal) 0 to 16 points 

High-speed counter

function

Positioning function

0 to 16 points (input signal) 0 to 16 points 

0 to 8 points (output signal)  0 to 8 points

0 to 2CH

• Input signal: 0 to 5 points (points/channel) (depending on settings)

• Output Signal: 0 to 2 points (points/channel) (depending on settings)

0 to 2 axes

• Input signal: 0 to 6 points (points/axis) (depending on

settings)

• Output signal: 2 to 3 points (points/axis) (depending on settings)

• When using only one channel: 0 to 5 points

• When using two channels simultaneously: 0 to 10 points

• When using only one axis: 0 to 6 points

• When using two axes simultaneously: 0 to 12 points

Input Output

*1 Assignment of some signals used for the high-speed counter function and positioning function (such as A phase, B

phase, and near-point dog) are fixed. When using these functions, no signal can be assigned in place of the signals.

Number of points

• When using only one channel: 0 to 2 points

• When using two channels simultaneously: 0 to 4 points

• When using only one axis: 2 to 3 points

• When using two axes simultaneously: 4 to 6 points

CHAPTER 2 EXTERNAL I/O SPECIFICATIONS

01020304050

Ambient temperature ( )

Input voltage: 24VDC

Input voltage: 28.8VDC

(16 points, 55 )

(8 points, 55 )

(16 points, 45 )

Input voltage:

26.4VDC

Simultaneous on points (point)

This chapter describes internal circuits, pin numbers and corresponding signal names, and specifications of external I/O interface. For connectors used for external wiring, refer to  MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection).

(1) Input specifications

Item Specifications

Signal name

Rated input voltage

Rated input current 6.0mA (TYP.) (at 24VDC) 4.1mA (TYP.) (at 24VDC)

ON voltage/ON current 19.0V or higher/5.0mA or higher 19.0V or higher/3.5mA or higher

OFF voltage/OFF current 8V or lower/1.5mA or lower 8V or lower/1.0mA or lower

Input resistance 3.8k 5.6k

Off  On

Response time

Withstand voltage 510VAC for 1 minute between input terminal and internal power supply (altitude: 0 to 2000m)

Insulation resistance 10M or higher between input terminals and internal power supply (500VDC insulation resistance tester)

Wiring method for common Independent common  10 points/common

On  Off

24VDC (+20%/-15%, ripple ratio

Depending on the setting value of the input response time setting

24V input Differential input 24V input

within 5%)

High-speed input (IN0 to IN5) Standard input (IN6 to INF)

24VDC (+20%/-15%, ripple ratio

(0.01ms

EIA Standard RS-422-A

Differential line driver level

(AM26LS31 (Manufactured by

Texas Instruments Incorporated)

or equivalent)

/0.1ms/0.2ms/0.4ms/0.6ms/1ms)

Depending on the setting value of

the input response time setting

(0.1ms*1/1ms/5ms/10ms/20ms/70

within 5%)

ms)

*1 The response time at turning on  off of input devices can take 0.2ms even if the input response time is set to "0.1ms". *2 The response time can take 0.02ms even if the input response time is set to "0.01ms".

The following shows a temperature derating curve for the input signal.

CHAPTER 2 EXTERNAL I/O SPECIFICATIONS

B20 B19 B18 B17 B16 B15 B14 B13 B12 B11 B10 B09 B08 B07 B06 B05 B04 B03 B02 B01

A20 A19 A18 A17 A16 A15 A14 A13 A12 A11 A10 A09 A08 A07 A06 A05 A04 A03 A02 A01

(2) Output specifications

Item Specifications

Signal name Output (OUT0 to OUT7)

Rated load voltage 5 to 24VDC

Maximum load current 0.1A/point

Maximum voltage drop at ON 0.2V (TYP.)

Leakage current at OFF 0.1mA or lower

Response time

On 1s or less (rated load, resistive load)

Off 1s or less (rated load, resistive load)

Withstand voltage 510VAC for 1 minute between output terminal and internal power supply (altitude: 0 to 2000m)

Insulation resistance

Wiring method for common

10M or higher between output terminals and internal power supply (500VDC insulation resistance

tester)

L02SCPU, L02CPU, L06CPU, L26CPU, L26CPU-BT: 8 points/common (sink type)

L02SCPU-P, L02CPU-P, L06CPU-P, L26CPU-P, L26CPU-PBT: 8 points/common (source type)

(3) Signal assignment of the connector for external devices

Viewed from the front of the module

(4) Internal circuits

(a) L02SCPU, L02CPU, L06CPU, L26CPU, L26CPU-BT

Classification

Input

Output

External wiring

Fuse

24VDC

Load

5 to 24VDC

Pin number Internal circuit

A20

B20

B19 A19

3.6k 1/2W

680

1/10W

220

B18 A18

B17 A17

3.6k

1/2W

B16 A16

680

1/10W

220

B15 A15

B14 A14

B13 A13

3.6k 1/2W

680

1/10W

220

B12 A12

B11 A11

B10 A10

5.6k 1/3W

B09 A09

B08 A08

B07 A07

B06 A06

5.6k 1/3W

B05 A05

B04 A04

B03 A03

B02 A02

B01 A01

1/10W

Insulating element

Signal name

B line

High-speed 24V

input (IN0-24V)

High-speed

differential

input (IN0-DIFF)

High-speed

input common

(IN0-COM)

High-speed 24V

input (IN1-24V)

High-speed

differential

input (N1-DIFF)

High-speed

input common

(IN1-COM)

High-speed 24V

input (IN4-24V)

High-speed

differential

input (IN4-DIFF)

High-speed

input common

(IN4-COM)

High-speed 24V

input (IN2-24V)

High-speed

differential

input (IN2-DIFF)

High-speed

input common

(IN2-COM)

High-speed 24V

input (IN3-24V)

High-speed

differential

input (IN3-DIFF)

High-speed

input common

(IN3-COM)

High-speed 24V

input (IN5-24V)

High-speed

differential

input (IN5-DIFF)

High-speed

input common

(IN5-COM)

Standard input common

(INCOM)

Standard input

(IN6)

Standard input

(IN8)

Standard input

(INA)

Standard input

(INC)

Standard input

(INE)

Output (OUT0)

Output (OUT2)

Output (OUT4)

Output (OUT6)

Output (OUT1)

Output (OUT3)

Output (OUT5)

Output (OUT7)

Output common (OUTCOM)

A line

(IN7)

(IN9)

(INB)

(IND)

(INF)

*1 High-speed inputs can be connected based on the 24V input mode or differential input mode. *2 For signal names when using the positioning function or high-speed counter function, refer to the following.

• Positioning function:  Page 51, Section 7.2.1

• High-speed counter function:  Page 182, Section 8.2.1

CHAPTER 2 EXTERNAL I/O SPECIFICATIONS

Classification

B line

A line

Input

B20

A20

B19 A19

B18 A18

B17 A17

B16 A16

B15 A15

B14 A14

B13 A13

B12 A12

B11 A11

B10 A10

B09 A09

B08 A08

B07 A07

B06 A06

Output

B05 A05

B04 A04

B03 A03

B02 A02

B01 A01

3.6k 1/2W

680

1/10W

220

3.6k 1/2W

680

1/10W

220

3.6k 1/2W

680

1/10W

220

5.6k 1/3W

1/10W

Insulating element

Pin number Internal circuit

Signal name

Load

5 to 24VDC

Fuse

External wiring

24VDC

High-speed

24V input (IN0-24V)

High-speed

24V input (IN2-24V)

High-speed

differential input

(IN0-DIFF)

High-speed

differential input

(IN2-DIFF)

High-speed

input common

(IN0-COM)

High-speed

input common

(IN2-COM)

High-speed

24V input (IN1-24V)

High-speed

24V input (IN3-24V)

High-speed

differential input

(IN1-DIFF)

High-speed

differential input

(IN3-DIFF)

High-speed

input common

(IN1-COM)

High-speed

input common

(IN3-COM)

High-speed

24V input (IN4-24V)

High-speed

24V input (IN5-24V)

High-speed

differential input

(IN4-DIFF)

High-speed

differential input

(IN5-DIFF)

High-speed

input common

(IN4-COM)

High-speed

input common

(IN5-COM)

Standard input common

(INCOM)

Standard input

(IN6)

Standard input

(IN8)

Standard input

(INA)

Standard input

(INC)

Standard input

(INE)

Standard input

(IN7)

Standard input

(IN9)

Standard input

(INB)

Standard input

(IND)

Standard input

(INF)

Output

(OUT0)

Output

(OUT2)

Output

(OUT4)

Output

(OUT6)

Output

(OUT1)

Output

(OUT3)

Output

(OUT5)

Output

(OUT7)

Output common

(OUT24V)

(b) L02SCPU-P, L02CPU-P, L06CPU-P, L26CPU-P, L26CPU-PBT

• Positioning function:  Page 51, Section 7.2.1

• High-speed counter function:  Page 182, Section 8.2.1

(5) I/O connector pin numbers and corresponding I/O signals

number

B20

B18 A18

B17

B15 A15

B14

B12 A12

B11 Input common A11 Input common

B10 Standard  X6 A10 Standard  X7

B09 Standard  X8 A09 Standard  X9

B08 Standard  XA A08 Standard  XB

B07 Standard  XC A07 Standard  XD

B06 Standard  XE A06 Standard  XF

B05

B04

B03

B02

B01

Cate-

gory

Input

Output

Typ e

High-

speed

High-

speed

High-

speed

High-

speed

High-

speed

High-

speed

High-

speed

Correspondence

for line driver

 X0

 X1

 X4

 Y0 A05

 Y2 A04

 Y4 A03

 Y6 A02

utput common

Corresponding

I/O signal

number

A20

A17

A14

A01

Cate-

gory

Input

Output

Typ e

High-

speed

High-

speed

High-

speed

High-

speed

High-

speed

High-

speed

High-

speed

Correspondence

for line driver

 X2B19 A19

 X3B16 A16

 X5B13 A13

 Y1

 Y3

 Y5

 Y7

Output common

Corresponding

I/O signal

*1 B01 and A01 are used as negative common on the L02SCPU, L02CPU, L06CPU, L26CPU, and L26CPU-BT, while they

are used as positive common on the L02SCPU-P, L02CPU-P, L06CPU-P, L26CPU-P, and L26CPU-PBT.

(6) Input signal assignment

External

input

signal

X0 (High-

speed)

X1 (High-

speed)

X2 (High-

speed)

X3 (High-

speed)

X4 (High-

speed)

X5 (High-

speed)

(Standard)

Generalpurpose

input



Interrupt

input



 

CHAPTER 2 EXTERNAL I/O SPECIFICATIONS

: Selectable, : No combination

Function

Pulse catch High-speed counter Positioning



Counter CH1 A Phase

Counter CH1 B Phase

Counter CH2 A Phase

Counter CH2 B Phase

Counter CH1 Z Phase

Counter CH2 Z Phase

Counter CH1 Function Input

Counter CH2 Function Input

Counter CH1 Latch Counter

Counter CH2 Latch Counter



Axis #1 Zero Signal

Axis #2 Zero Signal

Axis #1 External Command Signal

Axis #2 External Command Signal

Axis #1 Drive Module READY Signal

Axis #2 Drive Module READY Signal

Axis #1 Near-point Dog Signal

Axis #2 Near-point Dog Signal

Axis #1 Upper Limit Signal

Axis #2 Upper Limit Signal

Axis #1 Lower Limit Signal

Axis #2 Lower Limit Signal



*1 When using CH1 for the high-speed counter function, X0 and X1 cannot be used as interrupt inputs. Also, when using

CH2 for the high-speed counter function, X2 and X3 cannot be used as interrupt inputs. Other functions such as the

general-purpose input can be used. *2 When this signal is not used, the input signal can be used for other functions such as the general-purpose input. *3 When the high-speed counter function or positioning function is selected, this signal is not used for that function. This

signal can be used for another function such as the general-purpose input function.

(7) Output signal assignment

: Selectable, : No combination

Function

External

output signal

Y0 

Y1 

Y2 

Y3 

Y4 

Y5 

Y6 

Y7 

*1 This signal must be used depending on parameter settings. When this signal is not used, the output signal can be used

for the general-purpose output function. *2 When this signal is not used, the output signal can be used for the general-purpose output function. *3 When the high-speed counter function or positioning function is selected, this signal is not used for that function. This

signal can be used for the general-purpose output function.

