Mitsubishi Electric QD77MS, LD77MH, QD77GF, LD77MS User Manual

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MELSEC-Q/L QD77MS/QD77GF/LD77MS/LD77MH Simple Motion Module User's Manual (Synchronous Control)

-QD77MS2 -QD77GF4 -LD77MS2 -LD77MH4

-QD77MS4 -QD77GF8 -LD77MS4 -LD77MH16

-QD77MS16 -QD77GF16 -LD77MS16

SAFETY PRECAUTIONS

(Please read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. Refer to the user's manual of the CPU module to use for a description of the PLC system safety precautions. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

Indicates that incorrect handling may cause hazardous

Depending on circumstances, procedures indicated by results. In any case, it is important to follow the directions for usage.

Please save this manual to make it accessible when required and always forward it to the end user.

DANGER

CAUTION

conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage.

CAUTION may also be linked to serious

A - 1

For Safe Operations

1. Prevention of electric shocks

DANGER

Never open the front case or terminal covers while the power is ON or the unit is running, as this

may lead to electric shocks.

Never run the unit with the front case or terminal cover removed. The high voltage terminal and

charged sections will be exposed and may lead to electric shocks.

Never open the front case or terminal cover at times other than wiring work or periodic

inspections even if the power is OFF. The insides of the module and servo amplifier are charged and may lead to electric shocks.

Completely turn off the externally supplied power used in the system before mounting or removing

the module, performing wiring work, or inspections. Failing to do so may lead to electric shocks.

When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and

then check the voltage with a tester, etc. Failing to do so may lead to electric shocks.

Be sure to ground the module, servo amplifier and servomotor (Ground resistance: 100 or

less). Do not ground commonly with other devices. The wiring work and inspections must be done by a qualified technician. Wire the units after installing the module, servo amplifier and servomotor. Failing to do so may

lead to electric shocks or damage. Never operate the switches with wet hands, as this may lead to electric shocks. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this

may lead to electric shocks. Do not touch the module, servo amplifier, servomotor connector or terminal blocks while the

power is ON, as this may lead to electric shocks. Do not touch the built-in power supply, built-in grounding or signal wires of the module and servo

amplifier, as this may lead to electric shocks.

2. For fire prevention

CAUTION

Install the module, servo amplifier, servomotor and regenerative resistor on incombustible.

Installing them directly or close to combustibles will lead to fire. If a fault occurs in the module or servo amplifier, shut the power OFF at the servo amplifier's

power source. If a large current continues to flow, fire may occur. When using a regenerative resistor, shut the power OFF with an error signal. The regenerative

resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead

to fire. Always take heat measures such as flame proofing for the inside of the control panel where the

servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may

lead to fire. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this

may lead to fire

A - 2

3. For injury prevention

CAUTION

Do not apply a voltage other than that specified in the instruction manual on any terminal.

Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity (+ / -), as this may lead to destruction or damage. Do not touch the heat radiating fins of module or servo amplifier, regenerative resistor and

servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this

timing, these parts become very hot and may lead to burns. Always turn the power OFF before touching the servomotor shaft or coupled machines, as these

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

so may lead to injuries.

4. Various precautions

Strictly observe the following precautions. Mistaken handling of the unit may lead to faults, injuries or electric shocks.

(1) System structure

CAUTION

Always install a leakage breaker on the module and servo amplifier power source. If installation of an electromagnetic contactor for power shut off during an error, etc., is specified

in the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.

Install the emergency stop circuit externally so that the operation can be stopped immediately

and the power shut off.

Use the module, servo amplifier, servomotor and regenerative resistor with the correct

combinations listed in the instruction manual. Other combinations may lead to fire or faults.

Use the CPU module, base unit, and Simple Motion module with the correct combinations listed

in the instruction manual. Other combinations may lead to faults.

If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo

amplifier and servomotor, make sure that the safety standards are satisfied.

Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of

the module or servo amplifier differs from the safety directive operation in the system.

In systems where coasting of the servomotor will be a problem during the forced stop, emergency

stop, servo OFF or power supply OFF, use the dynamic brake. Make sure that the system considers the coasting amount even when using the dynamic brake. In systems where perpendicular shaft dropping may be a problem during the forced stop,

emergency stop, servo OFF or power supply OFF, use both the dynamic brake and

electromagnetic brake. The dynamic brake must be used only on errors that cause the forced stop, emergency stop, or

servo OFF. This brake must not be used for normal braking. The brake (electromagnetic brake) assembled into the servomotor are for holding applications,

and must not be used for normal braking.

A - 3

CAUTION

The system must have a mechanical allowance so that the machine itself can stop even if the

stroke limits switch is passed through at the max. speed. Use wires and cables that have a wire diameter, heat resistance and bending resistance

compatible with the system. Use wires and cables within the length of the range described in the instruction manual. The ratings and characteristics of the parts (other than module, servo amplifier and servomotor)

used in a system must be compatible with the module, servo amplifier and servomotor. Install a cover on the shaft so that the rotary parts of the servomotor are not touched during

operation. There may be some cases where holding by the electromagnetic brake is not possible due to the

life or mechanical structure (when the ball screw and servomotor are connected with a timing belt,

etc.). Install a stopping device to ensure safety on the machine side.

(2) Parameter settings and programming

DANGER

Set the parameter values to those that are compatible with the module, servo amplifier,

servomotor and regenerative resistor model and the system application. The protective functions

may not function if the settings are incorrect. The regenerative resistor model and capacity parameters must be set to values that conform to

the operation mode and servo amplifier. The protective functions may not function if the settings

are incorrect. Set the mechanical brake output and dynamic brake output validity parameters to values that are

compatible with the system application. The protective functions may not function if the settings

are incorrect. Set the stroke limit input validity parameter to a value that is compatible with the system

application. The protective functions may not function if the setting is incorrect. Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value

that is compatible with the system application. The protective functions may not function if the

setting is incorrect. Use the program commands for the program with the conditions specified in the instruction

manual. Set the sequence function program capacity setting, device capacity, latch validity range, I/O

assignment setting, and validity of continuous operation during error detection to values that are

compatible with the system application. The protective functions may not function if the settings

are incorrect.

A - 4

DANGER

The input devices and data registers assigned to the link will hold the data previous to when

communication is terminated by an error, etc. Thus, an error correspondence interlock program

specified in the instruction manual must be used. Use the interlock program specified in the intelligent function module's instruction manual for the

program corresponding to the intelligent function module. When connecting GX Works2 with the CPU module or connecting a personal computer with an

intelligent function module to modify data of a running programmable controller, configure an

interlock circuit in the program to ensure that the entire system will always operate safely.

For other forms of control (such as program modification 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. For the operating status of each station after a communication failure, refer to the "MELSEC-Q

QD77GF Simple Motion Module User's Manual (Network)". Incorrect output or malfunction due to

a communication failure may result in an accident. Do not write any data to the "system area" of the buffer memory in the intelligent function module.

Also, do not use any "use prohibited" signals as an output signal from the CPU module to the

intelligent function module.

Doing so may cause malfunction of the programmable controller system. To set a refresh device in the network parameter, select the device Y for the remote output (RY)

refresh device. If a device other than Y, such as M and L, is selected, the CPU module holds the

device status even after its status is changed to STOP. If a communication cable is disconnected, the network may be unstable, resulting in a

communication failure of multiple stations. Configure an interlock circuit in the program to ensure

that the entire system will always operate safely even if communications fail.

Failure to do so may result in an accident due to an incorrect output or malfunction.

(3) Transportation and installation

DANGER

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.

A - 5

CAUTION

Transport the product with the correct method according to the mass.

Use the servomotor suspension bolts only for the transportation of the servomotor. Do not

transport the servomotor with machine installed on it. Do not stack products past the limit. When transporting the module or servo amplifier, never hold the connected wires or cables. When transporting the servomotor, never hold the cables, shaft or detector. When transporting the module or servo amplifier, never hold the front case as it may fall off. When transporting, installing or removing the module or servo amplifier, never hold the edges. Install the unit according to the instruction manual in a place where the mass can be withstood. Do not get on or place heavy objects on the product. Always observe the installation direction. Keep the designated clearance between the module or servo amplifier and control panel inner

surface or the module and servo amplifier, module or servo amplifier and other devices. Do not install or operate modules, servo amplifiers or servomotors that are damaged or that have

missing parts. Do not block the intake/outtake ports of the servo amplifier and servomotor with cooling fan. Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil

enter the module, servo amplifier or servomotor.

The module, servo amplifier and servomotor are precision machines, so do not drop or apply

strong impacts on them.

Securely fix the module, servo amplifier and servomotor to the machine according to the

instruction manual. If the fixing is insufficient, these may come off during operation.

Always install the servomotor with reduction gears in the designated direction. Failing to do so

may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Environment

Ambient

temperature

Ambient humidity

Storage

temperature

Atmosphere

Altitude

Vibration

Module/Servo amplifier Servomotor

According to each instruction manual.

Indoors (where not subject to direct sunlight).

No corrosive gases, flammable gases, oil mist or dust must exist

According to each instruction manual

Conditions

0°C to +40°C (With no freezing)

(32°F to +104°F)

80% RH or less

(With no dew condensation)

-20°C to +65°C

(-4°F to +149°F)

When coupling with the servomotor shaft end, do not apply impact such as by hitting with a

hammer. Doing so may lead to detector damage.

Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead

to shaft breakage.

A - 6

CAUTION

When not using the module for a long time, disconnect the power line from the module or servo

amplifier. Place the module and servo amplifier in static electricity preventing vinyl bags and store. When storing for a long time, please contact with our sales representative.

Also, execute a trial operation.

Make sure that the connectors for the servo amplifier and peripheral devices have been securely

installed until a click is heard. Not doing so could lead to a poor connection, resulting in erroneous input and output.

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

user's manual for the CPU module used. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product.

To mount the module, while pressing the module mounting lever located in the lower part of the

module, fully insert the module fixing projection(s) into the hole(s) in the base unit and press the module until it snaps into place. Incorrect mounting may cause malfunction, failure or drop of the module. When using the programmable controller in an environment of frequent vibrations, fix the module with a screw.

Tighten the screws within the specified torque range. Undertightening can cause drop of the

screw, short circuit or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction.

Do not directly touch any conductive parts and electronic components of the module. Doing so

can cause malfunction or failure of the module.

When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine

are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products.

The module and the servo amplifier must not be used with parts which contain halogen-series

flame retardant materials (such as bromine) under coexisting conditions.

(4) Wiring

DANGER

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.

A - 7

CAUTION

Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal

screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on

the output side of the servo amplifier.

Correctly connect the output side (terminal U, V, W). Incorrect connections will lead the

servomotor to operate abnormally. Do not connect a commercial power supply to the servomotor, as this may lead to trouble. Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control

signal output of brake signals, etc. Incorrect installation may lead to signals not being output

when trouble occurs or the protective functions not functioning.

Servo amplifier

DOCOM

24VDC

Servo amplifier

DOCOM

24VDC

Control output signal

DICOM

For the sink output interface For the source output interface

Control output signal

DICOM

Do not connect or disconnect the connection cables between each unit, the encoder cable or

PLC expansion cable while the power is ON. Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may

lead to the cables combing off during operation. Do not bundle the power line or cables. Use applicable solderless terminals and tighten them with the specified torque.

If any solderless spade terminal is used, it may be disconnected when the terminal screw comes

loose, resulting in failure. 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. 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. 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. 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. Pulling the cable connected to the

module may result in malfunction or damage to the module or cable. Use 1000BASE-T-compliant Ethernet cables for Ethernet connection. For the maximum station-

to-station distance and the overall cable distance, follow the specifications in this manual. If not,

normal data transmission is not guaranteed.

A - 8

(5) Trial operation and adjustment

CAUTION

Confirm and adjust the program and each parameter before operation. Unpredictable

movements may occur depending on the machine. Extreme adjustments and changes may lead to unstable operation, so never make them. When using the absolute position system function, on starting up, and when the module or

absolute position motor has been replaced, always perform a home position return.

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

sure that operation can be stopped immediately by the forced stop, etc. if a hazardous state occurs.

Before starting the operation, confirm the brake function.

A - 9

(6) Usage methods

CAUTION

Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the

module, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters

have been changed or after maintenance and inspection.

Do not attempt to disassemble and repair the units excluding a qualified technician whom our

company recognized. Do not make any modifications to the unit. Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using

wire shields, etc.

Electromagnetic obstacles may affect the electronic devices used near the module or servo

amplifier. When using the CE Mark-compliant equipment design, refer to the "EMC Installation Guidelines"

(data number IB(NA)-67339) and refer to the corresponding EMC guideline information for the

servo amplifiers and other equipment. Note that when the reference axis speed is designated for interpolation operation, the speed of

the partner axis (2nd axis, 3rd axis and 4th axis) may be larger than the set speed (larger than

the speed limit value). Use the units with the following conditions.

1) QD77MS/QD77GF

Item Conditions

Input power According to each instruction manual. Input frequency According to each instruction manual.

Tolerable momentary power failure

According to each instruction manual.

2) LD77MS/LD77MH

Input power

Input frequency 50/60Hz ±5% Tolerable momentary power failure

Item

L61P L63P

100 to 240VAC

(85 to 264VAC)

+10%

-15%

Conditions

(15.6 to 31.2VDC)

10ms or less

24VDC

+30%

-35%

A - 10

(7) Corrective actions for errors

CAUTION

If an error occurs in the self diagnosis of the module or servo amplifier, confirm the check details

according to the instruction manual, and restore the operation.

If a dangerous state is predicted in case of a power failure or product failure, use a servomotor

with an electromagnetic brake or install a brake mechanism externally. Use a double circuit construction so that the electromagnetic brake operation circuit can be

operated by emergency stop signals set externally.

Shut off with servo ON signal OFF, alarm, electromagnetic brake signal.

Shut off with the emergency stop signal (EMG).

Servo motor

Electromagnetic brake

RA1

EMG

24VDC

If an error occurs, remove the cause, secure the safety and then resume operation after alarm

release. The unit may suddenly resume operation after a power failure is restored, so do not go near the

machine. (Design the machine so that personal safety can be ensured even if the machine

restarts suddenly.)

(8) Maintenance, inspection and part replacement

DANGER

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

Shut off the external power supply (all phases) used in the system before cleaning the module or

retightening the module fixing screw. Failure to do so may result in electric shock.

A - 11

CAUTION

Before performing online operations (especially, program modification, forced output, and

operating status change) for the running CPU module on another station from GX Works2 over

CC-Link IE Field Network, read relevant manuals carefully and ensure the safety. Improper

operation may damage machines or cause accidents. Do not disassemble or modify the modules. Doing so may cause failure, malfunction, injury, or a

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

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

so may cause malfunction. Shut off the external power supply (all phases) used in the system before mounting or removing a

module. Failure to do so may cause the module to fail or malfunction. Tighten the screw within the specified torque range. Undertightening can cause drop of the

screw, short circuit or malfunction. Overtightening can damage the screw and/or module,

resulting in drop, short circuit, or malfunction. Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the

module and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual. Do not touch the lead sections such as ICs or the connector contacts. Before touching the module, always touch grounded metal, etc. to discharge static electricity from

human body. Failure to do so may cause the module to fail or malfunction. Do not directly touch the module's conductive parts and electronic components.

Touching them could cause an operation failure or give damage to the module. Do not place the module or servo amplifier on metal that may cause a power leakage or wood,

plastic or vinyl that may cause static electricity buildup. Do not perform a megger test (insulation resistance measurement) during inspection. When replacing the module or servo amplifier, always set the new module settings correctly.

A - 12

CAUTION

When the module or absolute position motor has been replaced, carry out a home position return

operation using the following method, otherwise position displacement could occur.

• After writing the servo data to the Simple Motion module using programming software, switch on

the power again, then perform a home position return operation.

After maintenance and inspections are completed, confirm that the position detection of the

absolute position detector function is correct. Do not drop or impact the battery installed to the module.

Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the

dropped or impacted battery, but dispose of it. Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic capacitor will generate gas during a fault, so do not place your face near the

module or servo amplifier. The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary

damage from faults. Please contact with our sales representative. Lock the control panel and prevent access to those who are not certified to handle or install

electric equipment. Do not mount/remove the module and base or terminal block more than 50 times (IEC61131-2-

compliant), after the first use of the product. Failure to do so may cause malfunction. Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.

(9) About processing of waste

When you discard module, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area).

CAUTION

This product is not designed or manufactured to be used in equipment or systems in situations

that can affect or endanger human life. When considering this product for operation in special applications such as machinery or systems

used in passenger transportation, medical, aerospace, atomic power, electric power, or

submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly

advised to install safety devices to forestall serious accidents when it is used in facilities where a

breakdown in the product is likely to cause a serious accident.

(10) General cautions

All drawings provided in the instruction manual show the state with the covers and safety

partitions removed to explain detailed sections. When operating the product, always return the

covers and partitions to the designated positions, and operate according to the instruction

manual.

A - 13

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.