Generalpurpose

output

High-speed counter Positioning

CH1 Coincidence Output No.1

CH2 Coincidence Output No.1

CH1 Coincidence Output No.2

CH2 Coincidence Output No.2



Axis #1 Deviation Counter Clear

Axis #2 Deviation Counter Clear

Axis #1 CW/PULSE/A Phase Output

Axis #2 CW/PULSE/A Phase Output

Axis #1 CCW/SIGN/B Phase Output

Axis #2 CCW/SIGN/B Phase Output



CHAPTER 2 EXTERNAL I/O SPECIFICATIONS

Remark

(8) Simplified chart of I/O signals

The following shows a simplified chart of I/O signals for the high-speed counter function and positioning function.

High-speed counter Positioning

CH1 CH2 Axis #1 Axis #2

X5 X7 X9 XB XD XF Y3 Y5 Y7

X0 X1 X4 X6 X8 Y0 Y2

X2 X3 X5 X7 X9 Y1 Y3

X4 X6 X8 XA XC XE Y2 Y4 Y6

(9) External input signals (X0 to XF) when using the functions

The on/off status of the external input signals (X0 to XF) are reflected to the input device (X0 to XF) in the program when any built-in I/O functions (except the pulse catch function) is used. When the pulse catch function is used, the input device turns on for one scan by detecting the rising edge of the external input signal ( Page 39, CHAPTER 6). When selecting positioning function or high-speed counter function, an input signal that is not used due to settings of the functions operates as the general-purpose input.

The IN0 to IN F LEDs indicate status of the external input signals (X0 to XF). However, the indicating status is not affected by turning on or off the input device (X0 to XF) in the program.

(10)External output signals (Y0 to Y7) when using the functions

The external output signals (Y0 to Y7) reflect the output status of the function selected from the general-purpose output, positioning, and high-speed counter functions. Therefore, the output status are not affected by turning on or off the output device (Y0 to Y7) in the program when the output signals are used for the positioning or highspeed counter function. The output device (Y0 to Y7) do not reflect the status of the output signals used for the positioning or high-speed counter function.

The OUT 0 to OUT 7 LEDs indicate status of the external output signals. So the output status of the output device (Y0 to Y7) are indicated when the output signals are used for the general-purpose output function. Actual output status of the positioning or high-speed counter function are indicated when the output signals are used for those functions. (The indicating status is not affected by turning on or off the output device in the program.)

(11)Monitoring by the programming tool

To check the I/O settings, open the "I/O Monitor" window by using the programming tool.

[Tool]  [Built-in I/O Module Tool]

For details, refer to the followings. GX Works2 Version 1 Operating Manual (Common)

CHAPTER 3 GENERAL-PURPOSE INPUT FUNCTION

Select a response time.

Select "General-purpose input".

CHAPTER 3 GENERAL-PURPOSE INPUT

FUNCTION

This function uses the built-in external input signals (16 points) as general-purpose inputs to read the on/off status of external devices such as switches and sensors. The on/off status of the external input signals are refreshed to the input device (X0 to XF) and used in programs.

(1) Parameter setting

Set the input signals and input response time values.

Project window  [Parameter]  [PLC Parameter]  "Built-in I/O Function Setting" tab

(2) External input signal types

The following two types are available.

• High-speed input: X0 to X5 (6 points)

• Standard input: X6 to XF (10 points)

(3) Read timing of external input signals

The on/off status of the external input signals are refreshed to the input device (X0 to XF) at execution of the END instruction. Therefore, a delay for one scan (maximum) occurs from when an external input signal changes until when the input device turns on.

(4) Direct input

By using the direct input device (DX0 to DXF) for the external input signals, the external input status can be loaded at execution of sequence instructions using the direct input device.

(5) Partial refresh

The LCPU can read the current external input status by executing partial refresh using the RFS instruction to the input device (X0 to XF). For the RFS instruction, refer to the following.  MELSEC-Q/L Programming Manual (Common Instruction)

(6) Performance specifications

The following is the performance specifications of the general-purpose output function.

Item Description

Points 10

Input voltage/current 24VDC, 4.1mA (TYP.)

Standard input

High-speed input

Minimum input response time

Input response time setting

Points 6

DC input 24VDC, 6.0mA (TYP.)

Input voltage/current

Minimum input response time

Input response time setting

Differential input

Depending on the setting value of the input response

time

0.1ms

/1ms/5ms/10ms/20ms/70ms

EIA Standard RS-422-A Differential line driver level

(AM26LS31 (manufactured by Texas Instruments

Incorporated) or equivalent)

Depending on the setting value of the input response

time

0.01ms*3/0.1ms/0.2ms/0.4ms/0.6ms/1ms

*1 The shorter the input response time is, the more the module is susceptible to noise. When setting the input response

time, check that the module will not be affected by noise. For details on measures against noise, refer to the following.

 MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection) *2 The response time at turning on  off of input devices can take 0.2ms even if the input response time is set to "0.1ms". *3 The response time can take 0.02ms even if the input response time is set to "0.01ms".

CHAPTER 4 GENERAL-PURPOSE OUTPUT FUNCTION

Select "General Output".

Select an error time output mode.

CHAPTER 4 GENERAL-PURPOSE OUTPUT

FUNCTION

This function uses the built-in external output signals (8 points) as general-purpose outputs for external devices such as lamps. By turning on/off the output device (Y0 to Y7) in programs, the LCPU can output the signals externally.

(1) Parameter setting

Set the output signals and error time output mode.

Project window  [Parameter]  [PLC Parameter]  "Built-in I/O Function Setting" tab

(2) External output timing

On/off status of the output device are refreshed to the external outputs (Y0 to YF) at execution of the END instruction. Therefore, a delay for one scan (maximum) occurs from when an external device turns on/off in programs until when the on/off status is refreshed to the external output.

(3) Direct output

When using the output device (Y0 to Y7) for the direct output device (DY0 to DY7), on/off status of the device are refreshed to the external outputs by using the instruction such as the SET instruction.

(4) Partial refresh

The output device status (only specified range) is refreshed to the external output by executing partial refresh using the RFS instruction to the output device (Y0 to Y7) ( MELSEC-Q/L Programming Manual (Common Instruction)).

(5) Error time output mode

Select the output mode (Hold or Clear) for the output status of the output device (Y0 to Y7) when an error to stop the program occurs. (This is not the setting for outputs to the output modules and the intelligent function modules. For details on the error time output mode setting for modules, refer to the following. MELSEC-L CPU Module User's Manual (Function Explanation, Program Fundamentals)

(6) Performance specifications

The following is the performance specifications of the general-purpose output function.

Description

Item

Output type Sink type Source type

Points 8

Output voltage/current 5 to 24VDC, 0.1A

Response time

On 1s or less (rated load, resistive load)

Off 1s or less (rated load, resistive load)

L02SCPU, L02CPU, L06CPU,

L26CPU, L26CPU-BT

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

L26CPU-P, L26CPU-PBT

CHAPTER 5 INTERRUPT INPUT FUNCTION

Select "Interrupt input".

Select a response time.

Select an interrupt processing condition.

CHAPTER 5 INTERRUPT INPUT FUNCTION

This function executes an interrupt program when triggered by the input signal (X0 to XF).

(1) Parameter setting

Set the input signals, input response time values, and interrupt processing condition.

Project window  [Parameter]  [PLC Parameter]  "Built-in I/O Function Setting" tab

(2) Interrupt pointer assignment and interrupt priority

The following shows interrupt pointers corresponding to input signals (X0 to XF).

I/O signal Interrupt pointer

X0 I0 5

X1 I1 6

X2 I2 7

X3 I3 8

X4 I4 9

X5 I5 10

X6 I6 11

X7 I7 12

X8 I8 13

X9 I9 14

XA I10 15

XB I11 16

XC I12 17

XD I13 18

XE I14 19

XF I15 20

*1 The priority 1 to 4 are used for interrupt pointers I28 to I31 (interrupt by build-in timers).

Priority

Interrupt pointer numbers can be changed. ( Page 37, (2) (a))

CHAPTER 5 INTERRUPT INPUT FUNCTION

Ex.

(a) Changing the interrupt pointer numbers

1. Click the button in the "PLC System" tab.

Project window  [Parameter]  [PLC Parameter]  "PLC System" tab

2. Set the interrupt pointer start No., interrupt pointer count, start I/O No., and start SI No.

3. Click the button to exit.

When assigning the interrupt inputs X0 and X1 to the interrupt pointers I50 and later

• Precautions When the range of interrupt input that is specified in the "Intelligent Function Module Interrupt Pointer

Setting" and the interrupt input is not selected for the built-in I/O function in the range, "PARAMETER ERROR" (error cord: 3000) occurs. The following shows a correct example and an incorrect example of assigning the interrupt inputs to the interrupt pointers I50 and later as shown above.

• Correct example As shown below, the interrupt inputs are set within the range specified in "Intelligent Function Module

Interrupt Pointer Setting", so the error will not occur.

Input signal function selection: Interrupt input is set to X0 and X1.

• Incorrect example As shown below, input signal X2 and X3 are set to the interrupt inputs, but no interrupt input is set within

the range specified in "Intelligent Function Module Interrupt Pointer Setting", so the error will occur.

Input signal function selection: X2 and X3 are set to the interrupt inputs.

(3) Interrupt processing condition

The following table lists three types of conditions to execute the interrupt programs by the interrupt inputs.

Interrupt processing

condition

Rising edge The interrupt program is executed at the rising edge of the interrupt input signal.

Falling edge The interrupt program is executed at the falling edge of the interrupt input signal.

Rising edge + Falling edge

The interrupt program is executed at both the rising edge and the falling edge of the interrupt input signal.

Description

When the condition is set to "Rising edge + Falling edge", an interrupt factor occurred during execution of an interrupt program is held only once, and the second and subsequent factors are ignored. When the second rising edge (falling edge) of the signal is detected after the falling edge (rising edge) during execution of the interrupt program due to the first one, the second one cannot execute the interrupt program. To avoid this, keep an enough interval between on and off of the interrupt input. In addition, a continuous interrupt input of signals with a short ON width and OFF width causes frequent halts of the main routine program. Adjust the ON width and OFF width for interrupt input not to interfere with the execution of the main routine program.

(4) Interrupt enable/disable

Use the EI instruction to enable the interrupt. Also, use the DI instruction to disable interrupt, and the IMASK instruction to mask the interrupt program. ( MELSEC-Q/L Programming Manual (Common Instruction))

(5) Performance specifications

The following is the performance specifications of the interrupt input function.

Item Description

Points 10

Input voltage/current 24VDC, 4.1mA (TYP.)

Standard input

High-speed input

Minimum input response time

Input response time setting

Points 6

DC input 24VDC, 6.0mA (TYP.)

Input voltage/current

Minimum input response time

Input response time setting

Differential input

Depending on the setting value of the input response

time setting

0.1ms

/1ms/5ms/10ms/20ms/70ms

EIA Standard RS-422-A Differential line driver level

(AM26LS31 (manufactured by Texas Instruments

Incorporated) or equivalent)

Depending on the setting value of the input response

time setting

0.01ms

/0.1ms/0.2ms/0.4ms/0.6ms/1ms

CHAPTER 6 PULSE CATCH FUNCTION

Program

External input signal

Input device

0 step END

0 step

1) Input signal ON

2) ON for 1 scan

OFF

CHAPTER 6 PULSE CATCH FUNCTION

This function can catch pulse signals that the general-purpose input function cannot catch because the on time is shorter than the scan time.

(1) Parameter setting

Set the input signals and input response time values.

Project window  [Parameter]  [PLC Parameter]  "Built-in I/O Function Setting" tab

Select a response time.

Select "Pulse Catch".

(2) Basic operation of the pulse catch function

The function turns on the input device for one scan after detecting a pulse signal, and turns off the input device during the END processing.

(a) Operation when using an input signal (X0) as the pulse catch function

The input device turns on for one scan after detecting a rising edge of the external input signal (X0).

(b) Operation when detecting more than one pulse in one scan

External

input signal

1 scan

1): Interrupt program execution

2): Interrupt program execution in the next scan

3): If a pulse is input after completion of the interrupt program by

1), the interrupt program is executed at time after the next.

Interrupt program

OFF

Program

External input signal

Input device

0 step END

0 step

END

0 step

END

1) Input signal ON

ON for 2 scans

3) Input signal ON

4) ON for 1 scan2) ON for 1 scan

OFF

Second pulse and later are ignored. Input pulse signals at intervals of one scan or more.

0 step END

Program

1) Input signal ON

0 step

External input signal

Input device

OFF

These pulses are ignored.

2) ON for 1 scan

To count the second and third pulse inputs, use the interrupt input function. However, if the third pulse is detected before the end of the execution of the interrupt program, the pulse cannot be counted.