A - 14

INTRODUCTION

Thank you for purchasing our MELSEC-Q/L series programmable controllers. This manual describes the functions and programming of the Simple Motion module.

Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC-Q/L series programmable controller to handle the product correctly. When applying the program examples introduced in this manual to the 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.

REMARK

• Unless otherwise specified, this manual describes the program examples in which the I/O numbers of X/Y00 to X/Y1F are assigned for a Simple Motion module. I/O number assignment is required for using the program examples described in the manual. For I/O number assignment, refer to the following.

• QnUCPU User's Manual (Function Explanation, Program Fundamentals)

• Qn(H)/QnPH/QnPRHCPU User's Manual (Function Explanation, Program

Fundamentals)

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

Fundamentals)

• Operating procedures are explained using GX Works2.

A - 15

REVISIONS

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

Print Date Manual Number Revision

Mar., 2011 IB(NA)-0300174-A First edition

Feb., 2012 IB(NA)-0300174-B

[Additional model]

QD77MS

[Additional correction/partial correction]

Processing time of cam auto-generation

Mar., 2013 IB(NA)-0300174-C

[Additional model]

QD77GF

Jul., 2013 IB(NA)-0300174-D

[Additional model]

LD77MS

[Additional function]

Synchronous encoder via servo amplifier

Feb., 2014 IB(NA)-0300174-E

[Additional correction/partial correction]

Speed-torque control mode (QD77GF), Synchronous encoder via servo amplifier

Nov., 2014 IB(NA)-0300174-F

[Additional function]

MR-JE-B

[Additional correction/partial correction]

Search for the cam axis current value per cycle

Apr., 2016 IB(NA)-0300174-G

[Additional model]

QD77GF4/QD77GF8

[Additional function]

Communication mode switching (QD77GF), Synchronous encoder via servo amplifier (QD77GF)

[Additional correction/partial correction]

SAFETY PRECAUTIONS, RELEVANT MANUALS, MANUAL PAGE ORGANIZATION, TERMS, Synchronous encoder via servo amplifier, Cam Function, Slippage method smoothing, Phase compensation of delay time of the input axis, WARRANTY

Feb., 2017 IB(NA)-0300174-H [Additional correction/partial correction]

Synchronous encoder axis parameters, Cam axis current value per cycle restoration, Cam reference position restoration, Cam axis feed current value restoration

Japanese Manual Version IB-0300166

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

 2011 MITSUBISHI ELECTRIC CORPORATION

A - 16

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

CONDITIONS OF USE FOR THE PRODUCT ............................................................................................. A-14

INTRODUCTION ............................................................................................................................................ A-15

REVISIONS .................................................................................................................................................... A-16

CONTENTS .................................................................................................................................................... A-17

COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES ....................................................... A-20

RELEVANT MANUALS ................................................................................................................................. A-21

MANUAL PAGE ORGANIZATION ................................................................................................................ A-24

TERMS ........................................................................................................................................................... A-26

PACKING LIST ............................................................................................................................................... A-27

1. Outline of Synchronous Control 1- 1 to 1-16

1.1 Outline of synchronous control ................................................................................................................ 1- 2

1.2 Performance specifications ...................................................................................................................... 1- 6

1.3 Restrictions by the SERIAL No. and version .......................................................................................... 1- 9

1.4 Operation method of synchronous control .............................................................................................. 1-11

1.4.1 Synchronous control execution procedure ....................................................................................... 1-11

1.4.2 Starting/ending for synchronous control ........................................................................................... 1-12

1.4.3 Stop operation of output axis ............................................................................................................ 1-14

2. Input Axis Module 2- 1 to 2-36

2.1 Servo input axis ........................................................................................................................................ 2- 2

2.1.1 Overview of servo input axis ............................................................................................................. 2- 2

2.1.2 Servo input axis parameters ............................................................................................................. 2- 4

2.1.3 Servo input axis monitor data ........................................................................................................... 2- 8

2.2 Synchronous encoder axis ...................................................................................................................... 2-10

2.2.1 Overview of synchronous encoder axis............................................................................................ 2-10

2.2.2 Setting method for synchronous encoder ........................................................................................ 2-13

2.2.3 Synchronous encoder axis parameters ............................................................................................ 2-21

2.2.4 Synchronous encoder axis control data ........................................................................................... 2-29

2.2.5 Synchronous encoder axis monitor data .......................................................................................... 2-33

3. Cam Function 3- 1 to 3-20

3.1 Control details for cam function ............................................................................................................... 3- 2

3.2 Create cam data ....................................................................................................................................... 3-10

3.2.1 Memory configuration of cam data ................................................................................................... 3-10

3.2.2 Cam data operation function ............................................................................................................. 3-13

3.2.3 Cam auto-generation function .......................................................................................................... 3-17

4. Synchronous Control 4- 1 to 4-64

4.1 Main shaft module .................................................................................................................................... 4- 2

4.1.1 Overview of main shaft module ........................................................................................................ 4- 2

4.1.2 Main shaft parameters ...................................................................................................................... 4- 3

A - 17

4.1.3 Main shaft clutch parameters ............................................................................................................ 4- 5

4.1.4 Main shaft clutch control data ........................................................................................................... 4-13

4.2 Auxiliary shaft module .............................................................................................................................. 4-14

4.2.1 Overview of auxiliary shaft module ................................................................................................... 4-14

4.2.2 Auxiliary shaft parameters ................................................................................................................ 4-15

4.2.3 Auxiliary shaft

4.2.4 Auxiliary shaft clutch control data ..................................................................................................... 4-25

4.3 Clutch ........................................................................................................................................................ 4-26

4.3.1 Overview of clutch ............................................................................................................................. 4-26

4.3.2 Control method for clutch .................................................................................................................. 4-26

4.3.3 Smoothing method for clutch ............................................................................................................ 4-33

4.3.4 Use example of clutch ....................................................................................................................... 4-38

4.4 Speed change gear module .................................................................................................................... 4-39

4.4.1 Overview of speed change gear module .......................................................................................... 4-39

4.4.2 Speed change gear parameters ....................................................................................................... 4-40

4.5 Output axis module .................................................................................................................................. 4-42

4.5.1 Overview of output axis module........................................................................................................ 4-42

4.5.2 Output axis parameters ..................................................................................................................... 4-44

4.6 Synchronous control change function ..................................................................................................... 4-48

4.6.1 Overview of synchronous control change function .......................................................................... 4-48

4.6.2 Synchronous control change control data ........................................................................................ 4-49

4.7 Synchronous control monitor data ........................................................................................................... 4-54

4.8 Phase compensation function ................................................................................................................. 4-59

4.9 Output axis sub functions ........................................................................................................................ 4-62

clutch parameters ...................................................................................................... 4-17

5. Synchronous Control Initial Position 5- 1 to 5-34

5.1 Synchronous control initial position ......................................................................................................... 5- 2

5.2 Synchronous control initial position parameters ..................................................................................... 5- 7

5.3 Cam axis position restoration method ..................................................................................................... 5-11

5.3.1 Cam axis current value per cycle restoration ................................................................................... 5-11

5.3.2 Cam reference position restoration .................................................................................................. 5-17

5.3.3 Cam axis feed current value restoration ........................................................................................... 5-19

5.4 Synchronous control analysis mode........................................................................................................ 5-22

5.5 Cam position calculation function ............................................................................................................ 5-24

5.5.1 Cam position calculation control data ............................................................................................... 5-25

5.5.2 Cam position calculation monitor data ............................................................................................. 5-27

5.6 Method to restart synchronous control .................................................................................................... 5-33

6. Troubleshooting (Synchronous Control) 6- 1 to 6-14

6.1 Error and warning details ......................................................................................................................... 6- 2

6.2 Error and warning of input axis ................................................................................................................ 6- 3

6.2.1 List of input axis errors ...................................................................................................................... 6- 4

6.2.2 List of input axis warnings ................................................................................................................. 6- 5

6.3 Error and warning of output axis .............................................................................................................. 6- 6

6.3.1 List of output axis errors .................................................................................................................... 6- 6

6.3.2 List of output axis warnings ............................................................................................................... 6-10

6.4 Warning of cam operation ........................................................................................................................ 6-11

6.4.1 List of cam data operation warnings ................................................................................................. 6-11

6.4.2 List of cam auto-generation warnings .............................................................................................. 6-13

A - 18

6.4.3 List of cam position calculation warnings ......................................................................................... 6-14

Appendices Appendix- 1 to Appendix-18

Appendix 1 Comparisons with the Motion controller SV22 ............................................................. Appendix- 2

Appendix 2 Sample program of synchronous control ...................................................................... Appendix- 6

Appendix 3 Lists of buffer memory addresses for synchronous control ......................................... Appendix-10

A - 19

COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES

(1) For programmable controller system

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

• QCPU User's Manual (Hardware Design, Maintenance and Inspection)

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

• Safety Guidelines (This manual is included with the CPU module or base unit.)

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

(2) For the product

To make this product comply with EMC and Low Voltage Directives, refer to Section 4.3.1 "Precautions for wiring" of the following.

• "MELSEC-Q QD77MS Simple Motion Module User's Manual (Positioning Control)"

• "MELSEC-Q QD77GF Simple Motion Module User's Manual (Positioning Control)"

• "MELSEC-L LD77MS Simple Motion Module User's Manual (Positioning Control)"

• "MELSEC-L LD77MH Simple Motion Module User's Manual (Positioning Control)"

A - 20

RELEVANT MANUALS

MELSEC-Q QD77MS Simple Motion Module User's Manual

(Positioning Control)

MELSEC-Q QD77GF Simple Motion Module User's Manual

(Positioning Control)

MELSEC-Q QD77GF Simple Motion Module User's Manual

(Network)

MELSEC-L LD77MS Simple Motion Module User's Manual

(Positioning Control)

MELSEC-L LD77MH Simple Motion Module User's Manual

(Positioning Control)

MELSEC-Q/L QD77MS/QD77GF/LD77MS/LD77MH

Simple Motion Module User's Manual

(Synchronous Control)

(1) Simple Motion module

Manual Name

<IB-0300185, 1XB947>

<IB-0300202, 1XB956>

<IB-0300203, 1XB957>

<IB-0300211, 1XB961>

<IB-0300172, 1XB942>

<IB-0300174, 1XB943>

Description

Specifications of the QD77MS and information on how to

establish a system, maintenance and inspection, and

troubleshooting

Functions, programming and buffer memory for the

positioning control of the QD77MS

Specifications of the QD77GF and information on how to

establish a system, maintenance and inspection, and

troubleshooting

Functions, programming and buffer memory for the

positioning control of the QD77GF

Overview of CC-Link IE Field Network, and specifications,

procedures before operation, system configuration,

installation, wiring, settings, functions, programming, and

troubleshooting of the MELSEC-Q series Simple Motion

module

Specifications of the LD77MS and information on how to

establish a system, maintenance and inspection, and

troubleshooting

Functions, programming and buffer memory for the

positioning control of the LD77MS

Specifications of the LD77MH and information on how to

establish a system, maintenance and inspection, and

troubleshooting

Functions, programming and buffer memory for the

positioning control of the LD77MH

Functions, programming and buffer memory for the

synchronous control of the Simple Motion module

A - 21

QCPU User's Manual

(Hardware Design, Maintenance and Inspection)

QnUCPU User's Manual

(Function Explanation, Program Fundamentals)

Qn(H)/QnPH/QnPRHCPU User's Manual

(Function Explanation, Program Fundamentals)

MELSEC-L CPU Module User's Manual

(Hardware Design, Maintenance and Inspection)

MELSEC-L CPU Module User's Manual

(Function Explanation, Program Fundamentals)

(2) CPU module

Manual Name

<SH-080483ENG, 13JR73>

<SH-080807ENG, 13JZ27>

<SH-080808ENG, 13JZ28>

<SH-080890ENG, 13JZ36>

<SH-080889ENG, 13JZ35>

Description

Specifications of the hardware (CPU modules, power supply

modules, base units, batteries, and memory cards), system

maintenance and inspection, and troubleshooting

Functions, devices, and programming of the CPU module

Specifications of the CPU modules, power supply modules,

display unit, SD memory cards, and batteries, information on

how to establish a system, maintenance and inspection, and

troubleshooting

Functions, devices, and programming of the CPU module

GX Works2 Version1 Operating Manual

(Common)

GX Works2 Version1 Operating Manual

(Intelligent Function Module)

GX Developer Version 8 Operating Manual

GX Configurator-QP Version 2 Operating Manual

1: The manual is included in the CD-ROM of the software package in a PDF-format file.

For users interested in buying the manual separately, a printed version is available. Please contact us with the manual

number (model code) in the list above.

(3) Programming tool

Manual Name

<SH-080779ENG, 13JU63>

<SH-080921ENG, 13JU69>

<SH-080373E, 13JU41>

<SH-080172, 13JU19>

Description

System configuration, parameter settings, and online

operations (common to Simple project and Structured

project) of GX Works2

Parameter settings, monitoring, and operations of the

predefined protocol support function of intelligent function

modules, using GX Works2

Operating methods of GX Developer, such as programming,

printing, monitoring, and debugging

Data creation (such as parameters and positioning data)

and operations of transferring data to modules, positioning

monitor, and tests using GX Configurator-QP

(sold separately) *

A - 22

SSCNET /H Interface AC Servo

MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual

SSCNET /H Interface Multi-axis AC Servo

MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6

Servo Amplifier Instruction Manual

SSCNET Interface

MR-J3-_B Servo Amplifier Instruction Manual

SSCNET Compatible Linear Servo

MR-J3-_B-RJ004(U_) Instruction Manual

SSCNET Fully Closed Loop Control

MR-J3-_B-RJ006 Servo Amplifier Instruction Manual

SSCNET Interface 2-axis AC Servo Amplifier

MR-J3W-0303BN6/MR-J3W-_B Servo Amplifier Instruction

Manual

SSCNET Interface Direct Drive Servo

MR-J3-_B-RJ080W Instruction Manual

SSCNET Interface Drive Safety Integrated

MR-J3-_B Safety Servo Amplifier Instruction Manual

CC-Link IE Field Network Interface with Motion

MR-J4-_B-RJ010/MR-J4-_B4-RJ010/MR-J3-T10

Servo Amplifier Instruction Manual

SSCNET /H Interface AC Servo

MR-JE-_B Servo Amplifier Instruction Manual

CC-Link IE Field Network Interface

MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual

(Motion Mode)

(4) Servo amplifier

Manual Name

<SH-030106, 1CW805>

<SH-030105, 1CW806>

<SH-030051, 1CW202>

<SH-030054, 1CW943>

<SH-030056, 1CW304>

<SH-030073, 1CW604>

<SH-030079, 1CW601>

<SH-030084, ---- >

<SH-030117, 1CW810>

<SH-030152-A, 1CW750>

<SH-030218, 1CW861>

Description

This manual explains the I/O signals, parts names,

parameters, start-up procedure and others for

MR-J4-_B_(-RJ) servo amplifier.

This manual explains the I/O signals, parts names,

parameters, start-up procedure and others for multi-axis

AC servo MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6

servo amplifier.

This manual explains the I/O signals, parts names,

parameters, start-up procedure and others for MR-J3-_B_

servo amplifier.

This manual explains the I/O signals, parts names,

parameters, start-up procedure and others for linear servo

MR-J3-_B_-RJ004(U_).

This manual explains the I/O signals, parts names,

parameters, start-up procedure and others for fully closed

loop control MR-J3-_B_-RJ006 servo amplifier.

This manual explains the I/O signals, parts names,

parameters, start-up procedure and others for 2-axis AC

servo amplifier MR-J3W-0303BN6/MR-J3W-_B servo

amplifier.

This manual explains the I/O signals, parts names,

parameters, start-up procedure and others for direct drive

servo MR-J3-_B-RJ080W.

This manual explains the I/O signals, parts names,

parameters, start-up procedure and others for safety

integrated MR-J3-_B safety servo amplifier.

This manual explains the I/O signals, parts names,

parameters, start-up procedure and others for CC-Link IE

Field Network interface AC servo amplifier with Motion

MR-J4-_B-RJ010/MR-J4-_B4-RJ010 and CC-Link IE

Field Network interface unit MR-J3-T10.

This manual explains the I/O signals, parts names,

parameters, start-up procedure and others for MR-JE-_B

servo amplifier.

This manual explains the I/O signals, parts names,

parameters, start-up procedure and others for CC-Link IE

Field Network interface AC servo amplifier with

MR-J4-_GF_(-RJ).

CC-Link IE Field Network Interface

MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual

(I/O Mode)

<SH-030221, 1CW863>

This manual explains the parameters for point table

operation, start-up procedure and others for CC-Link IE

Field Network interface AC servo amplifier with

MR-J4-_GF_(-RJ).

A - 23

MANUAL PAGE ORGANIZATION

The symbols used in this manual are shown below.

A serial No. is inserted in the "*" mark.

Symbol Description

[Pr. * ]

[Da. * ]

[Md. * ]

[Cd. * ]

QD77MS

LD77MS

QD77GF

[RJ010 mode]

[CiA402 mode]

Symbol that indicates positioning parameter and OPR parameter item.