The input device turns on for scans by the number of detected pulses. Input pulse signals at intervals of one scan or more.

CHAPTER 6 PULSE CATCH FUNCTION

(d) Operation when detecting a pulse that has on width of two scans or more

The input device turns on for one scan.

0 step END

0 step

Program

0 step

END

External input signal

Input device

OFF

1) Input signal ON

2) ON for 1 scan

(3) Detectable pulse width

Pulse width that meets the following condition can be detected.

ON or OFF width of the pulse input > Input response time

When the condition is not met, the pulse cannot be detected correctly. Set the input response time values to meet the condition.

(4) Precautions

Avoid the following actions for the input device (X0 to XF) that is set to the pulse catch function. Otherwise, the input device does not turn on correctly for one scan after detecting a pulse.

• Use of the direct device (DX)

• Execution of the instruction that performs input refresh at execution, such as RFS, COM, CCOM(P), and MTR

(5) Performance specifications

The following is the performance specifications of the pulse catch function.

Item Description

Points 10

Input voltage/current 24VDC, 4.1mA (TYP.)

Standard input

High-speed input

Minimum input response time

Input response time setting

Points 6

DC input 24VDC, 6.0mA (TYP.)

Input voltage/current

Minimum input response time

Input response time setting

Differential input

Depending on the setting value of the input response

time setting

0.1ms

/1ms/5ms/10ms/20ms/70ms

EIA Standard RS-422-A Differential line driver level

(AM26LS31 (manufactured by Texas Instruments

Incorporated) or equivalent)

Depending on the setting value of the input response

time setting

0.01ms

/0.1ms/0.2ms/0.4ms/0.6ms/1ms

CHAPTER 7 POSITIONING FUNCTION

Mechanical system

Hardware stroke upper limit switch

Workpiece

Near-point watchdog

Drive unit

Servo motor

Hardware stroke lower limit switch

Hardware stroke upper limit switch

Hardware stroke lower limit switch

Motor power cable

Encoder cable

Programming tool LCPU

7.1 Overview

(1) Definition

This function is used to move a table, machining target, tool, or other moving body (workpiece) at a specified speed with the purpose of stopping it accurately at a target position.

(2) Features

The positioning function is controlled by dedicated instructions.

(a) 2-axis control

Two drive units (two motors) can be connected and two coordinates can be controlled independently or simultaneously.

(b) OPR (Original point return)

Six types of OPR methods are available. A near-point dog (OP sensor) can be used to establish the OP (position that becomes the starting point of each control) and "address" of this position. (Machine OPR) OPR can also be performed automatically within the range defined by the upper and lower limit switches. (OPR retry function)

• The workpiece can be moved to the target position based on a specified address or movement amount. (Position control)

• The workpiece can be moved until a stop instruction is executed. (Speed control)

• The current position can be changed to a specified value. (Current value change function)

• The target position can be changed while the workpiece is moving. (Target position change function)

• The speed can be changed while the workpiece is moving. (Speed change function)

CHAPTER 7 POSITIONING FUNCTION

(d) Limitation of the moving range of the workpiece

Desired positions can be set as the logical upper limit and lower limit of the moving range of the workpiece, without using switches. (Software stroke limit function) Also, upper and lower limit switches can be used to limit the moving range. (Hardware stroke limit function)

(e) JOG operation

The workpiece can be moved to a desired position according to the pulses that are output continuously while a JOG operation instruction is executed. (JOG operation function)

(f) Absolute position detection

A servomotor with absolute position detector can be used to restore the current position after a power failure. (Absolute position restoration function)

7.1 Overview

(3) Function list

The following table lists and describes functions available for the positioning function.

Item Description Reference

Machine OPR

OPR control

Fast OPR

Position control

(1-axis linear control)

Speed/position switching

Positioning

control

Multiple axes simultaneous start control A function to start two axes simultaneously at the pulse output level

JOG operation function

Sub function

Acceleration/deceleration

Stop processing function

Absolute position restoration function

control

Current value change

function

Speed control

OPR retry

function

Speed limit function

Speed change function A function to change the speed during operation

Software stroke limit

function

Hardware stroke limit

function

Target position change

function

processing function

A function to mechanically establish the reference point (OP) for positioning control using a near-point dog or stopper

A function to execute positioning control to the OP address stored by machine OPR or standby address that has been set

A function to execute positioning control to a specified position according to the address or movement amount set by positioning data

A function to start under speed control and then switch to position control (positioning control based on specified movement amount) via an external command signal

A function to change the address (current feed value)

A function to implement positioning control via operation at a specified speed

A function to output pulses only while a JOG start instruction(IPJOG1) is executed to move the workpiece to a desired position

A function to perform machine OPR automatically by detecting an off edge of the limit signal and moving to a position where machine OPR is possible, even when the OP is not located in the OPR direction

A function to limit the speed to within the setting range of speed limit when the operating speed exceeds the positioning parameter "Speed Limit Value"

A function to not start operation when a start instruction is given to move to the target position which is outside the range set by the upper stroke limit and lower stroke limit. The limit function also stops operation when the current position (current feed value) deviates from the setting range.

A function to decelerate the axis to a stop using a limit switch connected to the connector for external devices

A function to change the address or movement amount during positioning control

A function to adjust the acceleration/deceleration processing as part of control

A function to control the stopping method to be applied when a stop cause occurs during operation

A function to restore the current position (current feed value) using a servomotor with absolute position detector, without executing machine OPR, in the event such as a momentary power failure or emergency stop. (Connectable servo amplifiers are limited to those products in the general-purpose AC servo MEL SERVO series (pulse-train type) supporting absolute position detection systems.)

Page 71, Section

7.6.1

Page 89, Section

7.6.2

Page 97, Section

7.7.2

Page 98, Section

7.7.3

Page 100,

Section 7.7.4

Page 101,

Section 7.7.5

Page 102,

Section 7.8

Page 104,

Section 7.9

Page 110, Section

7.10.1

Page 114, Section

7.10.2

Page 115, Section

7.10.3

Page 120,

Section 7.10.4

Page 123,

Section 7.10.5

Page 124,

Section 7.10.6

Page 128,

Section 7.10.7

Page 130,

Section 7.10.8

Page 133,

Sec

tion 7.11

CHAPTER 7 POSITIONING FUNCTION

Programming tool

LCPU

Drive unit

Motor

Workpiece

External signal

Error detection

The drive unit ready signal and zero signal are output to LCPU.

Pulses are output to the drive unit by using a programming tool and external command signal.

Motor drive command with pulse commands from the CPU module

The actual work is performed by the commands from the drive unit.

Signals such as a limit signal and a positioning control switching signal are output.

Parameter setting Start instruction for the positioning control such as a JOG operation Positioning operation monitoring

(4) Mechanism of a positioning control system

Positioning control is implemented based on pulses output from the LCPU. In a positioning system, software and external devices are used to perform the roles shown below.

7.1 Overview

(5) Operation inside the drive unit

LCPU

Program

Operation such as data read and write

Positioning function

Programming tool

Forward run pulse train

Reverse run pulse train

Drive unit

Interface

Servo amplifier

Feedback pulse

Servomotor

Pulse generator

PLG

Deviation counter

D/A converter

After receiving a pulse input from the LCPU, the following operations occur in the drive unit.

(a) Starting

When pulses are output from the LCPU, the input pulses are retained in the deviation counter of the drive unit. The integration value of this pulse (droop pulse) is converted to an analog DC voltage by the D/A converter to give a speed command for the servomotor (M). The servomotor starts rotating by the speed command from the drive unit.

(b) During operation

As the servomotor rotates, the pulse generator (PLG) supplied with the servomotor generates feedback pulses in proportion to the speed. The generated feedback pulses are fed back to the drive unit and the deviation counter droop pulse are decremented accordingly. The servomotor continues to rotate with the deviation counter maintaining a certain amount of droop pulses.

When the command pulse output from the LCPU stops, the deviation counter droop pulse decrease and the speed drops. The servomotor stops once the droop pulses become 0.

The rotation speed of the servomotor is proportional to the command pulse frequency, while the rotation angle of the servomotor is proportional to the number of output command pulses. Therefore, the workpiece can be fed to a position proportional to the number of pulses in the pulse train by specifying the movement amount per pulse beforehand. Note that the pulse frequency defines the rotation speed of the servomotor (feed speed).

CHAPTER 7 POSITIONING FUNCTION

Total number of pulses required to move designated distance

Designated distance

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

Number of pulses required for motor to rotate once

(6) Principles of position control and speed control

(a) Position control

The total No. of pulses needed to move a specified distance can be obtained by the formula below.

*1 Encoder resolution

Give the calculated total No. of pulses to the drive unit from the LCPU, and the workpiece will be controlled to move the specified distance. Note that the movement amount of the machine when one pulse is output to the drive unit is called "movement amount per pulse." This value corresponds to the minimum movement of the workpiece and determines the accuracy of electrical positioning control.

(b) Speed control

The speed is controlled by the "pulse frequency" output to the drive unit from the LCPU.

Pulse frequency (pulse/s)

This trapezoid area is equal to the total number of pulses.

Moving time

● The value of "movement amount per pulse" is determined by the machine.

● The LCPU controls the position and speed based on the "total No. of pulses" and "pulse frequency," respectively.

7.1 Overview

(7) Pulses output from the LCPU

Pulse distribution

Servomotor speed

Stop setting time

Acceleration

Deceleration

Pulse train Sparse SparseDense

Pulse droop amount

• Pulse trains are sparse when the servomotor is accelerating, and become denser as the servomotor approaches the stable speed that has been set.

• At the stable speed, constant pulse trains are output.

• When the pulses output from the LCPU become sparse, the servomotor decelerates until pulses are no longer output. There is a slight delay from the LCPU command pulses to the time the servomotor decelerates and stops. This difference is necessary to ensure sufficient stopping accuracy and is referred to as the "stop setting time"

CHAPTER 7 POSITIONING FUNCTION

Internal thread

External thread

Table

Workpiece

Worm gear

Servomotor

Pulse generator (PLG)

: Movement amount per pulse (mm/pulse) Vs : Command pulse frequency (pulse/s) n : Pulse generator resolution (pulse/rev)

: Worm gear lead (mm/rev) R

: Deceleration ratio V

: Movable section speed (mm/s) N

: Motor speed (r/min)

: Position loop gain (1/s)

: Deviation counter droop pulse amount P0 : OP (pulse) P

: Address (pulse)

(mm/pulse)

Vs =

(pulse/s)

(8) Movement amount and speed of a worm gear system

This section describes methods of calculations required for positioning control by using worm gear system. The worm gear consists of a balls lined up in an engagement part, just like a ball bearing. The ball screw has no backlash and can rotate with a small force.

The calculations are performed based on the system described below.

(a) Movement amount per pulse

Calculated from the worm gear lead, deceleration ratio, and pulse generator resolution.

The movement amount is calculated by (Number of output pulses) x (Movement amount per pulse).

(b) Command pulse frequency

Calculated from the movable section speed and movement amount per pulse.

Calculated from the command pulse frequency and position loop gain*1.

(pulse)

*1 Ratio of the command pulse frequency to the number of deviation counter droop pulses. A desired position loop gain can

be set adjusting the drive unit. To improve the stopping accuracy, increase the gain. Note, however, that an excessively high gain may cause overshooting (beyond the target position) and make the operation unstable. An excessively low gain increases the stopping error, although the movement becomes smoother at stopping.

7.1 Overview

7.1.1 Procedure for performing the positioning function

Start

Connect an external device.

Set parameters by a programming tool.

Create programs.

End

Execute the programs.

The following shows the procedure.

Connection to an external device  (Page 51, Section 7.2)

Positioning parameters OPR parameters Positioning data

Dedicated Instructions Programming

 (Page 57, Section 7.3.1)  (Page 64, Section 7.6)  (Page 91, Section 7.7)

 (Page 137, Section 7.12)  (Page 163, Section 7.13)

CHAPTER 7 POSITIONING FUNCTION

Axis 1 Axis 2

B20 A20

B19 A19

B18 A18

B17 A17

B16 A16

B15 A15

B14 A14

B13 A13

Differential

B12 A12

B11 A11

B10 A10

B09 A09

B08 A08

B07 A07

B06 A06

24VDC

5.6k 1/3W

1/10W

5.6k 1/3W

1/10W

5.6k 1/3W

1/10W

5.6k 1/3W

1/10W

5.6k 1/3W

1/10W

External wiring

Pin number

Internal circuit Signal name

(Not used for the positioning function)

+24V

(PG0 -24V)

Zero signal (PG0 )

(PG0 -DIFF)

COM

(PG0 -COM)

Input common

External command signal (CHG )

Drive unit ready signal (READY )

Near-point watchdog signal (DOG )

Upper limit signal (FLS )

Lower limit signal (RLS )

3.6k

1/2W

680

1/10W

220

3.6k

1/2W

680

1/10W

220

3.6k

1/2W

680

1/10W

220

7.2 Connection to External Devices

7.2.1 I/O signals

The following shows the simplified diagrams of the internal circuits of LCPU external device connection interface. "" in the signal name indicates either 1 (Axis 1) or 2 (Axis 2). For I/O signal settings, refer to  Page 56, Section 7.3.