Symbol that indicates positioning data, block start data and condition data item.

Symbol that indicates monitor data item.

Symbol that indicates control data item.

Symbol that indicates correspondence to only QD77MS.

Symbol that indicates correspondence to only LD77MS.

Symbol that indicates correspondence to only QD77GF.

Symbol that indicates specifications during the communication mode compatible with

MR-J4-B-RJ010.

This mode corresponds to the MR-J4-_B_-RJ010+MR-J3-T10 servo amplifier.

When using the virtual servo amplifier function, it operates in MR-J4-B-RJ010

communication mode regardless of the communication mode setting.

Symbol that indicates specifications during the communication mode compatible with

CiA402.

This mode corresponds to the MR-J4-_GF_(-RJ) servo amplifier and others.

Representation of numerical values used in this manual.

Buffer memory addresses, error codes and warning codes are represented in

decimal.

X/Y devices are represented in hexadecimal.

Setting data and monitor data are represented in decimal or hexadecimal. Data

ended by "H" or "h" is represented in hexadecimal.

(Example) 10.........Decimal

10H......Hexadecimal

Representation of buffer memory address used in this manual. In the buffer memory address, "n" in "32800+10n", etc. indicates a value corresponding to axis No. such as the following table.

Axis No. n Axis No. n Axis No. n Axis No. n

1 0 5 4 9 8 13 12

2 1 6 5 10 9 14 13

3 2 7 6 11 10 15 14

4 3 8 7 12 11 16 15

(Note-1): Calculate as follows for the buffer memory address corresponding to each axis.

(Example) For axis No. 16

32800+10n ([Pr.300] Servo input axis type)=32800+10

(Note-2): The range from axis No.1 to 2 (n=0 to 1) is valid in the 2-axis module, the range from axis N o.1 to 4 (n=0 to 3)

is valid in the 4-axis module, and the range from axis No.1 to 8 (n=0 to 7) is valid in the 8-axis module.

15=32950

A - 24

In the buffer memory address, "j" in "34720+20j", etc. indicates a value corresponding to synchronous encoder axis No. such as the following table.

Synchronous encoder axis No. j

1 0

2 1

3 2

4 3

(Note-1): Calculate as follows for the buffer memory address corresponding to each axis.

(Example) For synchronous encoder axis No. 4

34720+20j ([Pr.320] Synchronous encoder axis type)=34720+20

3=34780

A - 25

TERMS

Unless otherwise specified, this manual uses the following terms.

Term Description

PLC CPU The abbreviation for the MELSEC-Q/L series PLC CPU module

QCPU Another term for the MELSEC-Q series PLC CPU module

Simple Motion module The abbreviation for the MELSEC-Q/MELSEC-L series Simple Motion module

QD77MS

QD77GF

LD77MS

LD77MH

MR-J4(W)-B MR-J4-_B_(-RJ)/MR-J4W_-_B/MR-J4-_B_-RJ010+MR-J3-T10 Servo amplifier series

MR-J3(W)-B MR-J3-_B_(-RJ)/MR-J3W-_B Servo amplifier series

MR-J4-GF MR-J4-_GF_(-RJ) Servo amplifier series

MR-J4-B-RJ MR-J4-_B_-RJ Servo amplifier series

MR-J4-GF-RJ MR-J4-_GF_-RJ Servo amplifier series

MR-JE-B MR-JE-_B_(-RJ) Servo amplifier series

Programming tool A generic term for GX Works2, GX Developer and MR Configurator2

GX Works2

MR Configurator2 The product name of the setup software for the servo amplifier (Version 1.01B or later)

GX Developer

GX Configurator-QP

Intelligent function module

Servo amplifier A generic term for a drive unit

Axis Another term for a servo amplifier

OPR A generic term for "Home position return"

OP A generic term for "Home position"

SSCNET /H

SSCNET

CC-Link IE Field Network A high-speed and large-capacity open field network that is based on Ethernet (1000BASE-T)

2-axis module A generic term for QD77MS2 and LD77MS2

4-axis module A generic term for QD77MS4, QD77GF4, LD77MS4, and LD77MH4

8-axis module Another term for QD77GF8

16-axis module A generic term for QD77MS16, QD77GF16, LD77MS16 and LD77MH16

(Note)

Another term for the MELSEC-Q series Simple Motion module

Another term for the MELSEC-L series Simple Motion module

The product name of the software package for the MELSEC programmable controllers (Version 1.31H or later)

The product name of the software package for the MELSEC programmable controllers (Version 8.89T or later)

The product name of the setting and monitoring tool for the Simple Motion module (Version

2.34L or later)

A MELSEC-Q/L series module that has functions other than input or output, such as A/D converter module and D/A converter module

Unless specified in particular, indicates the motor driver unit of the sequential command method which is controlled by the Simple Motion module (belonging to own station).

High speed synchronous communication network between QD77MS/LD77MS/LD77MH and servo amplifier

(Note): SSCNET: Servo System Controller NETwork

A - 26

PACKING LIST

QD77MS

The following items are included in the package of each product. Before use, check that all the items are included.

(1) QD77MS2

QD77MS2

RUN

AX1 AX2

ERR.

AX1 AX2

QD77MS2

Before Using the ProductQD77MS2

(2) QD77MS4

QD77MS4

AX3 AX4

RUN

AX1 AX2 AX3

ERR.

AX4

QD77MS4 AX1 AX2

Before Using the ProductQD77MS4

(3) QD77MS16

QD77MS16

RUN

ERR.

AX3 AX4

QD77MS16

AX1 AX2

Before Using the ProductQD77MS16

A - 27

QD77GF

(1) QD77GF4

Before Using the ProductQD77GF4

(2) QD77GF8

Before Using the ProductQD77GF8

(3) QD77GF16

QD77GF16 Before Using the Product

A - 28

LD77MS

(1) LD77MS2

LD77MS2 RUN

ERR.

CN1

L S E R

LD77MS2

Before Using the Product

(2) LD77MS4

LD77MS4 RUN

ERR.

1 2

3 4

CN1

L S E R

Before Using the ProductLD77MS4

(3) LD77MS16

LD77MS16 RUN

ERR.

2345678

AX 1

9 10111213141516

P U

E R

CN1

LD77MS16

A - 29

Before Using the Product

LD77MH

(1) LD77MH4

LD77MH4 RUN

ERR.

1 2

3 4

CN1

Before Using the ProductLD77MH4

(2) LD77MH16

LD77MH16 RUN

ERR.

AX 1

2345678

9 10111213141516

P U

CN1

Before Using the ProductLD77MH16

A - 30

Chapter1 Outline of Synchronous Control

Chapter 1 Outline of Synchronous Control

The outline, specifications and the operation method of synchronous control using the Simple Motion module are explained in this chapter.

This chapter helps to understand what can be done using the positioning system and which procedure to use for a specific purpose.

1.1 Outline of synchronous control ................................................................................... 1- 2

1.2 Performance specifications ......................................................................................... 1- 6

1.3 Restrictions by the SERIAL No. and version ............................................................. 1- 9

1.4 Operation method of synchronous contro l ................................................................. 1-11

1.4.1 Synchronous control execution procedure ....................................................... 1-11

1.4.2 Starting/ending for synchronous control ........................................................... 1-12

1.4.3 Stop operation of output axis ............................................................................. 1-14

1 - 1

1.1 Outline of synchronous control

"Synchronous control" can be achieved using software instead of controlling mechanically with gear, shaft, speed change gear or cam, etc. "Synchronous control" synchronizes movement with the input axis (servo input axis or synchronous encoder axis), by setting "the parameters for synchronous control" and starting synchronous control on each output axis.

Positioning start

Synchronous encoder

Manual pulse generator/ Synchronous encoder input

Chapter1 Outline of Synchronous Control

Synchronous control start

Simple Motion module

Positioning data

Positioning control

Servo amplifier

Servo motor

Synchronous encoder axis parameter

Synchronous encoder axis

Servo input axis parameter

Servo input axis

(Note-1)

Main shaft

main input axis

Main shaft sub input axis

Auxiliary

shaft

gear

clutch

Auxiliary

shaft axis

Synchronous parameter

Composite main

shaft gear

Speed change

shaft

gear

(Note-2)

Main shaft

gear

Output axis

Servo amplifier

Servo motor

Main shaft clutch

Speed change

(Note-2)

gear

Composite auxiliary shaft gear

Speed change

(Note-2)

gear

Cam

Servo amplifier

Servo motor

Cam data

Servo amplifier

Servo motor

It is possible to control without amplifier by setting the virtual servo amplifier.

(Note-1): It is possible to drive the servo input axis except for the positioning control (OPR, manual control, speed-torque control, synchronous control). Refer to the "User's Manual (Positioning control)" of each Simple Motion module for details on the positioning control, OPR, the manual control and the speed-torque control. (For QD77GF, it is not available to switch to "Continuous operation to torque control mode" of speed-torque control.) (Note-2): Speed change gear can be arranged on one of "Main shaft side", "Auxiliary shaft side" or "After composite auxiliary shaft gear".

1 - 2

Input axis module

Synchronous encoder

axis parameter

Synchronous encoder

Servo input axis

axis

parameter

Chapter1 Outline of Synchronous Control

List of synchronous control module

The module is used in synchronous control as follows.

Synchronous parameter

Main shaft module

Main shaft

main input axis

Composite main

Main shaft sub input axis

shaft gear

Main shaft

gear

Main shaft clutch

Auxiliary

Auxiliary shaft axis

Auxiliary shaft module

shaft

gear

Auxiliary

shaft clutch

Output axis

Composite auxiliary shaft gear

Speed change gear

Cam

Speed change gear module

Output axis module

Cam data

POINT

(1) Input axis module can be set to one of servo input axis or synchronous encoder

axis.

(2) Speed change gear can be arranged on one of main shaft side, auxiliary shaft

side or after composite auxiliary shaft gear.

(3) Set the travel value of input axis module as large as possible to prevent the

speed fluctuation of output axis module in the synchronous control. If the travel value of input axis module is small, the speed fluctuation of output axis module may occur depending on the setting for synchronous parameter.

(4) The following items can be monitored in the synchronous control image

screen using the Simple Motion Module Setting Tool; each synchronous control monitor data and the rotation direction of main shaft main input axis, main shaft sub input axis, auxiliary shaft axis, and output axis (cam axis feed current value)

1 - 3

Classification Name Parts Function description

Servo

Input axis

module

input axis

Synchronous

encoder axis

(1) Input axis

• Used to drive the input axis with

the position of the servomotor

—

controlled by the Simple Motion

module.

• Used to drive the input axis with

—

input pulse from the synchronous

encoder.

Classification Name Parts Function description

Main shaft

main input axis

Main shaft sub

input axis

Main shaft

module

Composite

main shaft gear

Main shaft gear

Main shaft

clutch

(2) Output axis

• The input axis on the main

• The reference position on

• The input axis on the sub

• It is used to compensate for

• The composite travel value

• The converting travel value

• The main shaft travel value

side of the main shaft

module.

the main shaft.

side of the main shaft

module.

the position of the main shaft

main input axis.

of the main shaft main input

axis and the main shaft sub

input axis are transmitted to

the main shaft gear.

after composite main shaft

gear is transmitted by the

setting gear ratio.

is transmitted by the clutch

ON/OFF.

Chapter1 Outline of Synchronous Control

Maximum number of usable

Number per module

2-axis

module

2-axis

module

4-axis

module

2 4 8 16 — Section 2.1

Maximum number of usable

Number per module

4-axis

module

2 4 8 16 1 Section 4.1

2 4 8 16 1

8-axis

module

4 — Section 2.2

8-axis

module

16-axis

module

16-axis

module

Number

per axis

Number

per axis

Reference

Section 4.1

Section 4.3

1 - 4

Classification Name Parts Function description

Auxiliary shaft

module

Speed change

gear module

Output axis

module

Auxiliary shaft

axis

Auxiliary shaft

gear

Auxiliary shaft

clutch

Composite

auxiliary shaft

gear

Speed change

gear

Output axis

• The input axis of the auxiliary

shaft module.

• The converting auxiliary

shaft travel value is

transmitted by the setting

gear ratio.

• The auxiliary shaft travel

value is transmitted by the

clutch ON/OFF.

• The composite travel value

of the main shaft and the

auxiliary shaft are

transmitted.

• It is used to change the

speed by setting speed

change ratio during the

operation.

• The cam conversion is

processed based on the

input travel value and the

setting cam data.

• The feed current value is

output as the command to

the servo amplifier.

Classification Name Function description

Cam data Cam data

(3) Cam data

• It controls the operation pattern of the output axis

(two-way operation and feed operation), which is

corresponding to the input travel value of the output

axis module.

Chapter1 Outline of Synchronous Control

Maximum number of usable

Number per module

2-axis

module

4-axis

module

2 4 8 16 1 Section 4.2

2 4 8 16 1

2 4 8 16 1 Section 4.2

2 4 8 16 1 Section 4.4

2 4 8 16 1 Section 4.5

8-axis

module

Maximum number of usable

Number per module

16-axis

module

Up to 256 Chapter 3

Number

per axis

Reference

Section 4.2

Section 4.3

Reference

1 - 5

1.2 Performance specifications

Chapter1 Outline of Synchronous Control

Performance specifications

Item

Servo input axis

Input

axis

Synchronous encoder axis

Composite main shaft gear 1/output axis

Main shaft main input axis 1 axis/output axis

Main shaft sub input axis 1 axis/output axis

Main shaft gear 1/output axis

Main shaft clutch 1/output axis

Auxiliary shaft 1 axis/output axis

Auxiliary shaft gear 1/output axis

Auxiliary shaft clutch

Composite auxiliary shaft gear

Speed change gear

Output axis (Cam axis)

2-axis module 4-axis module 8-axis module 16-axis module

2 axes/module 4 axes/module 8 axes/module 16 axes/module

Number of settable axes

4 axes/module

1/output axis

1 - 6

Chapter1 Outline of Synchronous Control

Cam specifications

Item Specification

Memory capacity

Number of cam registration

Comment Up to 32 characters per cam data

Stroke ratio

Cam

data

data format

Coordinate

data format

(Note-1): The maximum number of cam registration by the cam resolution is shown below. (In case it

created by the same cam resolution.)

(1) Stroke ratio data format

Cam

resolution

256 256 256 128 256 256

512 128 256 256 128 256

1024 64 256 512 64 256

2048 32 128 1024 32 128

4096 16 64 2048 16 64

8192 8 32 4096 8 32

16384 4 16 8192 4 16

32768 2 8 16384 2 8

Cam storage area 256k bytes

Cam open area 1024k bytes

Up to 256

(Note-1)

(Dependent on memory capacity, cam resolution and

coordinate number)

Cam resolution 256/512/1024/2048/4096/8192/16384/32768

Stroke ratio -214.7483648 to 214.7483647[%]

Coordinate number 2 to 16384

Coordinate data

Input value: 0 to 2147483647

Output value: -2147483648 to 2147483647

(2) Coordinate data format

Maximum number of cam registration

Cam storage area Cam open area Cam storage area Cam open area

Coordinate

number

Maximum number of cam registration

1 - 7

Chapter1 Outline of Synchronous Control

Cam operation specifications

Item Specification

(1) GX Works2

Operation method of cam data

Cam auto-generation function Automatically generate the cam for rotary cutter.

Cam position calculation function

Write/read/verify to cam storage area

(2) Via buffer memory (Cam data operation function)

Write/read to cam storage area and cam open area

Calculate the cam position by the program.

Used to calculate the cam position for the synchronous control

initial position before starting synchronous control.

Synchronous encoder axis specifications

Item Specification

Number of control axes 4

Incremental synchronous encoder/

Synchronous encoder axis type

Control unit

Unit

conversion

Length per cycle setting range

Current

value range

Control

method

Numerator

Denominator

Current value

per cycle

Control instruction Current value change, Counter disable, Counter enable

Current value

setting address

Synchronous encoder via servo amplifier

QD77MS LD77MS QD77GF

Synchronous encoder via CPU

mm, inch, degree, PLS

(Possible to select the decimal places of position unit and speed

unit)

-2147483648 to 2147483647

[Synchronous encoder axis position unit]

1 to 2147483647

[PLS]

1 to 2147483647

[Synchronous encoder axis position unit]

-2147483648 to 2147483647

[Synchronous encoder axis position unit]

0 to (Length per cycle - 1)

[Synchronous encoder axis position unit]

Address setting range: -2147483648 to 2147483647

[Synchronous encoder axis position unit]

[CiA402 mode]/

1 - 8

1.3 Restrictions by the SERIAL No. and version

Chapter1 Outline of Synchronous Control

Software versions that are compatible with each Simple Motion module are shown below.

QD77MS Version 1.77F or later Version 1.09K or later

QD77GF Version 1.98C or later Version 1.19V or later

LD77MS Version 1.493P or later Version 1.20W or later

LD77MH Version 1.31H or later Version 1.01B or later

GX Works2 MR Configurator2

Version

There are restrictions in the function that can be used by the SERIAL No. of the Simple Motion module and the version of GX Works2. The combination of each version and function are shown below.

(1) QD77MS

QD77MS2/QD77MS4/QD77MS16

Function

Synchronous encoder via servo amplifier 15042 or later 1.492N or later Section 2.2

(Note-1): The serial number can be checked on the "Product Information List" screen in GX Works2.

First five digits of

SERIAL No.

(Note-1)

GX Works2

Reference

(2) QD77GF

QD77GF4/QD77GF8/QD77GF16

Function

Synchronous encoder via servo amplifier 18022 or later

(Note-1): The serial number can be checked on the "Product Information List" screen in GX Works2.

First five digits of

SERIAL No.

(Note-1)

GX Works2

Scheduled to be 1.545T

or later

Reference

Section 2.2

1 - 9

Chapter1 Outline of Synchronous Control

Clutch function 12102 or later 1.48A or later — 1.48A or later

Auxiliary shaft 12102 or later 1.48A or later — 1.48A or later Section 4.2

Cam function using coordinate data

format

Expand capacity of cam storage area

(16k bytes to 256k bytes)

Synchronous control change function 12102 or later 1.48A or later — 1.48A or later Section 4.6

Synchronous encoder: 4 axes 12102 or later 1.48A or later — 1.48A or later Section 2.2

Synchronous encoder via CPU 12102 or later 1.48A or later — 1.48A or later Section 2.2

Synchronous encoder control by

high speed input request

Output axis smoothing function 12102 or later 1.48A or later 12102 or later 1.48A or later Section 4.5

Cam axis current value per cycle

movement function

(Note-1): The serial number can be checked on the "Product Information List" screen in GX Works2.

(3) LD77MH

Function

LD77MH4 LD77MH16

First five digits of

SERIAL No.

(Note-1)

12102 or later 1.48A or later — 1.48A or later Chapter 3

12102 or later 1.48A or later — 1.48A or later Section 1.2

12102 or later 1.48A or later — 1.48A or later Section 2.2

12102 or later — 12102 or later — Section 4.6

GX Works2

First five digits of

SERIAL No.

(Note-1)

GX Works2

—: No restriction by the version.

Reference

Section 4.1

Section 4.2

Section 4.3

Refer to the following for how to check the SERIAL No. of the Simple Motion module.

• QD77MS : "MELSEC-Q QD77MS Simple Motion Module User's Manual (Positioning Control)"

• QD77GF : "MELSEC-Q QD77GF Simple Motion Module User's Manual (Positioning Control)"

• LD77MS : "MELSEC-L LD77MS Simple Motion Module User's Manual (Positioning Control)"

• LD77MH : "MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection)"

1 - 10

1.4 Operation method of synchronous control

1.4.1 Synchronous control execution procedure

Chapter1 Outline of Synchronous Control

Preparation

Start synchronous control

The synchronous control is executed using the following procedure.

STEP 1

Refer to Chapter 2

Refer to Chapter 3

Refer to Chapter 4 and Section 5.2

STEP 2

Refer to Appendices

STEP 3

STEP 4

Set the following parameters. Positioning parameters Expansion parameters

Set "input axis parameters" for synchronous control .

( to , to )Pr.300 Pr.304 Pr.320 Pr.329

Set the cam data.

Set "synchronous parameters" for synchronous control .

( to )

Pr.400

Create a program that executes to start / change control / stop synchronous control. (Set " Synchronous control start", start and stop the input axis operation and change the reduction ratio)

Write the program, which is created in STEP1 and STEP2, to the PLC CPU.

Turn ON the synchronous control start bit for the axis that starts synchronous control.

Verify that it is during synchronous control.

Pr.468

Cd.380

One of the following two methods can be used.

Directly set (write) the parameters in the Simple Motion

module using GX Works2.

<Method 2> Set (write) the parameters from the PLC CPU to the Simple Motion module using the program.

Turn ON the target axis bit in

Cd.380

" Synchronous control start" and start synchronous contr ol by the program in S TEP 2.

Verify that it is during synchronous control in " ".

Md.26

Axis operation status

Monitor the synchronous control change

Complete synchronous control

Operate the input axis by the program in STEP 2.

Monitor using GX Works2. Changing the control by the program in STEP 2.

Stop the input axis by the program in STEP 2.

Turn OFF the target axis bit in

Cd.380

" Synchronous control start" to stop synchronous control by the program in STEP 2.

STEP 5

STEP 6

Operate the input axis.

Monitor the synchronous control operation status. Execute the control change for the speed change ratio, cam No., etc.

Stop the input axis.

Verify the input axis is stopped and turn OFF the synchronous control start bit for the axis that stops synchronous control.

End of control

REMARK

• Mechanical elements such as limit switches are considered as already installed.

• Parameter settings for positioning control apply for all axes with the Simple Motion module.

• Be sure to execute the OPR when the OPR request flag is ON.

1 - 11

1.4.2 Starting/ending for synchronous control

Set the parameters for synchronous control for each output axis to start synchronous control. The status changes to synchronous control after the parameters are analyzed at the start of

Cd.380

BUSY signal

synchronous control, and the output axes synchronize with input axis operations.

Synchronous control start (Target axis bit)

Chapter1 Outline of Synchronous Control

Standby (0)

Md.26

Md.321

Md.407

Md.20

Axis operation status

Synchronous encoder axis current value per cycle

Cam axis current value per cycle

Feed current value

Standby (0) Analyzing (5) Synchronous control (15)

Setting item Setting details Setting value

[Cd.380]

Synchronous control

start

(Note-1): The range from axis 1 to 2 is valid in the 2-axis module, from axis 1 to 4 is valid in the 4-axis module, from axis 1 to 8 is valid in the

8-axis module, and from axis 1 to 16 is valid in the 16-axis module.

Synchronous control system control data

• Synchronous control begins if the target

axis bit is turned ON.

• Synchronous control ends if the bit is

turned OFF during synchronous control.

Fetch cycle: Operation cycle

Set the target axis in 16bits.

(bit0: axis 1 to bit15: axis 16

OFF : Synchronous control end

ON : Synchronous control start

(Note-1)

Default

value

)

Buffer memory

address

0 36320

Starting method for synchronous control

Synchronous control can be started by turning the target axis bit from OFF to ON in "[Cd.380] Synchronous control start" after setting the parameters for synchronous control. "5: Analyzing" is set in "[Md.26] Axis operation status" at the synchronous control start, and the parameters for synchronous control are analyzed. The BUSY signal turns ON after completion of analysis, and "15: Synchronous control" is set in "[Md.26] Axis operation status". Start the input axis operation after confirming that "15: Synchronous control" is set in "[Md.26] Axis operation status".

Ending method for synchronous control

Synchronous control can be ended by turning the target axis bit from ON to OFF in "[Cd.380] Synchronous control start" after the input axis operation is stopped. The BUSY signal turns OFF at the synchronous control end, and "0: Standby" is set in "[Md.26] Axis operation status" at the output axis stop. Synchronous control can also be ended by turning the target axis bit from ON to OFF in "[Cd.380] Synchronous control start" during the input axis operation. However, it is recommended to end after stopping the input axis operation since the output axis stops immediately. Refer to Section 1.4.3 "Stop operation of output axis" at the synchronous control end.

1 - 12

Chapter1 Outline of Synchronous Control

Starting history

The starting history is updated when starting synchronous control. "9020: Synchronous control operation" is stored in "[Md.4] Start No.".

Status when starting synchronous control

The following bits in "[Md.31] Status" are turned OFF when starting synchronous control in the same way as for the positioning control start.

b0 : In speed control flag b1 : Speed-position switching latch flag b2 : Command in-position flag b4 : OPR complete flag b5 : Position-speed switching latch flag b10 : Speed change 0 flag

Restrictions

(1) If bit for multiple axes are turned ON simultaneously in "[Cd.380] Synchronous control

start", control is not started simultaneously since the analysis is processed for each axis in numerical order. When the multiple axes must be started simultaneously, start the input axis operation after confirming that all axes are configured for the synchronous control.

(2) If the input axis operates during the analysis at the synchronous control start, the

travel value of the input axis is reflected immediately after the synchronous control start. The output axis might suddenly accelerate depending on the travel value of the input axis. Start the input axis operation after confirming that are configured for synchronous control.

(3) The analysis process for synchronous control start might take time depending on the

parameter setting for synchronous control. (Up to about 10ms: In case of searching the cam (cam resolution: 32768) with the setting "0: Cam axis current value per cycle restoration" in "[Pr.462] Cam axis position restoration object".) Set "1: Cam reference position restoration" or "2: Cam axis feed current value restoration" in "[Pr.462] Cam axis position restoration object" to start synchronous control at high speed.

(4) When the synchronous control parameter is set to the value outside the setting range,

the synchronous control does not start, and the input axis error No. is stored in the monitor data.

1 - 13

1.4.3 Stop operation of output axis

If the following causes occur in stopping the output axis during synchronous control, synchronous control is completed after stops processing for the output axis (BUSY signal is OFF, axis operation status is standby). Synchronous alignment must be executed for the output axis to restart the synchronous control. (Refer to Section 4.5)

The target axis bit of "[Cd.380] Synchronous control start" is turned from ON to OFF.

Software stroke limit error occurrence

Forced stop

Stop group1 to 3

(Note-1): Refer to the "User's Manual (Positioning control)" of each Simple Motion module.

(Note-1)

(Stop with hardware stroke limit or stop command)

(1) Immediate stop

The operation stops without decelerate. The Simple Motion module immediately stops the command, but the operation will coast for the droop pulses accumulated in the deviation counter of the servo amplifier.

Chapter1 Outline of Synchronous Control

Stop cause Stop process

Immediate stop

Deceleration stop

Md.407

BUSY signal

Cam axis current value per cycle

Feed current value

Md.20

(Cam operation)

Md.22

Feedrate

Synchronous control

Cd.380

start (Target axis bit)

Immediate stop

1 - 14

Chapter1 Outline of Synchronous Control

(2) Deceleration stop

The output axis stops with deceleration according to the setting in "[Pr.37] Stop group 1 sudden stop selection" to "[Pr.39] Stop group 3 sudden stop selection". The deceleration time is set in "[Pr.446] Synchronous control deceleration time" for deceleration stop, and in "[Pr.36] Sudden stop deceleration time" for sudden stop. The

Md.407

Cam axis current value per cycle

slope of deceleration is as follows.

Slope of deceleration = "[Pr.8] Speed limit value" /

Deceleration time

(Sudden stop deceleration time)

The cam axis current value per cycle is not updated, and only the feed current value is updated, since the deceleration stop begins. Therefore, the path of the feed current value is drawn regardless the cam operation with deceleration stop. The input axis must be stopped when the output axis is stop synchronizing with the input axis.

Md.20

Feed current value (Cam operation)

Md.22

Feedrate

Cd.380

Synchronous control start (Target axis bit)

Axis stop signal

BUSY signal

Deceleration stop

1 - 15

MEMO

Chapter1 Outline of Synchronous Control

1 - 16

Chapter 2 Input Axis Module

The settings for the parameter and monitor data for the input axis module that are used with synchronous control are explained in this chapter.

Refer to the "User's Manual (Positioning Control)" of each Simple Motion module for details on the connection and control for the servo amplifier and the synchronous encoder that is used for input axis module.

2.1 Servo input axis ....................................................................................................... 2- 2

2.1.1 Overview of servo input axis .......................................................................... 2- 2

2.1.2 Servo input axis parameters .......................................................................... 2- 4

2.1.3 Servo input axis monitor data ........................................................................ 2- 8

2.2 Synchronous encoder axis ...................................................................................... 2-10

2.2.1 Overview of synchronous encoder axis ......................................................... 2-10

2.2.2 Setting method for synchronous encoder ...................................................... 2-13

2.2.3 Synchronous encoder axis parameters ......................................................... 2-21

2.2.4 Synchronous encoder axis control data ......................................................... 2-29

2.2.5 Synchronous encoder axis monitor data ....................................................... 2-33

2 - 1

2.1 Servo input axis

2.1.1 Overview of servo input axis

The servo input axis is used to drive the input axis based on the position of the servomotor that is being controlled by the Simple Motion module. The status of a servo input axis can also be monitored even before the synchronous control start since the setting of a servo input axis is valid after the system's power supply ON. The following shows the relationship between the position of the servomotor and the servo input axis.

Servo input

Pr.300

axis type

Chapter 2 Input Axis Module

Servo motor position

Feed current value Real current value Servo command value Feedback value

Servo input axis

Pr.301

smoothing time constant

Servo input axis

Pr.302

phase compensation advance time

Servo input axis

Pr.303

phase compensation time constant

Servo input axis

Pr.304

rotation direction restriction

Input

smoothing

processing

Phase

compensation

processing

Rotation direction

restriction

Current value of

servo input axis

Md.302

Md.303

Md.300

Md.301

Servo input axis phase compensation amount

Servo input axis rotation direction restriction amount

Servo input axis current value

Servo input axis speed

Control method for servo input axis

All controls (including synchronous control) can be executed for a servo input axis. Refer to the "User's Manual (Positioning Control)" of each Simple Motion module for the controls other than the synchronous control.

POINT

If the virtual servo amplifier function is set in the servo input axis, synchronous control can be executed by the input value as virtual. Refer to the "User's Manual (Positioning Control)" of each Simple Motion module for details on virtual servo amplifier function.

2 - 2

Chapter 2 Input Axis Module

Restrictions

If "1: Feed current value" or "2: Real current value" is set in "[Pr.300] Servo input axis type", set "1: Update feed current value" in "[Pr.21] Feed current value during speed control" to start the speed position change control. If "0: Do not update feed current value" or "2: Clear feed current value to zero" is set in [Pr.21], the error "Speed-position switching control start in servo input axis not possible" (error code: 609) will occur and the control will not start.

Units for the servo input axis

The position units and speed units for the servo input axis are shown below for the setting "[Pr.300] Servo input axis type" and "[Pr.1] Unit setting".

Table 2.1 Servo input axis position units

Setting value of "[Pr.300]

Servo input axis type"

1: Feed current value

2: Real current value

3: Servo command value

4: Feedback value

Setting value of "[Pr.300]

Servo input axis type"

1: Feed current

2: Real current value

3: Servo command value

4: Feedback value

(Noet-1): When "[Pr.83] Speed control 10 x multiplier setting for degree axis" is valid, this will be the speed unit " 10-2degree/min"

(Range: -21474836.48 to 21474836.47 [degree/min]).

Setting value of

"[Pr.1] Unit setting"

0: mm

1: inch

2: degree

3: PLS PLS -2147483648 to 2147483647 [PLS]

— PLS -2147483648 to 2147483647 [PLS]

Servo input axis

position unit

10-4mm

-1

(10

μm)

10-5inch

10-5degree

Range

-214748.3648 to 214748.3647 [mm]

(-214748364.8 to 214748364.7 [μm])

-21474.83648 to 21474.83647 [inch]

-21474.83648 to 21474.83647 [degree]

Table 2.2 Servo input axis speed units

Setting value of

"[Pr.1] Unit setting"

0: mm

1: inch

2: degree

3: PLS PLS/s -2147483648 to 2147483647 [PLS/s]

— PLS/s -2147483648 to 2147483647 [PLS/s]

POINT

Servo input axis

speed unit

10-2mm/min

10-3inch/min

10-3degree/min

(Note-1)

Range

-21474836.48 to 21474836.47 [mm/min]

-2147483.648 to 2147483.647 [inch/min]

-2147483.648 to 2147483.647 [degree/min]

(1) When "1: Feed current value" or "3: Servo command value" is set in "[Pr.300]

Servo input axis type", and the servo input axis becomes servo OFF by the servo alarm or forced stop, the amount of value change may be large. This can be prevented by setting "2: Real current value" or "4: Feedback value" in "[Pr.300] Servo input axis type".

(2) When a home position return for the axis where "1: Feed current value" or "2:

Real current value" is set in "[Pr.300] Servo input axis type" is performed, if the servo input axis operation during home position return is used as the input value, the input is stopped in the midway of home position return. When the servo input axis operation during home position return is used as the input value, set "3: Servo command value" or "4: Feedback value" in "[Pr.300] Servo input axis type".

(Note-1)

2 - 3

2.1.2 Servo input axis parameters

Chapter 2 Input Axis Module

Setting item Setting details Setting value

Set in decimal.

• Set the current value type to be

[Pr.300]

Servo input axis type

[Pr.301]

Servo input axis

smoothing time constant

[Pr.302]

Servo input axis

phase compensation

advance time

[Pr.303]

Servo input axis

phase compensation

time constant

[Pr.304]

Servo input axis rotation

direction restriction

generated of the input value for the

servo input axis.

Fetch cycle: At power supply ON

• Set to smooth the input value.

Fetch cycle: At power supply ON

• Set the time to advance or delay the

phase.

Fetch cycle: Operation cycle

• Set the time constant to affect the phase

compensation.

Fetch cycle: At power supply ON

• Set this parameter to restrict the input

travel value to one direction.