(1) Input

7.2 Connection to External Devices

7.2.1 I/O signals

*1 High-speed inputs can be connected based on the 24V input mode or differential input mode.

(2) Output

Internal circuit

Axis 1 Axis 2

B05 A05

B04 A04

B03 A03

B02 A02

B01 A01

Signal name

(Not used for the positioning function)

Deviation counter clear signal (CLEAR )

CW/PULSE/A phase output (PULSE F )

CCW/SIGN/B phase output (PULSE R )

Output common

Insulating element

Pin number

Internal circuit

Axis 1 Axis 2

B05

A05

B04 A04

B03 A03

B02 A02

B01 A01

Signal name

(Not used for the positioning function)

Deviation counter clear signal (CLEAR )

CW/PULSE/A phase output (PULSE F )

CCW/SIGN/B phase output (PULSE R )

Output common

Pin number

Insulating element

(a) L02SCPU, L02CPU, L06CPU, L26CPU, L26CPU-BT

(b) L02SCPU-P, L02CPU-P, L06CPU-P, L26CPU-P, L26CPU-PBT

(3) Details of I/O signals

The following table lists and describes the I/O signals of the connector for LCPU external devices.

Category Signal name Description

• The zero signal from the pulse generator is used to input the OP signal for performing the machine OPR.

• This signal is also used to indicate the completion of the machine OPR that uses a stopper method for the machine OPR method.

• This signal is detected at the leading edge.

Common line for the external command signals, drive unit ready signal, near-point dog signal, upper limit signal and lower limit signal

Used to input control switching signals in speed/position switching control.

• This signal turns on when the drive unit is normal and able to accept pulses.

• The LCPU checks this signal and if the drive unit is not ready, it turns on the Axis 1 OPR request (SM1842).

• This signal turns off if the drive unit is inoperable, like when the control power supply of the drive unit failed.

• If this signal is turned off during positioning, the system stops. The system does not start even if this signal is turned on again.

• When this signal turns off, the Axis 1 OPR completion (SM1843) also turns off.

• If this signal is not selected for the input signal function selection, the signal is regarded as being on.

• This signal is used to detect the near-point dog during machine OPR. The near-point dog signal is detected at the leading edge.

• The signal is input from the limit switch installed at the upper limit position of the stroke.

• When this signal turns off, positioning stops.

• This signal defines the upper limit which is used to find the near-point dog when the OPR retry function is enabled.

• If this signal is not selected for the input signal function selection, the signal is regarded as being on.

• The signal is input from the limit switch installed at the lower limit position of the stroke.

• When this signal turns off, positioning stops.

• This signal defines the lower limit which is used to find the near-point dog when the OPR retry function is enabled.

• If this signal is not selected for the input signal function selection, the signal is regarded as being on.

This signal is output during machine OPR. (Count 2 is excluded.) For the drive unit, use a model capable of resetting the internal deviation counter droop pulse amount when the LCPU turns this signal on.

These signals are output as positioning pulses with pulse code to the drive unit.

Common line for the deviation counter clear signal, CW/PULSE/phase A outputs and CCW/SIGN/phase B outputs.

Input

Output

Zero signal

(PG0)

Input common

External command signal

(CHG)

Drive unit ready signal

(READY)

Near-point dog signal

(DOG)

Upper limit signal

(FLS)

Lower limit signal

(RLS)

Deviation counter clear signal

(CLEAR)

CW/PULSE/A phase output

(PULSE F)

CCW/SIGN/B phase output

(PULSE R)

Output common

CHAPTER 7 POSITIONING FUNCTION

7.2 Connection to External Devices

7.2.1 I/O signals

(4) On/off status of input signals

(Photocoupler OFF)

INn

IN - COM

24VDC

(n = 6 to F)

(Photocoupler ON)

INn

IN - COM

24VDC

(n = 6 to F)

(a) On/off status of input signals

On/off status of input signals is determined according to external wiring.

Signal name External wiring Signal on/off status as viewed from LCPU

High-speed input

IN0 to IN5

Standard input

IN6 to INF

(Photocoupler OFF)

(Photocoupler ON)

24VDC

INn - 24V

INn - COM

(n = 0 to 5)

INn - 24V

INn - COM

(n = 0 to 5)

OFF

In the context of the LCPU's positioning function, the status shown above are defined as representing the "negative logic".

(b) Internal circuit

With the LCPU, the "input signal OFF" status is defined as the off status of the corresponding internal circuit (photocoupler).

• Voltage not applied: Photocoupler OFF

• Voltage applied: Photocoupler ON

CHAPTER 7 POSITIONING FUNCTION

7.2.2 Wiring

For connectors used for external wiring, refer to  MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection). For examples of connection with servo amplifiers, refer to  Page 271, Appendix 2.

7.2.2 Wiring

7.2 Connection to External Devices

7.3 Parameter Setting

Select the "Use positioning function (Axis #1)" checkbox.

According to the settings, external signals are assigned.

Select an option from the pull-down menu as necessary.

Set parameters for each axis.

1. Click the button in the "Built-in I/O Function Setting" tab.

Project window[Parameter][PLC Parameter]"Built-in I/O Function Setting" tab

2. Select the "Use positioning function (Axis #1)" checkbox on the top left on the "Positioning Axis

#1 Detailed Setting" window.

3. Configure required settings.

4. Click the button to exit.

Item Description Reference

Positioning Parameter

OPR Parameter These parameters define data used in OPR control. Page 64, Section 7.6

Positioning Data A group of data required in a single positioning operation. Page 91, Section 7.7

When the setting is complete, the necessary external signals are assigned automatically. The drive unit ready signal and limit signals should be set as necessary. Set the input response time for input signals. The Error time output mode is fixed to "Clear.

These parameters define data that must be set upon system start-up according to the drive unit, motor and system configuration used.

Page 57, Section 7.3.1

CHAPTER 7 POSITIONING FUNCTION

Forward run

CCW

Reverse run

OFF

7.3.1 Positioning parameters

Positioning parameters are common to all controls. Set these parameters for each axis.

Setting item Setting range Default

CW/CCW Mode

Pulse Output Mode

Rotation Direction Setting

S/W Stroke Upper Limit (pulse)

S/W Stroke Lower Limit (pulse) -2147483648

Speed Limit Value (pulse/s) 1 to 200000 10000

Bias Speed at Start (pulse/s) 0 to 200000 0

Acceleration/Deceleration System Selection

A Phase/B Phase Mode (Multiple of 1)

A Phase/B Phase Mode (Multiple of 4)

Current Value Increment with Forward Run

Current Value Increment with Reverse Run

Executable controls and corresponding positioning parameters are shown below.

Positioning parameter OPR control

Pulse Output Mode    

Rotation Direction Setting    

S/W Stroke Upper Limit (pulse)   

S/W Stroke Lower Limit (pulse)   

Speed Limit Value (pulse/s)    

Bias Speed at Start (pulse/s)    

Acceleration/Deceleration System Selection    

PULSE/SIGN Mode

Pulse Output

-2147483648 to 2147483647

Trapezoid Acceleration/Deceleration

S-curve Acceleration/Deceleration

: Must be set, : Set as necessary, : Need not be set

Positioning control

Position

control

Speed

control

Speed/position

switching control

CW/CCW Mode

Current Value Increment with Forward

Run Pulse Output

2147483647

Trapezoid Acceleration/Deceleration

Current

value change

JOG

operation

7.3 Parameter Setting

7.3.1 Positioning parameters

(1) Pulse output mode

Set the pulse output mode applicable to the drive unit used.

(a) CW/CCW mode

Forward run feed pulses (CW) are output when the motor is rotating forward. Reverse run feed pulses (CCW) are output when the motor is rotating in reverse.

(b) PULSE/SIGN mode

Ex.

Forward run

Move in + direction

Reverse run

Move in - direction

PULSE

SIGN

OFF

Forward run

Reverse run

Command 1 pulse output Command 1 pulse output

Phase A

(A )

Phase B

(B )

Phase B runs slower than phase A by 90 .

Phase A runs slower than phase B by 90 .

OFF

Forward/reverse control is based on on/off of the direction sign (SIGN).

• The direction sign turns on when the motor is rotating forward.

• The direction sign turns off when the motor is rotating in reverse.

For CCW, pulses are output 100s after the direction sign turns off.

1 pulse

PULSE

OFF

SIGN

OFF

100 s

Forward/reverse control is based on the difference between phase A (A) and phase B (B).

• Phase B lags phase A by 90° when the motor is rotating forward.

• Phase A lags phase B by 90° when the motor is rotating in reverse.

• When "A Phase/B Phase Mode (Multiple of 1)" is set

Forward run

Command 1 pulse output Command 1 pulse output

Phase A

(A )

Phase B

(B )

OFF

Phase B runs slower than phase A by 90 .

When one command pulse output corresponds to 1 pulse/s, there are four leading/trailing edges per second.

• When "A Phase/B Phase Mode (Multiple of 4)" is set

Reverse run

Phase A runs slower than phase B by 90 .

When one command pulse output corresponds to 1 pulse/s, there is one leading/trailing edge per second.

CHAPTER 7 POSITIONING FUNCTION

Remark

Motor

Forward run pulse

LCPU

Workpiece

Address increment direction

Address decrement direction

Workpiece moveable range

Software stroke limit lower limit

Software stroke limit upper limit

Limit switch for emergency stop

(2) Rotation direction setting

Set how the current position would increase/decrease in each rotation direction of the motor. Check the settings by JOG operation. ( Page 104, Section 7.9)

1. Set "Current Value Increment with Forward Run Pulse Output" for the rotation direction setting

and perform forward JOG operation.

2. If the workpiece moves in the address decreasing direction defined by the system, set "Current

Value Increment with Reverse Run Pulse Output" for the rotation direction setting to change the rotation direction. (If the workpiece moves in the address increasing direction defined by the system, the current setting need not be changed.)

3. Perform forward JOG operation again and if the workpiece (W) moves in the address increasing

direction, the setting is complete.

If Rotation Direction Setting was changed from "Current Value Increment with Forward Run Pulse Output" to "Current Value Increment with Reverse Run Pulse Output," perform JOG operation to check if the upper limit switch and lower limit switch operate correctly. If any operation problem was found, review the wirings.

(3) S/W stroke upper limit, S/W stroke lower limit

Set the upper/lower limits of the moving range of the workpiece.

• Set the software stroke limits according to the condition specified below: Software stroke lower limit < Software stroke upper limit

• To disable the software stroke limits, set the same value for both the upper limit and lower limit. (Desired values can be set as long as they are within the setting range.)

7.3 Parameter Setting

7.3.1 Positioning parameters

In general, the OP is set at the lower limit or upper limit of the software stroke.

(4) Speed limit value

The acceleration and deceleration follow a straight line.

Set the maximum speed for OPR control, positioning control and JOG operation. If any of the following settings exceeds the speed limit, the speed is limited to the specified limit.

•OPR speed

• Command speed

• JOG speed

• New speed value

• Bias speed at start

The speed limit is determined by the two conditions below:

• Motor speed

• Moving speed of the workpiece

(5) Bias speed at start

Set the minimum speed for OPR control, positioning control, and JOG operation. When a stepping motor is used, set this speed to ensure smooth starting of the motor. (Stepping motors do not start smoothly if the motor speed at start is low. For the bias speed at start, set a value not exceeding the speed limit.

(6) Acceleration/deceleration system selection

Set "Trapezoid Acceleration/Deceleration" or "S-curve Acceleration/Deceleration" for acceleration/deceleration processing. If S-curve Acceleration/Deceleration is set when a stepping motor is used, the motor does not operate normally.

Trapezoid Acceleration/Deceleration S-curve Acceleration/Deceleration

The acceleration and deceleration follow a Sine curve.

7.4 Specifications

(1) Performance specifications

The following is the performance specifications of the positioning function.