Fetch cycle: At power supply ON

(Note-1): Set the value as follows in a program.

0 to 32767 ................... Set as a decimal.

32768 to 65535 ........... Convert into a hexadecimal and set.

0: Invalid

1: Feed current value

2: Real current value

3: Servo command value

4: Feedback value

Set in decimal.

0 to 5000 [ms]

Set in decimal.

-2147483648 to 2147483647 [μs]

Set in decimal.

0 to 65535 [ms]

Set in decimal.

0: Without rotation direction restriction

1: Enable only for current value

increase direction

2: Enable only for current value

decrease direction

(Note-1)

Default

value

Buffer memory

address

0 32800+10n

0 32801+10n

32802+10n

32803+10n

10 32804+10n

0 32805+10n

n: Axis No.-1

2 - 4

Chapter 2 Input Axis Module

[Pr.300] Servo input axis type

Set the current value type to be generated of the input value for the servo input axis.

0: Invalid .................................... Servo input axis is invalid.

1: Feed current value ............... Generate the input value based on "[Md.20] Feed current

value".

2: Real current value ................ Generate the input value based on the real current value,

which is converted into units of the encoder feedback pulses from the servo amplifier.

3: Servo command value ......... Generate the input value based on the command pulse

for the servo amplifier (a value that the feed current value is converted into encoder pulse units).

4: Feedback value .................... Generate the input value based on the encoder feedback

pulse from the servo amplifier.

Simple Motion module

1: Feed current value

2: Real current value

Unit Pulse conversion

(Backlash compensation)

Pulse Unit conversion

3: Servo command value

Servo

amplifier

4: Feedback value

[Pr.301] Servo input axis smoothing time constant

Set the averaging time to execute a smoothing process for the input travel value from the servo input axis. The smoothing process can moderate speed fluctuation, when the "Real current value" or "Feedback value" is used as input values. The input response is delayed depending on the time corresponding to the setting by smoothing process setting.

Input value speed before smoothing

Input value speed after smoothing

Servo input axis

Pr.301

smoothin

time constan

Averaging by smoothing time constant

Pr.301

Servo input axis smoothin

time constan

2 - 5

Chapter 2 Input Axis Module

[Pr.302] Servo input axis phase compensation advance time

Set the time to advance or delay the phase (input response) of the servo input axis. Refer to Section 4.8 "Phase compensation function" for the peculiar time delay of the system using the servo input axis.

1 to 2147483647 [μs] ............... Advance the phase (input response) according to the

setting time.

0 [μs] ........................................ Do not execute phase compensation.

-2147483648 to -1 [μs] ............ Delay the phase (input response) according to the setting

time.

If the setting time is too long, the system experiences overshoot or undershoot at acceleration/deceleration of the input speed. In this case, set longer time to affect the phase compensation amount in "[Pr.303] Servo input axis phase compensation time constant".

[Pr.303] Servo input axis phase compensation time constant

Set the time constant to affect the phase compensation amount for the first order delay. 63 [%] of the phase compensation amount are reflected in the time constant setting.

Pr.302

Servo input axis phase compensation advance time

Servo input axis current value

Speed before phase compensation

Speed after phase compensation

Md.302

Servo input axis phase compensation amount

Pr.303

Speed before phase compensation

63%

Servo input axis phase compensation time constant

Current value after phase compensation Current value before phase compensation

Servo input axis phase

Pr.302

compensation advance time

63%

Servo input axis phase

Pr.303

compensation time constant

2 - 6

Chapter 2 Input Axis Module

[Pr.304] Servo input axis rotation direction restriction

Set this parameter to restrict the input travel value for the servo input axis to one direction. This helps to avoid reverse operation caused by machine vibration, etc. when "Real current value" or "Feedback value" is used as input values.

0: Without rotation direction restriction ............................... Rotation direction restriction is

not executed.

1: Enable only for current value increase direction ............ Enable only the input travel

value in the increasing direction of the servo input axis current value.

2: Enable only for current value decrease direction ........... Enable only the input travel

value in the decreasing direction of the servo input axis

current value. The input travel value in the opposite direction of the enabled direction accumulates as a rotation direction restricted amount, and will be reflected when the input travel value moves in the enabled direction again. Therefore, the current value of servo input does not deviate when the reverse operation is repeated. The rotation direction restricted amount is set to 0 when the following operations are executed for the servo input axis.

• A servo amplifier is connected

• An OPR is executed

• The current value is changed

For "1: Enable only for current value increase direction" is set in " Pr.304 Servo input axis rotation direction restriction".

Speed before rotation direction restriction

Servo input axis speed

Md.301

(Speed after rotation direction restriction)

Servo input axis

Md.303

rotation direction restriction amount

The input travel value is accumulated as a rotation direction restricted amount, and will be reflected when

the input travel moves in the enabled direction.

2 - 7

2.1.3 Servo input axis monitor data

Chapter 2 Input Axis Module

Monitor item Storage details Monitor value

[Md.300]

Servo input axis current

value

[Md.301]

Servo input axis speed

[Md.302]

Servo input axis phase

compensation amount

[Md.303]

Servo input axis rotation

direction restriction

amount

(Note-1): Servo input axis position units (Refer to Section 2.1.1)

(Note-2): Servo input axis speed units (Refer to Section 2.1.1)

• The current value for the servo input axis is

stored.

Refresh cycle: Operation cycle

• The speed for the servo input axis is stored.

Refresh cycle: Operation cycle

• The current phase compensation amount is

stored.

Refresh cycle: Operation cycle

• While the rotation direction is restricted, the

accumulation for the input travel value in the

opposite direction of the enabled direction is

stored.

Refresh cycle: Operation cycle

Monitoring is carried out in decimal.

-2147483648 to 2147483647 [Servo input axis position units

Monitoring is carried out in decimal.

-2147483648 to 2147483647 [Servo input axis speed units

Monitoring is carried out in decimal.

-2147483648 to 2147483647 [Servo input axis position units

Monitoring is carried out in decimal.

-2147483648 to 2147483647 [Servo input axis position units

[Md.300] Servo input axis current value

The current value for the servo input axis is stored in servo input axis position units (Refer to Section 2.1.1) as follows. The current value for the servo input axis is the value after processing the smoothing, the phase compensation and the rotation direction restriction.

Setting value of "[Pr.300]

Servo input axis type"

• The accumulative current value started with "[Md.20] Feed current

value"/"[Md.101] Real current value" for the connection to the servo amplifier is

1: Feed current value

2: Real current value

3: Servo command value

4: Feedback value

stored. It is also stored in the range from -21474.83648 to 21474.83647 [degree]

for degree units.

• When the "[Md.20] Feed current value"/"[Md.101] Real current value" is changed

by an OPR or a current value change, the value is changed to the new current

value.

• When of the absolute position detection system setting is invalid, the

accumulative current value that starts from 0 for the connected servo amplifier is

stored.

• When of the absolute position detection system setting is valid, the accumulative

current value that starts from the absolute position command/encoder feedback

pulse for the connected servo amplifier is stored.

• The servo input axis current value will not change, even if an OPR or the current

value is changed.

Storage details

(Note-1)

(Note-2)

(Note-1)

Buffer memory

address

33120+10n

]

33121+10n

33122+10n

33123+10n

33124+10n

33125+10n

33126+10n

33127+10n

n: Axis No.-1

2 - 8

Chapter 2 Input Axis Module

[Md.301] Servo input axis speed

The speed for the servo input axis is stored in servo input axis speed units (Refer to Section 2.1.1). The speed for the servo input axis is the value after processing smoothing, phase compensation, and rotation direction restriction.

[Md.302] Servo input axis phase compensation amount

The phase compensation amount for a servo input axis is stored in servo input axis position units (Refer to Section 2.1.1). The phase compensation amount for a servo input axis is the value after processing smoothing and phase compensation.

[Md.303] Servo input axis rotation direction restriction amount

While the rotation direction is restricted for a servo input axis, the accumulation for input travel value in the opposite direction of the enabled direction is stored in servo input axis position units (Refer to Section 2.1.1) as follows.

Setting value of "[Pr.304] Servo input

axis rotation direction restriction"

1: Enable only for current value

increase direction

2: Enable only for current value

decrease direction

A negative accumulation is stored during rotation direction restriction.

0 is stored if there is no restriction.

A positive accumulation is stored during rotation direction restriction.

0 is stored if there is no restriction.

Storage details

Rotation direction restriction is processed after phase compensation processing. Therefore, if undershoot occurs from phase compensation during deceleration stop, the rotation direction restriction amount might remain.

2 - 9

2.2 Synchronous encoder axis

2.2.1 Overview of synchronous encoder axis

The synchronous encoder is used to drive the input axis based on input pulse from a synchronous encoder that is connected externally. The status of a synchronous encoder axis can also be monitored after the system's power supply turns ON.

Pr.22

Input signal logic selection

Manual pulse generator/

Pr.24

Incremental synchronous encoder input selection

Pr.89

Manual pulse generator/ Incremental synchronous encoder input type selection

Synchronous encoder

Pr.320

axis type

Pr.329

Resolution of synchronous encoder via CPU

Chapter 2 Input Axis Module

Input pulse

of synchronous

encoder

Pr.321

Synchronous encoder axis unit setting Synchronous encoder

Pr.322

axis unit conversion: Numerator

Pr.323

Synchronous encoder axis unit conversion: Denominator

Pr.325

Synchronous encoder axis smoothing time constant

Pr.326

Synchronous encoder axis phase compensation advance time Synchronous encoder

Pr.327

axis phase compensation time constant

Synchronous encoder

Pr.328

axis rotation direction restriction

Current value change

Pr.324

Synchronous encoder axis length per cycle

Counter disable/ Counter enable

Unit conversion

Input smoothing

processing

Phase

compensation

processing

Rotation direction

restriction

Current value

of synchronous

encoder axis

Synchronous encoder axis

Md.323

phase compensation amoun

Md.324

Synchronous encoder axis rotation direction restriction amount

Md.320

Md.321

Md.322

Synchronous encoder axis current value

Synchronous encoder axis current value per cycle

Synchronous encoder axis speed

2 - 10

Chapter 2 Input Axis Module

Synchronous encoder axis type

The following 3 types of synchronous encoders can be used for the synchronous encoder axis. Refer to Section 2.2.2 for the setting method for each synchronous encoder axis.

Synchronous encoder

axis type

Incremental synchronous

encoder

Synchronous encoder via

servo amplifier

QD77MS LD77MS

QD77GF

Synchronous encoder via

CPU

[CiA402 mode]

The incremental synchronous encoder that is connected to the manual pulse

generator/incremental synchronous encoder input of the Simple Motion module is

used as the synchronous encoder axis.

Used to use a synchronous encoder connected to the servo amplifier which supports

the scale measurement mode as a synchronous encoder axis.

Used to operate a gray code encoder that is connected to the input module of PLC

CPU as a synchronous encoder axis.

Details

Control method for synchronous encoder axis

The following controls can be executed for the synchronous encoder axis by using "[Cd.320] Synchronous encoder axis control start" and "[Cd.321] Synchronous encoder axis control method".

Setting value of "[Cd.321]

Synchronous encoder

axis control method"

"[Md.320] Synchronous encoder axis current value" and "[Md.321] Synchronous

0: Current value change

1: Counter disable Input from the synchronous encoder is disabled.

2: Counter enable Input from the synchronous encoder is enabled.

encoder axis current value per cycle" are changed based on the setting of "[Cd.322]

Synchronous encoder axis current value setting address".

Control details

2 - 11

Chapter 2 Input Axis Module

Units for the synchronous encoder axis

The position units and speed units for the synchronous encoder axis are shown below for

"[Pr.321] Synchronous encoder axis unit setting"

0: mm

1: inch

2: degree

3: PLS

the setting of "[Pr.321] Synchronous encoder axis unit setting".

Table 2.3 Synchronous encoder axis position units

Setting value of

Synchronous encoder

Control unit

Number of decimal

places for position

0 mm -2147483648 to 2147483647 [mm]

axis position unit

0 inch -2147483648 to 2147483647 [inch]

10-9mm

0 degree -2147483648 to 2147483647 [degree]

10-9inch

0 PLS -2147483648 to 2147483647 [PLS]

10-9degree

Table 2.4 Synchronous encoder axis speed units

10-9PLS

Range

-2.147483648 to 2.147483647 [mm]

-2.147483648 to 2.147483647 [inch]

-2.147483648 to 2.147483647 [degree]

-2.147483648 to 2.147483647 [PLS]

Setting value of

"[Pr.321] Synchronous encoder axis unit setting"

Control unit Speed time unit

0: second [s]

0: mm

1: minute [min]

0: second [s]

1: inch

1: minute [min]

0: second [s]

2: degree

1: minute [min]

0: second [s]

3: PLS

1: minute [min]

Number of decimal

places for speed

Synchronous encoder

axis speed unit

0 mm/s -2147483648 to 2147483647 [mm/s]

0 mm/min -2147483648 to 2147483647 [mm/min]

10-9mm/s

-2.147483648 to 2.147483647 [mm/s]

0 inch/s -2147483648 to 2147483647 [inch/s]

10-9mm/min

-2.147483648 to 2.147483647 [mm/min]

0 inch/min -2147483648 to 2147483647 [inch/min]

10-9inch/s

-2.147483648 to 2.147483647 [inch/s]

0 degree/s -2147483648 to 2147483647 [degree/s]

10-9inch/min

-2.147483648 to 2.147483647 [inch/min]

0 degree/min -2147483648 to 2147483647 [degree/min]

10-9degree/s

-2.147483648 to 2.147483647 [degree/s]

0 PLS/s -2147483648 to 2147483647 [PLS/s]

10-9degree/min

-2.147483648 to 2.147483647 [degree/min]

0 PLS/min -2147483648 to 2147483647 [PLS/min]

10-9PLS/s

-2.147483648 to 2.147483647 [PLS/s]

10-9PLS/min

-2.147483648 to 2.147483647 [PLS/min]

Range

2 - 12

2.2.2 Setting method for synchronous encoder

Chapter 2 Input Axis Module

[1] Incremental synchronous encoder

Setting method

Connect the synchronous encoder to the "Manual pulse generator/Incremental synchronous encoder input" of the Simple Motion module. Set the input method for the incremental synchronous encoder signal using the following parameters. input.)

• "[Pr.22] Input signal logic selection"

• "[Pr.24] Manual pulse generator/Incremental synchronous encoder input selection"

• "[Pr.89] Manual pulse generator/Incremental synchronous encoder input type selection"

When the synchronous encoder axis connection is valid after the system's power supply is ON, it will be "Synchronous encoder axis current value=0", "Synchronous encoder axis current value per cycle=0" and "Counter enabling status".

(It may be common to use the same set up for the manual pulse generator

POINT

The synchronous encoder axis operates completely independently with the manual pulse generator operation. The parameter and control data for the manual pulse generator operation except the 3 parameters listed above has not influence on control of synchronous encoder axis. Therefore, they can also be controlled simultaneously by common input pulses.

2 - 13

Chapter 2 Input Axis Module

Setting example

The following shows an example for setting an incremental synchronous encoder as

QD77MS

synchronous encoder axis 2 of the QD77MS.

Incremental synchronous encoder

Synchronous encoder axis 2

Axis 1

Axis 3Axis 2

Set "1: Incremental synchronous encoder" in "[Pr.320] Synchronous encoder axis type" for the synchronous encoder axis 2. And, set the input method for incremental synchronous encoder signal in the following parameters.

• "[Pr.22] Input signal logic selection" Manual pulse generator input (b8)

................................................................... "0: N egative logic"

• "[Pr.24] Manual pulse generator/Incremental synchronous encoder input selection"

.......................................................................... "0: A-phase/B-phase multiplied by 4"

• "[Pr.89] Manual pulse generator/Incremental synchronous encoder input type selection"

................................................................... "0: Differential output type"

2 - 14

Chapter 2 Input Axis Module

[2] Synchronous encoder via servo amplifier

QD77MS

There are restrictions in the function and the encoder that can be used by the version of the servo amplifier.

Setting method

Used to use a synchronous encoder connected to the servo amplifier which supports the scale measurement mode as a synchronous encoder axis. The following servo amplifier can be used. The servo amplifier must support the scale measurement function.

• MR-J4-B-RJ

• MR-J4-GF-RJ

Only a rotary encoder can be connected. Refer to the following servo amplifier instruction manuals for the version of the servo amplifier which supports the scale measurement function and the rotary encoder which can be used.

• SSCNET

QD77MS LD77MS

• MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)

QD77GF

A synchronous encoder connected to the specified servo amplifier axis can be used by the following settings.

Synchronous encoder

Encoder type setting

(Absolute/Incremental)

(Note-1): The range from axis 1 to 2 is valid in the 2-axis module, from axis 1 to 4 is valid in the 4-axis module,

[CiA402 mode]

Setting item

axis setting

from axis 1 to 8 is valid in the 8-axis module, and from axis 1 to 16 is valid in the 16-axis module.

LD77MS

QD77MS LD77MS

QD77GF

[CiA402 mode]

/H Interface AC Servo MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual

Setting method

Set "101 to 116: Synchronous encoder via servo amplifier (Connectable servo amplifier: axis 1 to axis 16

[Setting method of Simple Motion Module Setting Tool]

Set the synchronous encoder axis parameter according to the setting below.

• "[Pr.320] Type"

101: Synchronous encoder via servo amplifier

• "[Pr.320] Axis No. of connected servo amplifier"

Axis No. of servo amplifier to connect

Set the servo parameter "Scale measurement mode selection (PA22)" according to the

setting below.

0 _ _ _ h: Disabled

1 _ _ _ h: Used in absolute position detection system

2 _ _ _ h: Used in incremental system

[Setting method of Simple Motion Module Setting Tool]

Set "ABS" or "INC" from the "External synchronous encoder input" list of the amplifier

setting dialog. (The amplifier setting dialog can be opened from the system structure screen in the

system setting.)

(Note-1)

)" in "[Pr.320] Synchronous encoder axis type".

QD77MS LD77MS

2 - 15

Chapter 2 Input Axis Module

When "1 _ _ _ h" is set in the servo parameter "Scale measurement mode selection (PA22)", the synchronous encoder axis current value and the synchronous encoder axis current value per cycle are restored after the servo amplifier axis is connected. Therefore, connection becomes valid, and will be on the counter enabling status. (The current value setting by current value change is required beforehand.) When "2 _ _ _ h" is set in the servo parameter "Scale measurement mode selection (PA22)", "0" is set to the initial value of the synchronous encoder axis current value and the synchronous encoder axis current value per cycle after the servo amplifier axis is connected. Therefore, connection becomes valid, and will be on the counter enabling status. If the corresponding servo amplifier axis is not connected, the connection of the synchronous encoder axis will be invalid.

POINT

When "1_ _ _h" is set in the servo parameter "Scale measurement mode selection (PA22)" and the synchronous encoder movement amount (encoder pulse units) on disconnection or during the power supply OFF exceeds "2147483647" or "-2147483648", the synchronous encoder axis current value is restored with its opposite sign.

Points of the setting method

• "Scale measurement mode selection (PA22)" is set to the servo amplifier set by "ABS" or "INC" from the "External synchronous encoder input" list of the amplifier setting dialog using the Simple Motion Module Setting Tool.

QD77MS LD77MS

• When the servo parameter "Scale measurement mode selection (PA22)" is changed, it is required to switch the power of servo amplifier off once after the parameter is transferred to the servo amplifier, and then switch it on again.

• If the servo amplifier set by the servo parameter "Scale measurement mode selection (PA22)" does not support the "Scale measurement mode", "AL.37" (parameter error) will occur in the servo amplifier. Refer to the servo amplifier instruction manual for details of the servo parameter "Scale measurement mode selection (PA22)".

• The synchronous encoder via servo amplifier can be controlled up to 4. However, there is no restriction for the number of connections. Therefore, the error check is not executed even when the external synchronous encoders are set more than 4 on the system setting screen using the Simple Motion Module Setting Tool.

QD77MS LD77MS

• The following information of the synchronous encoder via servo amplifier can be output with the optional data monitor. The setting details of the optional data monitor for the synchronous encoder information are shown below.

Information of synchronous encoder Setting detail for optional data monitor

Scale position within one-revolution

Scale absolute counter

24: Load side encoder information 1

(Used point: 2words)

25: Load side encoder information 2

(Used point: 2words)

QD77MS LD77MS

• A serial absolute synchronous encoder Q171ENC-W8 can be used in an incremental system by setting "2 _ _ _ h" in the servo parameter "Scale measurement mode selection (PA22)" even if the battery of the servo amplifier is dismounted.

2 - 16

Chapter 2 Input Axis Module

Setting example

The following shows an example for setting a serial absolute synchronous encoder

QD77MS

Q171ENC-W8 using MR-J4-B-RJ as synchronous encoder axis 1 of the QD77MS.

MR-J4-B-RJ

Q171ENC-W8

Axis 1 Axis 3Axis 2

Synchronous encoder axis 1

(4194304PLS/rev)

Set the parameters as below.

• Set "101: Synchronous encoder via servo amplifier (servo amplifier axis 3)" in "[Pr.320]

Synchronous encoder axis type" of synchronous encoder axis 1.

• Set MR-J4 series in "[Pr.100] Servo series" of the axis to connect Q171ENC-W8.

• Set "1 _ _ _ h" or "2 _ _ _ h" in the servo parameter "Scale measurement mode selection

(PA22)". (Set "ABS" or "INC" from the "External synchronous encoder input" list of the amplifier setting dialog using the Simple Motion Module Setting Tool.)

QD77MS LD77MS

• Set "1 _ _ _ h" in the servo parameter "Function selection C-8 (PC26)".

2 - 17

Chapter 2 Input Axis Module

Restrictions

(1) The servo amplifier axis selected as "Synchronous encoder via servo amplifier" in

"[Pr.320] Synchronous encoder axis type" does not operate in the fully closed control mode even though "_ _ 1 _" is set in the servo parameter "Operation mode selection (PA01)".

(2) The information about the synchronous encoder is output to "[Md.112] Optional data

monitor output 4" of the servo amplifier axis selected as "Synchronous encoder via servo amplifier" in "[Pr.320] Synchronous encoder axis type", and "[Pr.94] Optional data monitor: Data type setting 4" is ignored. (Set the total points to be within 3 words for the optional data monitor. Otherwise, the monitor setting is ignored.)

QD77MS LD77MS

(3) When the servo alarms about the serial absolute synchronous encoder connection

occur in the servo amplifier axis selected as "Synchronous encoder via servo amplifier" in "[Pr.320] Synchronous encoder axis type", the status becomes servo OFF. "AL.25" (Absolute position erased), "AL.70" (Load-side encoder initial communication error 1), or "AL.71" (Load-side encoder normal communication error

1) occurs in the servo amplifier.

(4) The error "Synchronous encoder via servo amplifier invalid error" (error code: 979)

occurs in the following cases.

• Other than MR-J4 series is set in "[Pr.100] Servo series" of the axis No. selected as "Synchronous encoder via servo amplifier" in "[Pr.320] Synchronous encoder axis type".

QD77MS LD77MS

• The servo amplifier axis which is not set in the system setting is set to the servo amplifier axis No. to connect to "Synchronous encoder via servo amplifier".

LD77MS

• The servo axis, which "Invalid" is set to from the "External synchronous encoder input" list of the amplifier setting dialog using the Simple Motion Module Setting Tool, is set to the servo amplifier axis No. to connect to "Synchronous encoder via servo amplifier".

QD77MS LD77MS

• A linear scale is connected.

• The servo amplifier of the axis No. selected as "Synchronous encoder via servo amplifier" in "[Pr.320] Synchronous encoder axis type" is not set or the servo axis, which scale measurement mode is not enabled, is set to the servo amplifier axis No. to connect to "Synchronous encoder via servo amplifier".

QD77GF

QD77MS

[CiA402 mode]

2 - 18

Chapter 2 Input Axis Module

[3] Synchronous encoder via CPU (Synchronous encoder via PLC CPU)

Setting method

Used to operate a gray code encoder that is connected to the input module of the PLC CPU as a synchronous encoder axis. By setting "201: Synchronous encoder via CPU" in "[Pr.320] Synchronous encoder axis type", the synchronous encoder is controlled by the encoder value which is the input value of "[Cd.325] Input value for synchronous encoder via CPU". The encoder value can be used as a cycle counter within the range from 0 to (Resolution of synchronous encoder via CPU - 1). Connection is invalid just after the system's power supply is ON. When "1" is set in "[Cd.324] Connection command of synchronous encoder via CPU", the synchronous encoder axis current value and the synchronous encoder axis current value per cycle are restored based on "[Cd.325] Input value for synchronous encoder via CPU". Therefore, connection becomes valid, and will be on the counter enabling status. The synchronous encoder axis is controlled based on the amount of change of "[Cd.325] Input value for synchronous encoder via CPU" while it is connecting.

QD77MS

Setting example

The following shows an example for setting a synchronous encoder via CPU as synchronous encoder axis 4 of the QD77MS. (Resolution of the gray code encoder: 4096 PLS/rev)

Input

module

Gray code encoder

Synchronous encoder axis 4

xis 1

xis 2

xis 3

Set "201: Synchronous encoder via CPU" in "[Pr.320] Synchronous encoder axis type" of synchronous encoder axis 4. Set "4096" in "[Pr.329] Resolution of synchronous encoder via CPU" of synchronous encoder axis 4. Read the encoder value of the gray code encoder with a program, and update "[Cd.325] Input value for synchronous encoder via CPU" of the synchronous encoder axis 4 at every time.

2 - 19

Chapter 2 Input Axis Module

Restrictions

(1) "[Cd.325] Input value for synchronous encoder via CPU" is taken every operation

cycle, but it is asynchronous with the scan time of the PLC CPU. Therefore, speed fluctuation of the synchronous encoder axis becomes larger if the refresh cycle of "[Cd.325] Input value for synchronous encoder via CPU" becomes long. Update "[Cd.325] Input value for synchronous encoder via CPU" in a cycle less than the operation cycle or use smooth speed fluctuation with the smoothing function.

(2) The synchronous encoder current value that is restored for the synchronous encoder

connection gets restored into a converted value from the following range based on the synchronous encoder travel value on disconnection.

Setting value of

"[Pr.329] Resolution of

synchronous encoder via CPU"

-(Resolution of synchronous encoder via CPU/2) to (Resolution of

synchronous encoder via CPU/2-1) [PLS]

1 or more

0 or less -2147483648 to 2147483647 [PLS]

(Note): If the resolution of a synchronous encoder via CPU is an odd number,

Range of restored synchronous encoder current value

round down a negative value after the decimal point, round up a

positive value after decimal point.

2 - 20

2.2.3 Synchronous encoder axis parameters

Chapter 2 Input Axis Module

Setting item Setting details Setting value

Set in decimal.

0 : Invalid

1 : Incremental synchronous

encoder

[Pr.320]

Synchronous encoder

axis type

[Pr.321]

Synchronous encoder

axis unit setting

[Pr.322]

Synchronous encoder

axis unit conversion:

Numerator

[Pr.323]

Synchronous encoder

axis unit conversion:

Denominator

[Pr.324]

Synchronous encoder

axis length per cycle

[Pr.325]

Synchronous encoder

axis smoothing time

constant

(Note-1): The range from axis 1 to 2 is valid in the 2-axis module, from axis 1 to 4 is valid in the 4-axis module, from axis 1 to 8 is valid in the

8-axis module, and from axis 1 to 16 is valid in the 16-axis module.

(Note-2): Synchronous encoder axis position units (Refer to Section 2.2.1)

• Set the synchronous encoder axis type

to be used.

Fetch cycle: At power supply ON

• Set the unit of the synchronous encoder

axis.

• Set the position unit within the range from

1 to 10-9 [control unit].

• Set the speed unit within the range from

1 to 10-9 [control unit/s or control

unit/min].

Fetch cycle: At power supply ON

• Set the numerator to convert the unit

from the encoder pulse of the

synchronous encoder axis into the

synchronous encoder axis unit.

Fetch cycle: At power supply ON

• Set the denominator to convert the unit

from the encoder pulse of the

synchronous encoder axis into the

synchronous encoder axis unit.

Fetch cycle: At power supply ON

• Set the length per cycle of the

synchronous encoder axis.

Fetch cycle: At power supply ON

• Set the time to smooth for the input

value.

Fetch cycle: At power supply ON

101 to 116 : Synchronous encoder via servo

amplifier

(Connectable servo amplifier: Axis 1 to axis 16

QD77MS LD77MS

QD77GF

201 : Synchronous encoder via CPU

Set in hexadecimal.

Control unit 0: mm, 1: inch, 2: degree, 3: PLS Number of decimal places

for position 0 to 9 Speed time unit

0: second [s], 1: minute [min]

Number of decimal places for speed 0 to 9

Set in decimal.

-2147483648 to 2147483647

[Synchronous encoder axis position

(Note-2)

units

Set in decimal.

1 to 2147483647 [PLS]

Set in decimal.

1 to 2147483647

[Synchronous encoder axis position units

Set in decimal.

0 to 5000 [ms]

(Note-2)

]

(Note-1)

[CiA402 mode]

)

j: Synchronous encoder axis No.-1

Default

0003h 34721+20j

Buffer memory

value

0 34720+20j

4000

0 34728+20j

address

34722+20j

34723+20j

34724+20j

34725+20j

34726+20j

34727+20j

2 - 21

Setting item Setting details Setting value

[Pr.326]

Synchronous encoder

axis phase

compensation advance

time

[Pr.327]

Synchronous encoder

axis phase

compensation time

constant

[Pr.328]

Synchronous encoder

axis rotation direction

restriction

[Pr.329]

Resolution of

synchronous encoder

via CPU

(Note-3): Set the value as follows in a program.

0 to 32767 ................... Set as a decimal

32768 to 65535 ........... Convert into a hexadecimal and set

• Set the time to advance or delay the

phase.

Fetch cycle: Operation cycle

• Set the time constant to affect the

phase compensation.

Fetch cycle: At power supply ON

• Set this parameter to restrict the input

travel value to one direction.

Fetch cycle: At power supply ON

• Set the resolution of the synchronous

encoder when the synchronous

encoder axis type is set to

synchronous encoder via CPU.

• If 0 or less is set, the input value of

synchronous encoder via CPU is

processed as 32-bit counter.

Fetch cycle: At power supply ON

Set in decimal.

-2147483648 to 2147483647 [μs]

Set in decimal.

0 to 65535 [ms]

Set in decimal.

0: Without rotation direction restriction

1: Enable only for current value increase

direction

2: Enable only for current value decrease

direction

Set in decimal.

-2147483648 to 2147483647 [PLS]

(Note-3)

Chapter 2 Input Axis Module

Default

j: Synchronous encoder axis No.-1

Buffer memory

value

10 34732+20j

0 34733+20j

address

34730+20j

34731+20j

34734+20j

34735+20j

2 - 22

Chapter 2 Input Axis Module

[Pr.320] Synchronous encoder axis type

Set the synchronous encoder type to be generated of the input value for the synchronous encoder axis.

0: Invalid .........................................................Synchronous encoder axis is invalid.

1: Incremental synchronous encoder ...........Generate the input value based on the

incremental synchronous encoder input.

101 to 116: Synchronous encoder via servo amplifier

(Connectable servo amplifier: Axis 1 to axis 16

QD77MS LD77MS QD77GF

[CiA402 mode]

(Note-1)

)

.......................................................................Generate the input value based on the

synchronous encoder input via servo amplifier connected to the specified servo amplifier (axis 1 to axis 16).

201: Synchronous encoder via CPU ............Generate the input value with the value set in

the buffer memory by the PLC CPU as the encoder value.

(Note-1): The range from axis 1 to 2 is valid in the 2-axis module, from axis 1 to 4 is valid in the 4-axis module,

from axis 1 to 8 is valid in the 8-axis module, and from axis 1 to 16 is valid in the 16-axis module.

[Pr.321] Synchronous encoder axis unit setting

Set the position and speed unit of the synchronous encoder axis. Refer to Section 2.2.1 for details.

[Pr.322] Synchronous encoder axis unit conversion: Numerator, [Pr.323] Synchronous encoder axis unit conversion: Denominator

The input travel value of synchronous encoder is configured in encoder pulse units. The units can be arbitrarily converted through unit conversation with setting [Pr.322] and [Pr.323]. Set [Pr.322] and [Pr.323] according to the controlled machine.

Synchronous encoder axis

travel value (Travel value

after unit conversion)

Synchronous encoder

input travel value

(Encoder pulse units)

The travel value corresponding to "[Pr.323] Synchronous encoder axis unit conversion: Denominator" is set in "[Pr.322] Synchronous encoder axis unit conversion: Numerator" i

synchronous encoder axis position units (Refer to Section 2.2.1).

The input travel value can be reversed by the setting negative values. Set "[Pr.323] Synchronous encoder axis unit conversion: Denominator" based on encoder pulse units from the synchronous encoder. Set a value within the range from 1 to 2147483647.

"[Pr.322] Synchronous encoder axis unit

conversion: Numerator"

"[Pr.323] Synchronous encoder axis unit

conversion: Denominator"

2 - 23

Chapter 2 Input Axis Module

[Pr.324] Synchronous encoder axis length per cycle

Set the length per cycle for the synchronous encoder axis current value per cycle. The current value of synchronous encoder axis is stored in "[Md.321] Synchronous encoder axis current value per cycle" at ring counter based on the setting value.

The unit settings are in synchronous encoder axis position units (Refer to Section 2.2.1). Set a value within the range from 1 to 2147483647.

Example) Setting example of the unit conversion and the length per cycle.

The following shows an example a rotary encoder is connected which resolution is 4000[PLS/rev] to the motor axis side on the rotation table that drives by 1/5 pulley system, and the control unit is degree.