Item

Number of controlled axes 2

Control unit pulse

Operation pattern

Number of positioning data 10 data/axis

Positioning

control

Command

pulse output

External input

External output

Positioning control

method

Positioning range

Acceleration/deceleration system selection

Acceleration/deceleration time 0 to 32767 ms

OPR method 6 types

Starting time (1-axis linear control)

Maximum output pulse 200k pulses/s

Maximum connection distance with drive unit 2 m

Zero signal

Speed/position switching signal

Near-point dog signal

Upper and lower limit signal

Drive unit ready signal

Minimum input response time

Deviation counter clear signal

Response time

Speed/position switching

Speed command 0 to 200k pulses/s

Pulse output type

Pulse output mode 4 modes

Differential input

CHAPTER 7 POSITIONING FUNCTION

Description

L02SCPU, L02CPU, L06CPU,

L26CPU, L26CPU-BT

PTP

control

Path control Not usable

control

PTP

control

PTP

control

Automatic trapezoid acceleration/deceleration and S-curve

Trapezoid acceleration/deceleration (single-axis start): 30 s/axis

S-curve acceleration/deceleration (single-axis start): 35 s/axis

DC input 24VDC, 6.0mA (TYP.)

(AM26LS31 (by Texas Instruments Japan Limited.) or equivalent)

Speed/position switching signal, near-point dog signal: 100s

Upper and lower limit signal, drive unit ready signal: 2ms

(5 to 24VDC, 0.1A)

On 1s or less (rated load, resistive load)

Off 1s or less (rated load, resistive load)

-2147483648 to 2147483647 pulses

0 to 2147483647 pulses

acceleration/deceleration

Sink type

(5 to 24VDC)

EIA RS-422-A differential line driver level

24VDC, 4.1mA (TYP.)

Sink type

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

L26CPU-P, L26CPU-PBT

Available

ABS/INC

INC

Zero signal: 10s

7.4 Specifications

Source type

(5 to 24VDC)

Source type

(5 to 24VDC, 0.1A)

*1 Abbreviation for "Point to Point". This is a type of position control. *2 The response time at turning on  off of input devices takes 200s even if the input response time is set to “0.1ms”

(2) Special relay and special register

The following table lists the special relay (SM) and special register (SD) related to the positioning function.  in the name indicates either 1 (Axis 1) or 2 (Axis 2). For details of the special relay and special register other than the Axis 1 axis operation status (SD1844) ( Page 63, Section 7.5), refer to MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection).

Special relay number

Axis 1 Axis 2 Axis 1 Axis 2

SM1840 SM1860 Axis  busy SD1840 SD1860

SM1841 SM1861

SM1842 SM1862 Axis  OPR request SD1842 SD1862

SM1843 SM1863 Axis  OPR completed SD1843 SD1863

SM1844 SM1864 Axis  speed 0 SD1844 SD1864 Axis  axis operation status

SM1845 SM1865 Axis  error SD1845 SD1865 Axis  error code

SM1846 SM1866 Axis  warning SD1846 SD1866 Axis  warning code

SM1847 SM1867 Axis  start during operation SD1847 SD1867 Axis  external I/O signals

SM1848 SM1868 Axis  start instruction SD1848 SD1868

SM1850 SM1870 Axis  error reset SD1849 SD1869

SM1851 SM1871 Axis  OPR request off

SM1852 SM1872

Name

Axis  positioning

completion

Axis  speed/position

switching

Special register number

SD1841 SD1861

SD1850 SD1870

Name

Axis  current feed value

Axis  current speed

Axis  movement amount after

near-point dog ON

Axis  data No. of positioning

being executed

CHAPTER 7 POSITIONING FUNCTION

7.5 Checking Current Position and Operation Status

The current position and operation status of the moving workpiece can be monitored in the special register.

(1) Checking a current position

Values indicating the current position are stored in the Axis 1 current feed value (SD1840, SD1841). The address established by machine OPR is used as the reference.

(2) Checking an operation status

The Axis 1 axis operation status (SD1844) indicates the operation status of the axis.

Stored

value

0 Standby

1 Stopped

2 In JOG operation JOG operation is in progress.

3 In OPR Machine OPR is in progress.

4 In position control Position control is in progress.

5 In speed-position control (speed) Speed control of speed/position switching control is in progress.

7 Decelerating (axis stop ON) The axis is decelerating according to the Axis stop instruction (IPSTOP1).

8 Decelerating (JOG start OFF)

9 In high-speed OPR Fast OPR is in progress.

10 In speed control Speed control is in progress.

11 Analyzing Absolute position restoration is in progress.

-1 Error occurring An error is present.

Operating status Description

This is the status after the following operations:

• (Successful) completion of operation

• Power-on

• When the CPU module is reset

• Error reset

• After JOG operation

• End of absolute position restoration

The axis has stopped successfully according to the Axis stop instruction (IPSTOP1).

In speed-position control

(position)

Position control of speed/position switching control is in progress.

The axis is decelerating after the execution command for JOG start instruction (IPJOG1) turned off.

7.5 Checking Current Position and Operation Status

7.6 OPR Control

Two controls (machine OPR and fast OPR) are defined as OPR controls in line with the flow of OPR operation of the LCPU.

OPR control Description Reference

This is control to establish the reference position (= OP) to be used when positioning control is started. This control is executed when requested by the LCPU at power-on. The OP is

Machine OPR

Fast OPR

To implement OPR control, the OPR parameters must be set on the "Positioning Function Parameter Setting" window. The OPR parameters that have been set apply commonly to each axis. Setting details are explained below.

OPR Acceleration/Deceleration Time (ms)

OPR Deceleration Stop Time (ms)

Setting of Movement Amount after Near-point Dog

established by using a near-point dog or zero signal. Set machine OPR for the original position return type of the OPR start instruction (IPOPR1(P)) and execute the instruction to start the operation.

Fast OPR is used to return the axis, which has stopped at a position other than the OP after positioning control, to the OP. After the machine OPR establishes the OP, the workpiece is moved to the OP address or standby address by the fast OPR without using a near-point dog or zero signal. Set fast OPR (OP address) or fast OPR (standby address) for the original position return type of the OPR start instruction (IPOPR1(P)) and execute the instruction to start the operation.

Setting item Setting range Default

Near-point Dog Method

Stopper 1

Stopper 2

OPR Method

OPR Direction

OP Address (pulse) -2147483648 to 2147483647 0

OPR Speed (pulse/s)

Creep Speed (pulse/s)

ON (pulse)

OPR Dwell Time (ms) 0 to 65535

Stopper 3

Count 1

Count 2

No Method

Forward RUN

Reverse RUN

1 to 200000 1

0 to 32767 1000

0 to 2147483647

Near-point Dog Method

Forward RUN

Page 71, Section 7.6.1

Page 89, Section 7.6.2

Note that the explanations in this section assume use of Axis 1. For the special relay, special register, dedicated instructions, and error codes for Axis 2, refer to the following.

• Special relay and special register:  Page 62, Section 7.4 (2)

• Dedicated instructions:  Page 137, Section 7.12

• Error codes:  Page 173, Section 7.14 (1)

CHAPTER 7 POSITIONING FUNCTION

First zero after the near-point watchdog signal OFF

Creep speed

Zero signal

Near-point watchdog signal

OFF

Bias speed at start

OPR speed

Creep speed

Near-point watchdog signal

OFF

Stopped by stopper

Zero signal

Bias speed at start

(1) OPR method

Set the method of machine OPR. (This setting does not affect the fast OPR.) Operations under each method are explained below. For details of each method and applicable precautions, refer to ( Page 71, Section 7.6.1).

Near-point dog method

1) Start of machine OPR.



2) The axis starts to decelerate upon detection of turning on of the near-point dog.



3) The axis decelerates to the creep speed and moves at the creep speed thereafter.



4) Pulse output from the LCPU stops when the first zero signal is issued after the near-point dog has turned off, and machine OPR is complete.

Near-point watchdog signal

Bias speed at start

OPR speed

OFF

Dwell time counting

Creep speed

5) t

Range where motor rotation is forcibly stopped by stopper

Dwell time out

Stopper 1

1) Start of machine OPR.



2) The axis starts to decelerate upon detection of turning on of the near-point dog.



3) The axis decelerates to the creep speed and moves at the creep speed thereafter.



4) The axis contacts the stopper at the creep speed and stops.



5) Upon elapse of the OPR dwell time after the near-point dog has turned on, pulse output from the LCPU stops and machine OPR is complete.

Stopper 2

1) Start of machine OPR.



2) The axis starts to decelerate upon detection of turning on of the near-point dog.



3) The axis decelerates to the creep speed and moves at the creep speed thereafter.



4) The axis contacts the stopper at the creep speed and stops.



5) When the zero signal is detected, pulse output from the LCPU stops and machine OPR is complete.

7.6 OPR Control

Stopper 3

Creep speed

Zero signal

Stopped by stopper

Bias speed at start

First zero after movement amount has been traveled after near-point watchdog signal OFF

Zero signal

Near-point watchdog signal

OFF

Setting for the movement amount after near-point watchdog signal ON

The near-point watchdog signal should be turned off with enough distance provided from OP position.

Bias speed at start

OPR speed

Movement amount after nearpoint watchdog signal ON

Creep speed

Movement amount after near-point watchdog signal ON

Setting for the movement amount after near-point watchdog signal ON

Near-point watchdog signal

OFF

Creep speed

Bias speed at start

OPR speed

1) Start of machine OPR.



2) The axis contacts the stopper at the creep speed and stops.



3) When the zero signal is detected, pulse output from the LCPU stops and machine OPR is complete.

Count 1

1) Start of machine OPR.



2) The axis starts to decelerate upon detection of turning on of the near-point dog.



3) The axis decelerates to the creep speed and moves at the creep speed thereafter.



4) Pulse output from the LCPU stops at the first zero signal after the near-point dog has turned on and the axis has moved the distance set by "Movement amount after near-point dog ON", and the machine OPR is complete.

Count 2

1) Start of machine OPR.



2) The axis starts to decelerate upon detection of turning on of the near-point dog.



3) The axis decelerates to the creep speed and moves at the creep speed thereafter.



4) Pulse output from the LCPU stops after the axis has moved the distance set by "Movement amount after near-point dog ON" (the axis starts to decelerate from the creep speed over the OPR deceleration stop time), and the machine OPR is complete.

CHAPTER 7 POSITIONING FUNCTION

Lower limit

Address increment direction

Address decrement direction

Upper limit

When the OP is set at the lower limit side, the OPR direction is in the direction of arrow 1). Set "Reverse run direction".

When the OP is set at the upper limit side, the OPR direction is in direction of arrow 2). Set "Forward run direction".

Lower limit

Address increment direction

Address decrement direction

Upper limit

(a) OPR methods and OPR parameters

Different OPR parameters are required depending on each OPR method. The relationships are shown below. For the settings required for the fast OPR, refer to  Page 89, Section 7.6.2.

: Must be set, : Need not be set

OPR method

OPR parameter

OPR Direction 

OP Address 

OPR Speed 

Creep Speed 

OPR Acceleration/Deceleration

Time

OPR Deceleration Stop Time 

Setting of Movement Amount

after Near-point Dog ON

OPR Dwell Time

Near-point

Dog Method







Stopper 1 Stopper 2 Stopper 3 Count 1 Count 2





*1 This setting becomes effective when OPR is retried.

(2) OPR direction

Set the direction in which to start machine OPR. (This setting does not affect the fast OPR.) Forward RUN: The axis operates in the direction of increasing address (arrow 2)). Reverse RUN: The axis operates in the direction of decreasing address (arrow 1)).

Normally the OP is set near the lower limit switch or upper limit switch. Accordingly, set the OPR direction as shown below.

7.6 OPR Control

(3) OP address

Set the position that becomes the reference point of position control (ABS). Upon completion of machine OPR, the address of the stop position (Axis 1 current feed value (SD1840, SD1841) changes to the OP address that has been set.

(4) OPR speed

Near-point watchdog signal

Zero signal

OFF

Machine OPR start

Creep speed

OPR speed

Bias speed at start

OPR speed

Bias speed at start

OPR ACC/DEC time

Creep speed

Bias speed at start

OPR ACC/DEC time

Creep speed

Set the speed of OPR control. The following condition must be met:

Bias speed at start  Creep speed  OPR speed  Speed limit

(5) Creep Speed

Set the low speed at which the axis moves immediately before stopping after decelerating from the OPR speed following the turning on of the near-point dog. The following condition must be met: (This setting does not affect the fast OPR.)

Bias speed at start  Creep speed  OPR speed  Speed limit

The creep speed affects the detection error in an OPR method using a zero signal, or degree of impact of collision in the OPR Method using a stopper method.