• Position unit : 0.1 [degree]

• Speed unit : 0.001 [degree/min]

• Length per cycle : 360.0 [degree] (1 cycle of the rotation table)

Setting item Setting details Setting value

[Pr.321]

Synchronous encoder

axis unit setting

[Pr.322] Synchronous encoder axis unit conversion: Numerator 360.0 [degree] 1 3600 [ 0.1degree]

[Pr.323] Synchronous encoder axis unit conversion: Denominator 4000 [PLS] 5 20000 [PLS]

[Pr.324]Synchronous encoder axis length per cycle 360.0 [degree] 3600 [ 0.1degree]

Synchronous encoder input pulse

Control unit 2: degree

Number of decimal places for position 1

Speed time unit 1: minute [min]

Number of decimal places for speed 3

[PLS]

40000

3112h

Pr.322

Synchronous encoder axis unit conversion

Synchronous encoder axis

Md.320

current value

Synchronous encoder axis

Md.321

current value per cycle

Md.322

Synchronous encoder axis speed (Speed after unit conversion)

Pr.323

20000

[ 0.1degree]

7200

3600

[ 0.1degree]

3600

[ 0.001degree/min]

Pr.324

Synchronous encoder axis length per cycle

2 - 24

Chapter 2 Input Axis Module

[Pr.325] Synchronous encoder axis smoothing time constant

Set the averaging time to execute a smoothing process for the input travel value from synchronous encoder. The smoothing process can moderate speed fluctuation of the synchronous encoder input. The input response is delayed depending on the time corresponding to the setting by smoothing process setting.

Input value speed before smoothing

time constant

Input value speed after smoothing

Synchronous encoder axis

Pr.325

smoothin

time constant

Averaging by smoothing time constant

Pr.325

Synchronous encoder axis smoothin

[Pr.326] Synchronous encoder axis phase compensation advance time

Set the time to advance or delay the phase (input response) of the synchronous encoder axis. Refer to Section 4.8 "Phase compensation function" for the peculiar time delay of the system using the synchronous encoder axis.

1 to 2147483647 [μs] ............... Advance the phase (input response) according to the

setting time.

0 [μs] ........................................ Do not execute phase compensation.

-2147483648 to -1 [μs] ............ Delay the phase (input response) according to the setting

time.

If the setting time is too long, the system experiences overshoot or undershoot at acceleration/deceleration of the input speed. In this case, set a longer time to affect the phase compensation amount in "[Pr.327] Synchronous encoder axis phase compensation time constant".

2 - 25

Chapter 2 Input Axis Module

[Pr.327] Synchronous encoder axis phase compensation time constant

Set the time constant to affect the phase compensation amount for the first order delay. 63 [%] of the phase compensation amount are reflected in the time constant setting.

Pr.326

Synchronous encoder axis phase compensation advance time

Synchronous encoder axis current value

Speed before phase compensation

Speed after phase compensation

Md.323

Synchronous encoder axis phase compensation amount

Synchronous encoder axis

Pr.327

Speed before phase compensation

63%

hase compensation time constant

Current value before phase compensation

Current value after phase compensation

Pr.326

Synchronous encoder axis phase compensation advance time

63%

Synchronous encoder axis

Pr.327

phase compensation time constant

2 - 26

Chapter 2 Input Axis Module

[Pr.328] Synchronous encoder axis rotation direction restriction

Set this parameter to restrict the input travel value for the synchronous encoder axis to one direction. This helps to avoid reverse operation caused by such as machine vibration of synchronous encoder input.

0: Without rotation direction restriction ............................... Rotation direction restriction is

not executed.

1: Enable only for current value increase direction ............ Enable only the input travel

value in the increasing direction of the synchronous encoder axis current value.

2: Enable only for current value decrease direction ........... Enable only the input travel

value in the decreasing direction of the synchronous

encoder axis current value. The input travel value in the opposite direction of the enabled direction accumulates as a rotation direction restricted amount, and it will be reflected when the input travel value moves in the enabled direction again. Therefore, the current value of synchronous encoder axis does not deviate when the reverse operation is repeated. The rotation direction restricted amount is set to 0 at the synchronous encoder axis connection and current value change.

For "1: Enable only for current value increase direction " is set in " Pr.328 Synchronous encoder axis rotation direction restriction ".

Speed before rotation direction restriction

Md.322 Synchronous encoder axis

speed (Speed after rotation direction restriction)

Md.324

Synchronous encoder axis rotation direction restriction amount

The input travel value accumulates as a rotation direction restricted amount, and will be reflected when

the input travel value moves in the enabled direction.

2 - 27

Chapter 2 Input Axis Module

[Pr.329] Resolution of synchronous encoder via CPU

Set the resolution of connected synchronous encoder when "201: Synchronous encoder via CPU" is set in "[Pr.320] Synchronous encoder axis type". If 1 or more is set, "[Cd.325] Input value for synchronous encoder via CPU" is processed as the cycle counter within the range from 0 to (resolution of synchronous encoder via

- 1).

CPU If 0 or less is set, "[Cd.325] Input value for synchronous encoder via CPU" is processed as 32 bit counter within the range from -2147483648 to 2147483647.

POINT

If 1 or more is set in "[Pr.329] Resolution of synchronous encoder via CPU", set the cycle counter within the range from 0 to (resolution of synchronous encoder via CPU - 1) as the input value in "[Cd.325] Input value for synchronous encoder via CPU".

2 - 28

2.2.4 Synchronous encoder axis control data

Chapter 2 Input Axis Module

Setting item Setting details Setting value

• If set to "1", the synchronous encoder axis

control is started.

• If set to "101 to 116", the synchronous

[Cd.320]

Synchronous encoder

axis control start

[Cd.321]

Synchronous encoder

axis control method

[Cd.322]

Synchronous encoder

axis current value

setting address

[Cd.323]

Synchronous encoder

axis error reset

[Cd.324]

Connection command

of synchronous

encoder via CPU

[Cd.325]

Input value for

synchronous encoder

via CPU

(Note-1): With the exception of positioning control, main cycle processing is executed during the next available time. It changes by status of

(Note-2): The range from axis 1 to 2 is valid in the 2-axis module, from axis 1 to 4 is valid in the 4-axis module, from axis 1 to 8 is valid in the

(Note-3): Synchronous encoder axis position units (Refer to Section 2.2.1)

axis start.

8-axis module, and from axis 1 to 16 is valid in the 16-axis module.

encoder axis control starts based on the high-

speed input request (external command

signal).

• The Simple Motion module resets the value to

"0" automatically after completion of the

synchronous encoder axis control.

Fetch cycle: Operation cycle

• Set the control method for the synchronous

encoder axis.

Fetch cycle: At synchronous encoder axis

• Set a new current value for changing the

current value.

Fetch cycle: At synchronous encoder axis

• If set to "1" for resetting error and warning for

the synchronous encoder axis, the error

number and warning number are set to 0, and

the error detection and warning detection bits

status are turned OFF.

• The Simple Motion module resets the value to

"0" automatically after completion of the error

reset.

• In the case of the synchronous encoder axis

parameter error, even if the error is reset, the

setting valid flag of the synchronous encoder

axis status has been OFF.

Fetch cycle: Main cycle

• If set to "1", the synchronous encoder via

CPU is connected.

• If set to "0", the synchronous encoder via

CPU is disconnected.

Fetch cycle: Main cycle

• Set a value to be used every time as the input

value for the synchronous encoder for the

synchronous encoder via CPU.

Fetch cycle: Operation cycle

control start

(Note-1)

Set in decimal.

1 : Start for synchronous

encoder axis control

101 to 116 : High-speed input start

for synchronous encoder

axis control (axis 1 to

(Note-2)

axis 16

Set in decimal.

0: Current value change

1: Counter disable

2: Counter enable

Set in decimal.

-2147483648 to 2147483647

[Synchronous encoder axis position

(Note-3)

units

Set in decimal.

1: Error reset request

Set in decimal.

1: Connect synchronous encoder via

CPU

0: Disconnect synchronous encoder

via CPU

Set in decimal.

-2147483648 to 2147483647 [PLS]

]

)

j: Synchronous encoder axis No.-1

Default

Buffer memory

value

0 35040+10j

0 35041+10j

0 35044+10j

0 35045+10j

address

35042+10j

35043+10j

35046+10j

35047+10j

2 - 29

Chapter 2 Input Axis Module

[Cd.320] Synchronous encoder axis control start

If set to "1", the synchronous encoder axis control is started.

Md.320

Cd.320 Synchronous encoder axis

Cd.321

Cd.322

Synchronous encoder axis current value

control start

Synchronous encoder axis control method

Synchronous encoder axis current value setting address

100

0: Current value change

100

010

If set to "101 to 116", the synchronous encoder axis control starts based on the high-speed input request [DI] for the specified servo amplifier axis. Set "4: High speed input request" in "[Pr.42] External command function selection" and set "1: Validates an external command" in "[Cd.8] External command valid" for the specified servo amplifier axis to start from a high speed input request [DI]. Also, set the external command signal to be used in "[Pr.95] External command signal selection" for the 16-axis module. Set the control method for the synchronous encoder axis in "[Cd.321] Synchronous encoder axis control method".

The Simple Motion module resets the value to "0" automatically after completion of the synchronous encoder axis control.

Md.320

Synchronous encoder axis current value

100

External command function

Pr.42

selection (Axis 3)

Cd.8 External command valid

(Axis 3)

High speed input request [DI] (Axis 3)

Cd.320

Synchronous encoder axis control start

Cd.321

Synchronous encoder axis control method

Cd.322

Synchronous encoder axis current value setting address

4: High speed input request

1: External command valid

103: Axis 3

0: Current value change

100

2 - 30

Chapter 2 Input Axis Module

[Cd.321] Synchronous encoder axis control method

Set the control method for the synchronous encoder axis.

0: Current value change .......... The synchronous encoder axis current value and the

synchronous encoder axis current value per cycle are changed as follows. Set the new current value in "[Cd.322] Synchronous encoder axis current value setting address".

Item Change value

[Md.320]

Synchronous encoder axis

current value

[Md.321]

Synchronous encoder axis

current value per cycle

"[Cd.322] Synchronous encoder axis

current value setting address"

A value that is converted "[Cd.322]

Synchronous encoder axis current value

setting address" into the range from 0 to

"[Pr.324] Synchronous encoder axis length

per cycle-1".

1: Counter disable ................... Input from the synchronous encoder is invalid. Smoothing

processing, phase compensation processing and rotation direction restriction processing are continued. While these processes are valid, the input axis speed may not stop immediately when the counter disable is selected.

2: Counter enable .................... Input from the synchronous encoder is valid.

[Cd.322] Synchronous encoder axis current value setting address

Set a new current value in synchronous encoder axis position units to apply to the current value change for the synchronous encoder axis (Refer to section 2.2.1).

[Cd.323] Synchronous encoder axis error reset

If set to "1", "[Md.326] Synchronous encoder axis error No." and "[Md.327] Synchronous encoder axis warning No." are set to 0 and then "b4: Error detection flag" and "b5: Warning detection flag" of "[Md.325] Synchronous encoder axis status" are turned OFF. A synchronous encoder connection becomes valid if there is no error. The Simple Motion module resets the value to "0" automatically after completion of the error reset. However, the setting of the synchronous encoder axis will not be valid even if the error is reset for the setting error of the synchronous encoder axis parameter. Reconfigure the parameter and turn the power supply ON again.

2 - 31

Chapter 2 Input Axis Module

[Cd.324] Connection command of synchronous encoder via CPU

Use this data when "201: Synchronous encoder via CPU" is set in "[Pr.320] Synchronous encoder axis type". If set to"1", the synchronous encoder axis is connected. Once connected, the synchronous encoder current value is restored based on the "[Cd.325] Input value for synchronous encoder via CPU".

If set to "0", the synchronous encoder axis is disconnected.

[Cd.325] Input value for synchronous encoder via CPU

Use this data when "201: Synchronous encoder via CPU" is set in "[Pr.320] Synchronous encoder axis type".

Set a value to be used every time as the input value for the synchronous encoder in encoder pulse units. If 1 or more is set in "[Pr.329] Resolution of synchronous encoder via CPU", it is processed as a cycle counter within the range from 0 to (resolution of synchronous encoder via CPU -

1).

2 - 32

2.2.5 Synchronous encoder axis monitor data

Chapter 2 Input Axis Module

Monitor item Storage details Monitor value

[Md.320]

Synchronous encoder

axis current value

[Md.321]

Synchronous encoder

axis current value per

cycle

[Md.322]

Synchronous encoder

axis speed

[Md.323]

Synchronous encoder

axis phase

compensation amount

• The current value for the synchronous

encoder axis is stored.

Refresh cycle: Operation cycle

• The current value per cycle for a

synchronous encoder axis is stored.

Refresh cycle: Operation cycle

• The speed for a synchronous encoder

axis is stored.

Refresh cycle: Operation cycle

• The phase compensation amount is

stored.

Refresh cycle: Operation cycle

Monitoring is carried out in decimal.

-2147483648 to 2147483647 [Synchronous encoder axis position units

Monitoring is carried out in decimal.

0 to (Synchronous encoder axis length per cycle-1) [Synchronous encoder axis position units

Monitoring is carried out in decimal.

-2147483648 to 2147483647 [Synchronous encoder axis speed units

Monitoring is carried out in decimal.

-2147483648 to 2147483647 [Synchronous encoder axis position units

• While the rotation direction is

[Md.324]

Synchronous encoder

axis rotation direction

restriction amount

restricted, the accumulation for the

input travel value in the opposite

direction of the enabled direction is

stored.

Refresh cycle: Operation cycle

Monitoring is carried out in decimal.

-2147483648 to 2147483647 [Synchronous encoder axis position units

Monitoring is carried out in hexadecimal.

Buffer memory b15 b12 b8 b4 b0

(Note-1)

(Note-2)

(Note-1)

]

Buffer memory

address

35200+20j

35201+20j

35202+20j

35203+20j

35204+20j

35205+20j

35206+20j

35207+20j

35208+20j

35209+20j

[Md.325]

Synchronous encoder

axis status

[Md.326]

Synchronous encoder

axis error No.

[Md.327]

Synchronous encoder

axis warning No.

• The status for a synchronous encoder

axis is monitored.

Refresh cycle: Operation cycle

• The error code for the synchronous

encoder axis is stored.

Refresh cycle: Operation cycle

• The warning code for the synchronous

encoder axis is stored.

Refresh cycle: Operation cycle

Monitoring is carried out in hexadecimal.

(Refer to Section 6.2.1 "List of input axis errors")

Monitoring is carried out in hexadecimal.

(Refer to Section 6.2.2 "List of input axis warnings")

(Note-1): Synchronous encoder axis position units (Refer to Section 2.2.1)

(Note-2): Synchronous encoder axis speed units (Refer to Section 2.2.1)

Not used

Stored items Meaning

Setting valid flag

Connecting valid flag

Counter enable flag

Current value setting request flag

Error detection flag

Warning detection flag

35210+20j

0: OFF 1: ON

35211+20j

35212+20j

j: Synchronous encoder axis No.-1

2 - 33

Chapter 2 Input Axis Module

[Md.320] Synchronous encoder axis current value

The current value for the synchronous encoder axis is stored in synchronous encoder axis position units (Refer to Section 2.2.1). The synchronous encoder position for an incremental synchronous encoder is "0" immediately after the power supply ON.

[Md.321] Synchronous encoder axis current value per cycle

The current value per cycle for a synchronous encoder axis is stored in the range from 0 to ("[Pr.324] Synchronous encoder axis length per cycle"-1). The unit is synchronous encoder axis position units (Refer to Section 2.2.1).

[Md.322] Synchronous encoder axis speed

The speed for a synchronous encoder axis is stored in synchronous encoder axis speed units (Refer to Section 2.2.1). If the speed for a synchronous encoder axis exceeds the monitor range (Refer to Section

2.2.1), the warning "Input axis speed display over" (warning code: 682) will occur. In this case, use a smaller number of decimal places for the speed in "[Pr.321] Synchronous encoder axis unit setting" or set the speed time units to "0: second [s]".

[Md.323] Synchronous encoder axis phase compensation amount

The phase compensation amount for a synchronous encoder axis is stored in the synchronous encoder axis position units (Refer to Section 2.2.1). The phase compensation amount for a synchronous encoder axis is the value after smoothing processing and phase compensation processing.

[Md.324] Synchronous encoder axis rotation direction restriction amount

While the rotation direction is restricted for a synchronous encoder axis, the accumulation for input travel in the opposite direction of the enabled direction is stored in synchronous encoder axis position units (Refer to Section 2.2.1) as follows.

Setting value of "[Pr.328]

Synchronous encoder axis rotation

direction restriction"

1: Enable only for current value

increase direction

2: Enable only for current value

decrease direction

A negative accumulation is stored during rotation direction restriction.

0 is stored if there is no restriction.

A positive accumulation is stored during rotation direction restriction.

0 is stored if there is no restriction.