(6) OPR acceleration/deceleration time

Set the time required to reach the OPR speed from the bias speed at start, or creep speed from the OPR speed.

When the OPR Method is set to other than "Stopper 3": When the OPR Method is set to "Stopper 3":

CHAPTER 7 POSITIONING FUNCTION

Ex.

OPR speed

Bias speed at start

Creep speed

OPR DEC/STOP time

OPR speed

Bias speed at start

Creep speed

OPR DEC/STOP time

Axis stop factor occurrence

[Machine OPR control operation]

[Deceleration distance] =

= 2000

1 2

Vz (t+t')

2000

t+t' 1000

2000

10 10

(320+80)

80ms: t'

Creep speed: Vc=2 kpulses/s

OPR speed: Vz=10 kpulses/s

OFF

Near-point watchdog signal

OPR ACC/DEC time: t=320ms

Set 2000 pulses or more in "Setting of Movement Amount after near-point Dog ON".

(7) OPR deceleration stop time

Set the time required for the following conditions.

• For "Count 2", this time is from when the axis decelerates the speed from the creep speed to when it stops at the bias speed at start.

• For all OPR method, this time is from when a stop cause occurs during OPR control to when the axis stops at the bias speed at start from the OPR speed.

• For the fast OPR, this time is from when the axis decelerates the speed from the OPR speed to when it stops at the bias speed at start. ( Page 89, Section 7.6.2)

When the OPR Method is set to "Count 2":

When a stop cause occurs during OPR control:

(This applies commonly to all OPR methods.)

(8) Setting of movement amount after near-point dog ON

• Set the movement amount from the position at which the near-point dog turns on until a zero signal is input when the OPR Method is set to "Count 1.

• Set the movement amount from the position at which the near-point dog turns on to the OP when the OPR Method is set to "Count 2.

For "Setting of Movement Amount after Near-point Dog ON", set a value equal to or greater than the deceleration distance from the OPR speed to creep speed. (This setting does not affect the fast OPR.)

Calculation of "Movement Amount after Near-point Dog ON" when "OPR Speed" is set to 10 kpulses/s, "Creep Speed" to 2 kpulses/s, and "OPR Acceleration/Deceleration Time" to 320ms

7.6 OPR Control

(9) OPR dwell time

Set this parameter in the conditions below. (This setting does not affect the fast OPR.)

(a) When the OPR Method is set to "Stopper 1":

Set the time required for machine OPR to complete after the near-point dog turns on. For the OPR dwell time, set a value equal to or greater than the moving time after the near-point dog turns on until the axis stops at the stopper.

(b) When the OPR retry function is enabled:

Set the stopping time after the axis decelerates to a stop. ( Page 110, Section 7.10.1)

CHAPTER 7 POSITIONING FUNCTION

7.6.1 Machine OPR

The machine OPR establishes the machine OP using the OPR start instruction (IPOPR1(P)). ( Page 146, Section

7.12.1 (4)) Once the machine OPR is complete, the mechanically established position becomes the "OP" which defines the starting point of positioning control. (No address information stored in the LCPU or servo amplifier is used.) How the OP is established by machine OPR varies depending on the "OPR method". Select one of the six methods that best suits your system.

(1) OPR method and I/O signal

Different I/O signals are used under each OPR method. A correspondence table of OPR methods and I/O signals is shown below.

: Wiring required, : Wire as necessary, : Wiring not required

OPR method

I/O signal

Zero signal 

Near-point dog signal 

Deviation counter clear signal   

External command signal

CW/PULSE/A phase output   

CCW/SIGN/B phase output   

Drive unit ready signal

Upper limit signal

Lower limit signal

*1*2

Near-point

dog method

   

  

  

Stopper 1 Stopper 2 Stopper 3 Count 1 Count 2 No method



 







7.6 OPR Control

7.6.1 Machine OPR

*1 When this signal is not required, it can be used for other functions such as the general-purpose input and general-

purpose output.

*2 These signals are required when the OPR retry function or hardware stroke limit function is used.

(2) Sub function

The OPR retry function can be used when the upper and lower limit signals are input. ( Page 110, Section 7.10.1)

Important

■OPR direction

(1) The direction of the OP must always be the same when viewed from any arbitrary position in the moving area of the workpiece (= the OP must be

positioned near the upper limit or lower limit of the machine).

(2) Set the OPR direction correctly so that the workpiece moves toward the OP.

If the above two conditions are not met, the OPR retry function may actuate inadvertently. The following situations may also result:

• The near-point dog is already off at the start of machine OPR.

• Machine OPR starts in the opposite direction of near-point dog.

In this case, no near-point dog is detected after machine OPR is started. As a result, the axis may continue to operate at the OPR speed until reaching the limit switch and damage the machine system. If this is the possibility, use the OPR retry function (Page 110, Section 7.10.1) or perform JOG operation (Page 104, Section 7.9) to move the workpiece until just before the near-point dog as viewed from the OPR direction.

■Deceleration stop time

If any of the following stop causes occurs during OPR operation, the axis decelerates to a stop over the "OPR deceleration stop time," not "OPR acceleration/deceleration time":

• The program is stopped.

• The drive unit ready signal is turned off.

• A hardware stroke limit is reached. (If the OPR retry function is enabled, the axis decelerates to a stop and then starts moving in the opposite direction.)

• The Axis stop instruction (IPSTOP1) is executed.

When decelerating from the OPR speed, for example, the data to be used as the deceleration time varies between "deceleration due to near-point dog ON" and "deceleration by Axis stop instruction (IPSTOP1) execution command ON." Since the motor load changes according to the deceleration time, set this time properly by giving full consideration to the impact on the machine.

(3) Operations of near-point dog method and precautions

OFF

One motor rotation

OFF

Unfixed

(Updated according to the movement)

OP address

(Updated according to the movement)

Near-point watchdog

Zero signal

Movement amount after near-point watchdog ON *1

Output time 10ms

OPR start instruction

execution command

Axis 1 OPR request

(SM1842)

Axis 1 OPR complete

(SM1843)

Axis 1 operation status

(SD1844)

Axis 1 current feed value

(SD1840, SD1841)

Axis 1 movement amount after

near-point watchdog ON

(SD1848, SD1849)

*1 value

Standby (0)

Returning to OP (3)

Standby (0)

Deviation counter clear signal

Set the near-point watchdog OFF position as close to the center of zero signal length as possible. If the near-point watchdog turns off in the zero signal state, the OPR stop position may change by one servomotor rotation.

Under the near-point dog method, machine OPR completes when a zero signal is input after the near-point dog has turned off. The following operations take place.

Operation step Description of operation

Machine OPR starts upon execution of the OPR start instruction (IPOPR1(P)). The axis accelerates from the bias speed

at start to the OPR speed in the OPR direction over the OPR acceleration/deceleration time and moves at the OPR speed.

The axis starts to decelerate upon detection of turning on of the near-point dog. The axis decelerates to the creep speed and moves at the creep speed thereafter.

When the first zero signal (signal for outputting one pulse per motor rotation) is issued after the near-point dog has turned off, the LCPU stops outputting pulses and outputs a deviation counter clear signal to the drive unit.

Upon completion of output of the deviation counter clear signal (output for 10 ms), the Axis 1 OPR completion (SM1843) turns on and Axis 1 OPR request (SM1842) turns off.

CHAPTER 7 POSITIONING FUNCTION

7.6 OPR Control

7.6.1 Machine OPR

(a) Required pulse generator

Use a pulse generator with zero signal. If a pulse generator without zero signal is used, generate a zero signal using an external signal.

(b) Near-point dog length

The near-point dog length should be equal to or longer than the distance moved by the axis as it decelerates from the OPR speed to creep speed. If the length is short, the near-point dog turns off while the axis is still decelerating from the OPR speed to creep speed. When the zero signal turns on in this condition, the axis stops immediately to complete machine OPR. As a result, the OP position deviates and the motor load also increases because the axis stops suddenly at the creep speed or higher.

When the near-point watchdog length is increased sufficiently

Near-point watchdog

Zero signal

For the method to calculate the distance from the near-point dog ON position to OP, refer to  Page 69, Section 7.6 (8).

OFF

CHAPTER 7 POSITIONING FUNCTION

The following functions can be used when the upper and lower limit signals are selected:

• OPR retry function When machine OPR is started in a position indicated as interval A (where the near-point dog is turned off

and no near-point dog is found in the OPR direction) in the figure below, the axis continues to operate at the OPR speed until reaching the limit switch of the machine system because it cannot detect the nearpoint dog. When the limit signal in the OPR direction turns off, the OPR retry function actuates. As a result, the axis decelerates to a stop and then move in the opposite direction to complete machine OPR successfully. ( Page 110, Section 7.10.1) This eliminates the need to perform JOG operation to return to the position before the near-point dog turns on.

• Hardware stroke limit function When the limit signal in the direction opposite the OPR direction turns off, the axis decelerates to a stop

due to the hardware stroke limit function. (Page 123, Section 7.10.5) This prevents damage to the machine system.

When started from here

Near-point watchdog

Zero signal

Retry operation

ON OFF

Moving in the opposite direction

Interval A

When started from here

Limit switch

OFF

7.6 OPR Control

7.6.1 Machine OPR

(d) Machine OPR from a position where the near-point dog is turned on

When machine OPR is started at a position indicated as interval B (where the near-point dog is turned on) in the figure below, the OPR retry function does not operate. The axis moves at the creep speed to complete machine OPR.

Creep speed

Interval B

Near-point watchdog

Zero signal

OFF

(4) Operations of stopper 1 and precautions

OFF

Standby (0)Standby (0)

Unfixed

OP address

Near-point watchdog

Returning to OP (3)

Output time 10ms

Dwell time counting start

Dwell time elapsed

Stopper

OPR start instruction

execution command

Axis 1 movement amount after

near-point watchdog ON

(SD1848, SD1849)

Axis 1 OPR request

(SM1842)

Axis 1 OPR complete

(SM1843)

Axis 1 operation status

(SD1844)

Axis 1 current feed value

(SD1840, SD1841)

(Updated according to the movement)

Deviation counter clear signal

Movement amount after near-point watchdog ON *

*1 value

Under this method, machine OPR completes upon elapse of the OPR dwell time after the detection of near-point dog ON. The following operations take place.

Operation step Description of operation

Machine OPR starts upon execution of the OPR start instruction (IPOPR1(P)). The axis accelerates from the bias speed

3) The axis contacts the stopper at the creep speed and stops.

at start to the OPR speed in the OPR direction over the "OPR acceleration/deceleration time" and moves at the OPR speed.

The axis starts to decelerate upon detection of turning on of the near-point dog. The axis decelerates to the creep speed and moves at the creep speed thereafter.

Upon elapse of the OPR dwell time after the near-point dog has turned on, the LCPU stops outputting pulses and outputs a deviation counter clear signal to the drive unit.

Upon completion of output of the deviation counter clear signal (output for 10 ms), the Axis 1 OPR completion (SM1843) turns on and Axis 1 OPR request (SM1842) turns off.

CHAPTER 7 POSITIONING FUNCTION

7.6 OPR Control

7.6.1 Machine OPR

(a) Motor torque limit

Be sure to limit the motor torque after the creep speed is reached. If the torque is not limited, the motor may be damaged when the stopper is contacted. For limitation of torque, refer to the manual for the drive unit.

(b) Setting of OPR dwell time

Suddenly stopped during deceleration to the creep speed

OFF

Near-point watchdog

OPR dwell time

Stopper

Interval A

Creep speed

OFF

Near-point watchdog

Stopper

For "OPR dwell time," set a value equal to or greater than the moving time from the near-point dog ON position until the stopper is contacted. If the OPR dwell time is short, machine OPR completes before the stopper is contacted and the OP position deviates. If the OPR dwell time is shorter than the OPR acceleration/deceleration time, the motor stops suddenly at the higher speed than the creep speed. As a result, load for motor is increased.

• When machine OPR is started in a position indicated as interval A (where the near-point dog is turned on) in the figure below, the axis moves at the creep speed to complete machine OPR.

• When starting position is in interval B (between the near-point dog OFF position and stopper) in the figure below, no near-point dog is detected and thus the axis may collide with the stopper at the OPR speed. Make sure the near-point dog is longer than the distance to the stopper.

Near-point watchdog

(d) OPR retry function

The OPR retry function cannot be used.

Collision at OPR speed

Stopper

Interval B

OFF

(5) Operations of stopper 2 and precautions

OFF

Near-point watchdog

Zero signal

Output time 10ms

Stopper

OPR start instruction

execution command

Axis 1 movement amount after

near-point watchdog ON

(SD1848, SD1849)

Axis 1 OPR request

(SM1842)

Axis 1 OPR complete

(SM1843)

Axis 1 operation status

(SD1844)

Axis 1 current feed value

(SD1840, SD1841)

Movement amount after near-point watchdog ON *

OFF

Standby (0)Standby (0)

Unfixed

OP address

Returning to OP (3)

(Updated according to the movement)

*1 value

Deviation counter clear signal

Under this method, machine OPR completes upon input of a zero signal via an external switch, following stopper contact. The following operations take place.

Operation step Description of operation

Machine OPR starts upon execution of the OPR start instruction (IPOPR1(P)). The axis accelerates from the bias speed

3) The axis contacts the stopper at the creep speed and stops.

at start to the OPR speed in the OPR direction over the "OPR acceleration/deceleration time" and moves at the OPR speed.

The axis starts to decelerate upon detection of turning on of the near-point dog. The axis decelerates to the creep speed and moves at the creep speed thereafter.

When a zero signal (output upon detection of stopper contact) is issued after the axis has stopped, the LCPU stops outputting pulses and outputs a deviation counter clear signal to the drive unit.

Upon completion of output of the deviation counter clear signal (output for 10 ms), the Axis 1 OPR completion (SM1843) turns on and Axis 1 OPR request (SM1842) turns off.

CHAPTER 7 POSITIONING FUNCTION

7.6 OPR Control

7.6.1 Machine OPR

(a) Motor torque limit

Interval A

Creep speed

OFF

Near-point watchdog

Stopper

(b) Near-point dog and starting position

• When machine OPR is started in a position indicated as interval A (where the near-point dog is on) in the figure below, the axis moves at the creep speed to complete machine OPR.

• When starting position of the machine OPR is in interval B (between the near-point dog OFF position and stopper) in the figure below, no near-point dog is detected and thus the axis may collide with the stopper at the OPR speed. Make sure the near-point dog is longer than the distance to the stopper.

Near-point watchdog

The OPR retry function cannot be used.

Collision at OPR speed

Stopper

Interval B

OFF

CHAPTER 7 POSITIONING FUNCTION

Suddenly stopped during deceleration to the creep speed

ON OFF

Near-point watchdog

Stopper

Zero signal

(d) Zero signal input

• Input a zero signal after the stopper has been contacted. If a zero signal is input before the stopper is contacted, machine OPR completes at that point. As a result, the OP position deviates and if a zero signal is input while the axis is decelerating to the creep speed, the motor load also increases because the axis stops suddenly at the creep speed or higher.

• Do not input a zero signal before machine OPR is started. If a zero signal is already input externally when machine OPR is started, a "Zero signal ON" error (Axis 1 error code: 1200) occurs and machine OPR is not performed.

7.6 OPR Control

7.6.1 Machine OPR

(6) Operations of stopper 3 and precautions

OFF

Standby (0)

Unfixed

OP address

Deviation counter clear signal

Zero signal

Returning to OP (3)

Output time 10ms

Stopper

OPR start instruction

execution command

Axis 1 OPR request

(SM1842)

Axis 1 OPR complete

(SM1843)

Axis 1 operation status

(SD1844)

Axis 1 current feed value

(SD1840, SD1841)

(Updated according to the movement)

Under this method, machine OPR completes upon input of a zero signal via an external switch, following stopper contact. This method is effective when no near-point dog is installed. Note, however, that it takes a longer time to complete machine OPR because the axis operates at the creep speed, not at the OPR speed. The following operations take place.

Operation step Description of operation

Machine OPR starts upon execution of the OPR start instruction (IPOPR1(P)). The axis accelerates from the bias speed

2) The axis contacts the stopper at the creep speed and stops.

at start to the creep speed in the OPR direction over the "OPR acceleration/deceleration time" and moves at the creep speed.

When a zero signal (output upon detection of stopper contact) is issued after the axis has stopped, the LCPU stops outputting pulses and outputs a deviation counter clear signal to the drive unit.

Upon completion of output of the deviation counter clear signal (output for 10 ms), the Axis 1 OPR completion (SM1843) turns on and Axis 1 OPR request (SM1842) turns off.

(a) Motor torque limit

(b) OPR retry function

The OPR retry function cannot be used.

• Input a zero signal after the stopper has been contacted. If a zero signal is input before the stopper is contacted, machine OPR completes at that point and the OP position deviates.

(7) Operations of count 1 and precautions

OFF

One motor rotation

OFF

Unfixed

OP address

Near-point watchdog

Zero signal

Setting the movement amount after the near-point watchdog ON

Output time 10ms

OPR start instruction

execution command

Axis 1 movement amount after

near-point watchdog ON

(SD1848, SD1849)

Axis 1 OPR request

(SM1842)

Axis 1 OPR complete

(SM1843)

Axis 1 operation status

(SD1844)

Axis 1 current feed value

(SD1840, SD1841)

(Updated according to the movement)

*1 value

Standby (0)

Returning to OP (3)

Standby (0)

Movement amount after near-point watchdog ON *1

Deviation counter clear signal

Under this method, machine OPR completes when the first zero signal is input after the axis has moved the distance set by "Movement amount after near-point dog ON" from the near-point dog ON point. The following operations take place.

Operation step Description of operation

Machine OPR starts upon execution of the OPR start instruction (IPOPR1(P)). The axis accelerates from the bias speed

at start to the OPR speed in the OPR direction over the "OPR acceleration/deceleration time" and moves at the OPR speed.

The axis starts to decelerate upon detection of turning on of the near-point dog. The axis decelerates to the creep speed and moves at the creep speed thereafter.

When the first zero signal (signal for outputting one pulse per motor rotation) is issued after the axis has moved the distance set by "Movement amount after near-point dog ON," the LCPU stops outputting pulses and outputs a deviation counter clear signal to the drive unit.

Upon completion of output of the deviation counter clear signal (output for 10 ms), the Axis 1 OPR completion (SM1843) turns on and Axis 1 OPR request (SM1842) turns off.

CHAPTER 7 POSITIONING FUNCTION

7.6 OPR Control

7.6.1 Machine OPR

(a) Required pulse generator

A pulse generator with a zero signal is required. If a pulse generator without zero signal is used, generate a zero signal using an external signal.

(b) Movement amount after near-point dog ON

The "Movement amount after near-point dog ON" should be equal to or longer than the distance moved by the axis as it decelerates from the OPR speed to creep speed. ( Page 69, Section 7.6 (8)) If a zero signal is input after the axis has moved the distance set by "Movement amount after near-point dog ON" while still decelerating from the OPR speed to creep speed, the axis stops immediately at that point to complete machine OPR. As a result, the OP position deviates and the motor load also increases because the axis stops suddenly at the creep speed or higher.

Near-point watchdog

Setting the movement amount after the near-point watchdog ON

Suddenly stopped during deceleration to the creep speed

OFF

Zero signal

CHAPTER 7 POSITIONING FUNCTION

OFF

Near-point watchdog

Zero signal

Retry operation

Limit switch

OFF

Moving in the opposite direction

Interval A

Interval B

When started from here

The following functions can be used when the upper and lower limit signals are selected:

• OPR retry function When machine OPR is started in a position indicated as interval A (where the near-point dog is turned off

• Hardware stroke limit function When the limit signal in the direction opposite the OPR direction turns off, the axis decelerates to a stop

due to the hardware stroke limit function. (Page 123, Section 7.10.5) This prevents damage to the machine system.

(d) Machine OPR from a position where the near-point dog is turned on

When machine OPR is started in a position indicated as interval B (where the near-point dog is turned on) in the figure above, the axis starts moving at the OPR speed in the direction opposite the OPR direction due to the OPR retry function to perform machine OPR. ( Page 113, Section 7.10.1 (4))

7.6 OPR Control

7.6.1 Machine OPR

(8) Operations of count 2 and precautions

OFF

0Unfixed

Unfixed

(Updated according to the movement)

OP address

Near-point watchdog

OPR start instruction

execution command

Axis 1 movement amount after

near-point watchdog ON

(SD1848, SD1849)

Axis 1 OPR request

(SM1842)

Axis 1 OPR complete

(SM1843)

Axis 1 operation status

(SD1844)

Axis 1 current feed value

(SD1840, SD1841)

(Updated according to the movement)

Movement amount after near-point watchdog ON *1

Setting the movement amount after the near-point watchdog ON

Standby (0)

Returning to OP (3)

*1 value

Under this method, the position achieved by moving the distance set by "Movement amount after near-point dog ON" from the near-point dog ON point is set as the OP. This method is effective when a stepping motor is used so that a zero signal cannot be issued. Note that the stop position varies more than when the count 1 method is used. The following operations take place.

Operation step Description of operation

Machine OPR starts upon execution of the OPR start instruction (IPOPR1(P)). The axis accelerates from the bias speed

at start to the OPR speed in the OPR direction over the OPR acceleration/deceleration time and moves at the OPR speed.

The axis starts to decelerate upon detection of turning on of the near-point dog. The axis decelerates to the creep speed and moves at the creep speed thereafter.

After the axis has moved the distance set by "Movement amount after near-point dog ON," the LCPU stops outputting pulses (the axis starts decelerating from the creep speed over the OPR deceleration stop time). The Axis 1 OPR completion (SM1843) turns on, while the Axis1 OPR request (SM1842) turns off.

(a) Wiring of deviation counter clear signal

Deviation counter clear signals are not output in the count 2 method. Use a general-purpose output signal and output it to the servo amplifier.

CHAPTER 7 POSITIONING FUNCTION

(b) Movement amount after near-point dog ON

The "Movement amount after near-point dog ON" should be equal to or longer than the distance moved by the axis as it decelerates from the OPR speed to creep speed. ( Page 69, Section 7.6 (8)) If the axis has moved the distance set by "Movement amount after near-point dog ON" while still decelerating from the OPR speed to creep speed, the axis stops immediately at that point to complete machine OPR. As a result, the OP position deviates and the motor load also increases because the axis stops suddenly at the creep speed or higher.

Near-point watchdog

Setting the movement amount after the near-point watchdog ON

Suddenly stopped during deceleration to the creep speed

OFF

7.6 OPR Control

7.6.1 Machine OPR

The following functions can be used when the upper and lower limit signals are selected:

• OPR retry function When machine OPR is started in a position indicated as interval A (where the near-point dog is turned off

• Hardware stroke limit function When the limit signal in the direction opposite the OPR direction turns off, the axis decelerates to a stop

due to the hardware stroke limit function. (Page 123, Section 7.10.5) This prevents damage to the machine system.

When started from here

Near-point watchdog

Retry operation

Interval B

Interval A

OFF

When started from here

Moving in the opposite direction

Limit switch

OFF

(d) Machine OPR from a position where the near-point dog is turned on

(9) Setting of no method

"No method" is provided as an OPR method for those systems that do not use machine OPR. The I/O signals used for OPR can be used with other functions. If "No method" is set, an attempt to start machine OPR with the OPR start instruction (IPOPR1(P)) generates "OPERATION ERROR" (error code: 4116).

CHAPTER 7 POSITIONING FUNCTION

Fast OPR

OP or standby address

OPR speed

Fast OPR (9)Standby (0) Standby (0)

OPR ACC/DEC time

OPR DEC/STOP time

OPR start instruction

execution command

Axis 1 start instruction in

execution (SM1848)

Axis 1 BUSY (SM1840)

Axis 1 positioning complete

(SM1841)

Axis 1 operation status (SD1844)

Axis 1 OPR request (SM1842)

Axis 1 OPR complete (SM1843)

Axis 1 movement amount after

near-point watchdog ON

(SD1848, SD1849)

Not changed

OFF

7.6.2 Fast OPR

The fast OPR is a function to perform positioning to the "OP address" established by machine OPR or other position (standby address).

Address Description

OP address This address is used to perform positioning using the OP established by machine OPR as the starting point.

This address is used to perform positioning using a position other than the OP established by machine OPR

Standby address

High-speed positioning control is started with the OPR start instruction (IPOPR1(P)) and implemented without using a near-point dog or zero signal.( Page 146, Section 7.12.1 (4))

(1) Fast OPR operation

This operation uses the following OPR parameters, except for the OP address and standby address set for the OPR start instruction (IPOPR1(P).

as the starting point. In certain situations such as when a near-point dog cannot be installed near the standby address and thus the standby address is not the same as the OP in machine system design, fast OPR can be implemented to the standby address to return the workpiece to the starting point ( OP).

Setting item Data type

OPR Speed

OPR ParameterOPR Acceleration/Deceleration Time

OPR Deceleration Stop Time

(2) Precautions

• Establish the OP via machine OPR before starting fast OPR. Otherwise, the "Machine OPR not performed" error (Axis 1 error code: 1201) occurs and operation does not start.

• If the system uses speed control, speed/position switching control and current value change, the Axis 1 current feed value (SD1840, SD1841) is different from the coordinate calculated with reference to the machine OP and thus fast OPR to the machine OP or standby address cannot be performed.

7.6 OPR Control

7.6.2 Fast OPR

7.6.3 Forced off of Axis 1 OPR request (SM1842)

When the LCPU requests machine OPR upon power on, the Axis 1 OPR request (SM1842) turns on. If the system does not require machine OPR, the Axis 1 OPR request (SM1842) can be forcibly turned off by turning on the Axis 1 OPR request off (SM1851). The Axis 1 OPR request off (SM1851) should be turned off again after checking that the Axis 1 OPR request (SM1842) has turned off.

7.6.4 Precautions on Axis 1 OPR request (SM1842)

In the following condition, the Axis 1 OPR request (SM1842) needs to be turned on to perform the machine OPR.

•At power on

•At reset

• When the operating status is switched from STOP to RUN

• When the drive unit ready signal is turned off

• At the start of machine OPR control

While the Axis 1 OPR request (SM1842) is on, address information stored in the LCPU cannot be guaranteed. When the machine OPR is performed and successfully completed, the Axis 1 OPR request (SM1842) turns off and the Axis 1 OPR completion (SM1843) turns on.

CHAPTER 7 POSITIONING FUNCTION

Dwell Time

Command Speed

Positioning Address/

Movement Amount

Control System

Positioning data No. 1

Acceleration/Deceleration

Time

Deceleration Stop Time

Dwell Time

Command Speed

Positioning Address/

Movement Amount

Control System

Positioning data No. 1

Acceleration/Deceleration

Time

Deceleration Stop Time

Axis 2Axis 1

7.7 Positioning Control

The positioning control method is set by the positioning data "Control System". 10 positioning data can be set for each axis with the programming tool. To start positioning control using positioning data set with the programming tool, use the Table start instruction (IPPSTRT1(P)) ( Page 138, Section 7.12.1 (1)). To start positioning control using 10 or more positioning data, set them as the setting data of the Positioning start instruction (IPDSTRT1(P)) ( Page 140, Section 7.12.1 (2)).

Setting item Setting range Default

Control System

Acceleration/Deceleration Time (ms)

Deceleration Stop Time (ms)

Dwell Time (ms) 0 to 65535

Command Speed (pulse/s) 0 to 200000

Positioning Address/Movement Amount (pulse)

Not selected (blank)

Position Control (ABS)

Position Control (INC)

Speed-position Switching Control (Forward RUN)

Speed-position Switching Control (Reverse RUN)

Current Value Change

Speed Control (Forward RUN)

Speed Control (Reverse RUN)

0 to 32767 1000

-2147483648 to 2147483647

(0 to 2147483647 if the control system is

speed/position switching control)

7.7 Positioning Control

Not selected (blank)

Setting details are explained below.

Note that the explanations in this section assume use of Axis 1. For the special relay, special register, dedicated instructions, error codes, and warning codes for Axis 2, refer to the following.

• Special relay and special register:  Page 62, Section 7.4 (2)

• Dedicated instructions:  Page 137, Section 7.12

• Error codes:  Page 173, Section 7.14 (1)

• Warning codes:  Page 177, Section 7.14 (2)

(1) Control system

Set the positioning control system.

Control system Description Reference

Not selected (blank) Set this option if positioning control is not performed. 

Position Control (ABS)

Position Control (INC)

Speed-position Switching

Control (Forward RUN)

Speed-position Switching

Control (Reverse RUN)

Current Value Change The Axis 1 current feed value (SD1840, SD1841) is changed to the set address.

Speed Control (Forward RUN)

Speed Control (Reverse RUN)

The following lists the control systems and the required positioning data.

Positioning data

Acceleration/Deceleration Time   

Deceleration Stop Time   

Dwell Time 

Command Speed   

Positioning Address/Movement

Positioning control is implemented from the position at which the axis is currently stopped, to the specified position. (1-axis linear control)

Speed control is implemented first and when the external command signal is turned on, position control (positioning control based on specified movement amount) is implemented successively.

After acceleration, operation continues until the execution command for Axis stop instruction (IPSTOP1) turns on.

: Must be set, : Set as necessary, : Need not be set

Control System

Speed/position

switching control

Amount

Position control Speed control

  

Page 97, Section

7.7.2

Page 98, Section

7.7.3

Page 100,

Section 7.7.4

Page 101,

Section 7.7.5

Current value

change

CHAPTER 7 POSITIONING FUNCTION

(2) Acceleration/deceleration time, deceleration stop time, dwell time, and

command speed

• Acceleration/deceleration time: Set the time required for the axis to reach the command speed from the bias speed at start.

• Deceleration stop time: Set the time required for the axis to reach the bias speed at start from the command speed and then stop upon completion of position control or occurrence of a stop cause.

• Dwell time: Set the time required for Axis 1 positioning completion (SM1841) to turn on after completion of positioning control.

• Command speed: Set the speed at which to implement positioning control. If the set command speed exceeds the speed limit, positioning control is implemented at the speed limit. If the set command speed is less than the bias speed at start, positioning control is implemented at the bias speed at start.

Command speed

ACC/DEC time

Axis 1 positioning complete (SM1841)

DEC/STOP time

Bias speed at start

Dwell time

7.7 Positioning Control

OFF

(3) Positioning address/movement amount

-1000 3000

Stop position (positioning start address)

Movement amount: 2000 Movement amount: 2000

1000

Stop position (positioning start address)

Moving in negative direction

Moving in positive direction

-30000 30000

(Movement amount) (Movement amount)

Set the address or movement amount to be used as the target value for positioning control. The setting range of values varies depending on the control system.

(a) Position control (ABS), current value change

Set the address from the OP.

(b) Position control (INC)

Set the movement amount with sign.

• When the movement amount is positive: Move in the positive direction (address increasing direction)

• When the movement amount is negative: Move in the negative direction (address decreasing direction)

Set the movement amount after switching from speed control to position control. The setting range is 0 to 2147483647 (pulses).

(d) Speed control (forward RUN/reverse RUN)

The set value is ignored.

Speed control

Movement amount setting

Position control

t Speed/position switching command

CHAPTER 7 POSITIONING FUNCTION

7.7.1 Start of positioning control

Positioning control can be started by using positioning data set with the programming tool or by setting positioning data in a program. The I/O signals used under each control system are shown below.

: Wiring required, : Wire as necessary, : Wiring not required

Control system

I/O signal

Zero signal

Near-point dog signal

Deviation counter clear signal

External command signal

CW/PULSE/A phase output  

CCW/SIGN/B phase output  

Drive unit ready signal

Upper limit signal

Lower limit signal

*1 When this signal is not required, it can be used for other functions such as the general-purpose input and general-

purpose output.

*2 These signals are required when the hardware stroke limit and OPR retry functions are used.

*1*2

Position control Speed control

 



 



Speed/position switching

control



(1) Starting with positioning data set by the programming tool

Positioning data (up to 10 sets of data for each axis) can be set easily using the programming tool. Note that once set, positioning data cannot be changed in a program. Two axes can be started simultaneously at the pulse output level using the Two axes simultaneous start instruction (IPSIMUL(P)).

(a) Setting

Set positioning data (10 sets of data for each axis) using the programming tool and write the data to the LCPU.

(b) Starting

Start positioning with the Table start instruction (IPPSTRT1(P)) by specifying a positioning data No. ( Page 138, Section 7.12.1 (1)) Only one set of positioning data can be executed with each instruction. To start two axes simultaneously, use the Two axes simultaneous start instruction (IPSIMUL(P)).

(2) Starting by setting positioning data with a device

Start positioning with the Positioning start instruction (IPDSTRT1(P)) by specifying the device in which positioning data is stored. Positioning data can be changed every time positioning is started. Use this mode when there are many positioning points and 10 sets of positioning data are not enough, or when positioning addresses and command speeds are calculated by a program, among others.

(a) Setting

Set positioning data to a device by a program.

7.7.1 Start of positioning control

7.7 Positioning Control

(b) Starting

Positioning is started when the set device is specified as setting data and the Positioning start instruction (IPDSTRT1(P)) is executed in the program ( Page 140, Section 7.12.1 (2)). Two axes cannot be started simultaneously.

(3) Sub function

• The command speed can be changed using the Speed change instruction (IPSPCHG1(P)) ( Page 115,

Section 7.10.3).

• The software stroke limit function can be used when the software stroke upper/lower limits are set (

Page 120, Section 7.10.4).

• The hardware stroke limit function can be used when upper/lower limit signals are input ( Page 123,

Section 7.10.5).

• The target position can be changed using the Target position change instruction (IPTPCHG1(P)) ( Page

124, Section 7.10.6).

CHAPTER 7 POSITIONING FUNCTION

Ex.

Start address

0 2000 11000

Positioning address (End address)

Positioning control (movement amount 9000)

Start address

-9000

2000

End address

Positioning control (movement amount -11000)

7.7.2 Position control

Positioning control is implemented for the specified axis from the current position to specified position.

(1) Positioning control by ABS (absolute) method

Positioning is performed by specifying a position with reference to the OP. The moving direction is determined by the current position.

Operation when the starting point address is 2000 and "Positioning address/movement amount" is set to 11000:

(2) Positioning control by INC (incremental) method

Positioning is performed by the set movement amount from the current position being the starting point. The moving direction is determined by the sign of "Positioning address/movement amount."

Operation when the starting point address is 2000 and "Positioning address/movement amount" is set to 11000:

(3) Precautions

If the value of "Positioning address/movement amount" exceeds the upper limit of the software stroke, a "Software stroke limit+" error (Axis 1 error code: 1103) occurs. If the value is smaller than the lower limit of the software stroke, a "Software stroke limit-" error (Axis 1 error code: 1104) occurs. In these cases, position control does not start.

7.7.2 Position control

7.7 Positioning Control

7.7.3 Speed/position switching control

Bias speed at start

Speed control

Position control

Dwell time

Command speed

Start instruction

execution command

Axis 1 BUSY (SM1840)

Axis 1 positioning complete

(SM1841)

External command signal

Axis 1 speed/position

switching enable

(SM1852)

Axis 1 current feed value

(SD1840, SD1841)

(Will be updated)

OFF

After the start instruction has been executed, positioning control is started via speed control first. When the external command signal turns on, speed control switches to position control and positioning control is implemented by the movement amount set by "Positioning address/movement amount." Speed/position switching control is implemented in forward and reverse directions. To switch from speed control to position control, the Axis 1 Speed/position switching enable (SM1852) must be turned on beforehand.

(1) Speed/position switching control operations

(a) Operation timings

(b) Axis 1 current feed value (SD1840, SD1841)

This value is cleared to 0 at the start of speed control. It is not refreshed during speed control, and refreshed only after switching to position control.

Mitsubishi MELSEC-L02CPU-P, MELSEC-L06CPU-P, MELSEC-L06CPU, MELSEC-L02CPU, MELSEC-L02SCPU-P User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

CONDITIONS OF USE FOR THE PRODUCT

INTRODUCTION

RELEVANT MANUALS

CONTENTS

MANUAL PAGE ORGANIZATION

TERMS

CHAPTER 1 OVERVIEW

CHAPTER 2 EXTERNAL I/O SPECIFICATIONS

CHAPTER 3 GENERAL-PURPOSE INPUT FUNCTION

CHAPTER 4 GENERAL-PURPOSE OUTPUT FUNCTION

CHAPTER 5 INTERRUPT INPUT FUNCTION

CHAPTER 6 PULSE CATCH FUNCTION

CHAPTER 7 POSITIONING FUNCTION

7.1 Overview

7.1.1 Procedure for performing the positioning function

7.2 Connection to External Devices

7.2.1 I/O signals

7.2.2 Wiring

7.3 Parameter Setting

7.3.1 Positioning parameters

7.4 Specifications

7.5 Checking Current Position and Operation Status

7.6 OPR Control

7.6.1 Machine OPR

7.6.2 Fast OPR

7.6.3 Forced off of Axis 1 OPR request (SM1842)

7.6.4 Precautions on Axis 1 OPR request (SM1842)

7.7 Positioning Control

7.7.1 Start of positioning control

7.7.2 Position control

7.7.3 Speed/position switching control