Storage details

2 - 34

Chapter 2 Input Axis Module

[Md.325] Synchronous encoder axis status

The each status for a synchronous encoder axis is monitored with the following each bits.

Bit Storage item Storage details

At power supply ON, this flag turns ON when the synchronous encoder axis

b0 Setting valid flag

b1 Connecting valid flag

b2 Counter enable flag

Current value setting

request flag

b4 Error detection flag

b5 Warning detection flag

Not used Always OFF

b15

(Note-1): Set the control method for synchronous encoder in "[Cd.321] Synchronous encoder axis control method".

(Refer to Section 2.2.4)

parameter ([Pr.320] to [Pr.329]) is normal and the setting of the synchronous

encoder axis is valid. It is turned OFF when the setting is invalid or an error

occurs.

When the synchronous encoder axis setting is valid, the synchronous

encoder connection also becomes valid and this flag turns ON. This flag

turns OFF when the connection is invalid.

When setting an incremental synchronous encoder, this flag turns ON

simultaneously the power supply turns ON regardless of connecting the

current encoder.

This flag turns ON when input from the synchronous encoder is enabled. If the counter disable control

from the synchronous encoder becomes invalid. If the counter enable control

from the synchronous encoder becomes valid.

When the synchronous encoder is valid to connect, the initial status is ON

(enable) status.

This flag turns ON, when a synchronous encoder axis current value change

is never executed.

If the current value setting request flag is ON for the synchronous encoder

connection, the synchronous encoder axis current value starts counting with

0. This flag turns OFF when a synchronous encoder axis current value

change is executed.

This flag turns ON when an error occurs for the synchronous encoder axis.

The error No. is stored in "[Md.326] Synchronous encoder axis error No.".

Reset the error in "[Cd.323] Synchronous encoder axis error reset".

This flag turns ON when a warning occurs for the synchronous encoder axis.

The warning No. is stored in "[Md.327] Synchronous encoder axis warning

No.".

Reset the warning in "[Cd.323] Synchronous encoder axis error reset".

(Note-1)

is executed, it is turned OFF, and input

(Note-1)

is executed, it is turned ON, and input

[Md.326] Synchronous encoder axis error No.

When an error for a synchronous encoder axis is detected, the error code corresponding to the error details is stored. If set to "1" in "[Cd.323] Synchronous encoder axis error reset", the value is set to "0".

[Md.327] Synchronous encoder axis warning No.

When a warning for a synchronous encoder axis is detected, the warning code corresponding to the warning details is stored. If set to "1" in "[Cd.323] Synchronous encoder axis error reset", the value is set to "0".

2 - 35

MEMO

Chapter 2 Input Axis Module

2 - 36

Chapter 3 Cam Function

The details on cam data and operation for cam function in output axis (cam axis) are explained in this chapter.

The cam function controls output axis by creating cam data that corresponds to the operation. The functions to operate cam data include "Cam data operation function", "Cam auto-generation function", and "Cam position calculation function".

Refer to Chapter 4 "Synchronous control" for setting the output axis. Refer to Section 5.5 "Cam position calculation function".

3.1 Control details for cam function............................................................................... 3- 2

3.2 Create cam data ...................................................................................................... 3-10

3.2.1 Memory configuration of cam data ................................................................. 3-10

3.2.2 Cam data operation function .......................................................................... 3-13

3.2.3 Cam auto-generation function ........................................................................ 3-17

3 - 1

3.1 Control details for cam function

The output axis for synchronous control is operated with a cam. The following operations can be performed with cam functions.

• Two-way operation: Reciprocating operation with a constant cam strokes range.

• Feed operation : Cam reference position is updated every cycle.

• Linear operation : Linear operation (cam No.0) in the cycle as the stroke ratio is 100%. The output axis is controlled by a value (feed current value), which is converted from the input value (cam axis current value per cycle) by cam data.

Two-way operation

Cam data

Cam axis current value per cycle

Cam conversion processing

Chapter 3 Cam Function

(User created cam)

Feed operation

Cam data

(User created cam)

Linear operation

Cam data

(Linear cam: Cam No.0)

Feed current value

Cam axis current value per cycle

Cam conversion processing

Feed current value

Cam axis current value per cycle

Cam conversion processing

Feed current value

Cam reference position (At 1st cycle)

Cam reference position (At 2nd cycle)

Cam reference position (At 3rd cycle)

t Cam reference position (At 3rd cycle)

Stroke amount 100%

3 - 2

Chapter 3 Cam Function

Cam data

The cam data used in the cam function includes "storage data" which is used for reading/writing with GX Works2 and "open data" which is transmitted to the internal memory at cam control.

Storage data Open data

— (Reading and writing not possible)

Stroke ratio data format

Auto-generation data format cam for rotary cutter

Coordinate data format

Linear cam

Stroke ratio data format

Coordinate data format

Storage data and open data are same for cams using the stroke ratio data format and the coordinate data format. A cam using the auto-generation data format (storage data) operates after being changed (transmitted) to the stroke ratio data format.

[Data read/written with GX Works2] To re-edit the cam data read from the Simple Motion module with GX Works2, read/write both of "cam data (edit data)" and "cam data (converted data)" when reading/writing the cam data. If only "cam data (conversion data)" is read/written, re-edition may not be executed or the information such as units and strokes may be missed.

The explanation of each cam data is shown below.

(1) Linear cam control

When "0" is set for "[Pr.440] Cam No.", the cam data operates as a straight line with a 100% stroke ratio at the last point. The linear cam does not consume the cam open area. Also, it cannot be read/written as storage data.

Cam axis current value per cycle

Feed current value

Cam reference position (At 1st cycle)

Cam reference position (At 2nd cycle)

Cam reference position (At 3rd cycle)

Stroke amount 100%

3 - 3

Chapter 3 Cam Function

(2) Stroke ratio data format

The stroke ratio data format is defined in equal divisions for one cam cycle based on the cam resolution, and configured with stroke ratio data from points within the cam resolution.

Setting item Setting details

Cam No. Set the cam No.

Cam data

format

Cam

resolution

Cam data

starting point

Stroke ratio

data

(Noet-1): For setting the stroke ratio out of range 100% with GX Works2 (Simple Motion Module Setting Tool), check the "Display

advanced cam graph stroke" by selecting the [Cam Data] of [Project] on the options screen displayed by the menu bar

[Tools] - [Options].

Refer to Section 3.2 "Create cam data" for setting methods for cam data.

Default value

(GX Works2)

Set "1".

(Setting with GX Works2 is not required.)

Set the number of divisions for one cam

cycle.

Set the cam data point corresponding to

"Cam axis current value per cycle = 0".

Set the stroke ratio from the 1st to the

last point.

(The 0th point setting is not required.

It is always 0%.)

Setting range

0 : Linear cam

1 to 256: User created cam

1: Stroke ratio data format 1

256/512/1024/2048/4096/8192/

16384/32768

0 to (Cam resolution - 1) 0

-2147483648 to 2147483647 [

(-214.7483648 to 214.7483647%)

10-7%]

(Note-1)

Example) Cam resolution: 512

Stroke ratio [%] (Setting range: -214.7483648% to 214.7483647%)

Cam axis length per cycle [Cam axis cycle units]

256

Cam data

operation function

[Cd.601]

Operation cam

No.

[Cd.604]

Cam data format

[Cd.605]

Cam resolution/

coordinate

number

[Cd.606]

Cam data starting

point

[Cd.607]

Cam data value

100.0000000

(Cam reference position)

-100.0000000

At the 0th point At the 512th point

(At the last point)

3 - 4

Chapter 3 Cam Function

(3) Coordinate data format

The coordinate data format is defined in coordinates of more than 2 points for one cam cycle. The coordinate data is represented as "(Input value, Output value)".

• Input value : Cam axis current value per cycle

• Output value : Stroke position from cam reference position With this format, "[Pr.441] Cam stroke amount" of output axis parameter is ignored and output value of the coordinate data becomes cam stroke position.

Setting item Setting details

Cam No. Set the cam No.

Cam data

format

Coordinate

number

Cam data

starting point

Coordinate

data

Refer to Section 3.2 "Create cam data" for setting methods of cam data.

Default value

(GX Works2)

Set "2".

(Setting with GX Works2 is not required.)

Set the number of coordinate points in one

cam cycle. The coordinates are included at

the 0th point.

Setting is not required with coordinate data

format.

Set all coordinate data (input value: X

output value: Y

n).

Required to set the coordinate data (X

0, Y0)

from the 0th point.

The input value should be larger than the

previous coordinate data (X

n<Xn+1).

Output value: Y [Output axis position units]

Setting range

0 : Linear cam

1 to 256: User created cam

2: Coordinate data format 2

2 to 16384 2

— —

Input value:

0 to 2147483647

[Cam axis cycle units]

Output value:

-2147483648 to 2147483647

[Output axis position units]

Cam data

operation function

[Cd.601]

Operation cam

No.

[Cd.604]

Cam data format

[Cd.605]

Cam resolution/

coordinate

number

[Cd.606]

Cam data starting

point

[Cd.607]

Cam data value

3, Y3)

1, Y1)

2, Y2)

4, Y4)

5, Y5)

, Y6)

7, Y7)

9, Y9)

10, Y10)

Input value: X

, Y8)

2147483647

(Cam reference position)

(X0, Y0)

-2147483648 Cam axis length per cycle [Cam axis cycle unit]

3 - 5

Chapter 3 Cam Function

When an input value that is 0 or the cam axis length per cycle does not exist in the coordinate data, the coordinate is calculated from the line segment between the nearest two coordinates.

Output value: Y [Output axis position units]

2147483647

(Cam reference position)

Generated line segment from (X

0, Y0) and (X1, Y1)

(X0, Y0)

1, Y1)

2, Y2)

3, Y3)

4, Y4)

Generated line segment from (X

9, Y9) and (X10, Y10)

5, Y5)

9, Y9)

10, Y10)

Input value:

-2147483648

, Y6)

Cam axis length per cycle [Cam axis cycle units]

7, Y7)

, Y8)

(4) Auto-generation data format

A cam pattern is created based on the specified parameter (data for auto-generation). Control cam data is created in the stroke ratio data format in the cam open area. Therefore, the operation specification during the control conforms to the cam using the stroke ratio data format. The types of cam patterns for auto-generation data format are as follows.

Auto-generation type Features

Cam for rotary cutter

The cam pattern for a rotary cutter can be created easily.

CAUTION

If the cam data is set incorrectly, similarly to the incorrectly setting of a target value and command

speed in the positioning control, the position and speed command to the servo amplifier increases, and may cause machine interface and servo alarms such as "Overspeed" and "Command frequency error". When creating and changing cam data, execute a trial operation and provide the appropriate adjustments. Refer to "Safety precautions" for precautions on trial operations and adjustments.

3 - 6

Chapter 3 Cam Function

Feed current value of cam axis

The feed current value is calculated as shown below.

(1) Stroke ratio data format

Feed current

value

Cam reference

position

Cam stroke

amount

Stroke ratio corresponding to

cam axis current value per cycle

(2) Coordinate data format

Feed current

value

Cam reference

position

Output value corresponding to

cam axis current value per cycle

When the cam axis current value per cycle is in the middle of the defined cam data (Stroke ratio data/Coordinate data), the middle value is calculated from the nearest cam data.

Cam axis current

alue per cycle

Cam data

1 resolution or between 2 coordinates

Calculate the middle value from the nearest cam data.

3 - 7

Chapter 3 Cam Function

Cam reference position

The cam reference position is calculated as shown below.

(1) Stroke ratio data format

Cam reference

position

The preceding cam

reference position

Cam stroke

amount

(2) Coordinate data format

Cam reference

position

The preceding cam

reference position

Output value corresponding

to "Input value = Cam axis

length per cycle"

Cam axis current value per cycle

Cam reference position (At 1st cycle)

Feed current value

Cam reference position (At 2nd cycle)

Stroke ratio at

the last point

Cam reference position (At 3rd cycle)

Output value

corresponding to

"Input value = 0"

Stroke ratio data format: Cam stroke amount Stroke ratio at last point Coordinate data format: (The output value corresponding to "Input value = Cam axis length per cycle")

- (The output value corresponding to "Input value = 0")

Create cam data for two-way cam operation as shown below.

(1) Stroke ratio data format

Create cam data so that the stroke ratio is 0% at the last point.

(2) Coordinate data format

Create cam data with the same output value for the point where the input value is 0 and the input value is equal to the cam axis length per cycle.

Cam axis current value per cycle

Feed current value

Cam reference position (Does not change because of the

stroke ratio 0% and output value = 0.)

3 - 8

Chapter 3 Cam Function

Cam data starting point

This setting is only valid for cam data using the stroke ratio data format. The cam data point corresponding to "Cam axis current value per cycle = 0" can be set as the cam data starting point. The default value of the cam data starting point is 0. (The cam axis is controlled with cam data starting from the 0th point (stroke ratio 0%).) When a value other than 0 is set for the cam data starting point, cam control is started from the point where the stroke ratio is not 0%. The cam data starting point is set for each cam data. The setting range is from 0 to (cam resolution - 1).

Cam axis current value per cycle

Cam reference

Feed current value

Cam reference position (At 1st cycle)

position (At 2nd cycle)

Cam data starting point

At last pointAt 0th point

Cam reference position (At 3rd cycle)

Timing of applying cam control data

(1) Stroke ratio data format

If "[Pr.440] Cam No." or "[Pr.441] Cam stroke amount" is changed during synchronous control, the new value is accepted and applied when the cam axis current value per cycle passes through the 0th point of cam data, or is on the 0th point. The cam reference position is updated when the cam axis current value per cycle passes through the 0th point of cam data.

(2) Coordinate data format

If "[Pr.440] Cam No." is changed during synchronous control, the new value is accepted and applied when the cam axis current value per cycle passes through 0, or is on 0. The cam reference position is updated when the cam axis current value per cycle passes through 0.

3 - 9

3.2 Create cam data

3.2.1 Memory configuration of cam data

Chapter 3 Cam Function

Cam data is arranged in the following 2 areas.

Memory

configuration

Cam storage

area

Cam open

area

Storage item Details Remark

Data is written by the following operations.

Cam data

Cam auto-generation

data

Cam data

• Write with GX Works2

• When executing "write (Cam storage area)" with the

cam data operation function

Data is written when the cam auto-generation request

is executed. (Cam auto-generation function)

Cam data is transmitted from the cam storage area by

the following operations.

• Power supply turn ON

• Write to the cam storage area

• PLC READY signal [Y0] OFF to ON

• When specifying the cam open area with the cam

data operation function

• When executing the cam auto-generation function

• Data is preserved

even when turning

the power supply

OFF.

• Data is lost when

turning the power

supply OFF.

• The cam data that

is used in cam

control is stored.

Previously written cam data can be used after turning the power supply OFF by writing data in the cam storage area. Cam data should be written in the cam storage area for normal use. It is possible to write directly to the cam open area via buffer memory when registering cam data that exceeds the memory capacity in the cam storage area, etc. (Refer to Section 3.2.2 "Cam data operation function".) Writing must be executed to the cam open area due to clearing the data at the power supply OFF.

3 - 10

Chapter 3 Cam Function

2) Operation with buffer memory

Simple Motion module

1) Operation with GX Works2

GX Works2

Write

(Note-1)

Read/ Verify

(Note-1)

Buffer memory

[Cd.608] Cam autogeneration request

[Cd.600] Cam data operation request (2: Write)

[Cd.600] Cam data operation

Coordinate data

Stroke ratio

request (1: Read)

[Cd.600] Cam data operation request (1: Read)

data

Auto-generation data

• Rotary cutter

Auto-generation data

• Rotary cutter

[Cd.608] Cam autogeneration request

Stroke ratio

data

Coordinate data Coordinate data

(Note-2)

Stroke ratio

data

[Cd.600] Cam data operation request (3: Write)

Cam storage area

(Note-1): The operation from the engineering tool is executed toward cam storage area.

(Note-2): Writing to cam storage area is transmitted in the following timing.

- Power supply turn ON

- Write to cam storage area

- PLC READY signal [Y0] OFF to ON

(Note-3): Data in the cam storage area is cleared when the power supply is turned ON again or reset.

Cam open area

(1024k bytes)

Cam control

(Note-3)

3 - 11

Chapter 3 Cam Function

Cam data operation with GX Works2

Cam data can be modified while viewing the waveform with GX Works2. The cam data is written/read/verified to the cam storage area with GX Works2, however it cannot be executed to the cam open area. The waveform generated by the cam auto-generation function can be confirmed by the "Cam graph" of the "Cam Data window" from the navigation window of the "Cam Data" through reading with GX Works2.

Cam data operation with buffer memory

It is possible to specify the area where cam data is written. The cam data is read from the cam open area. (Refer to Section 3.2.2 "Cam data operation function") With the cam auto-generation function, auto-generation data is saved in the cam storage area, and the cam data is generated into the cam open area.

Cam data capacity

The size of the created cam data is shown below for the cam storage area/cam open area.

Operation method

Create with

GX Works2

Create in cam storage

area with cam data

operation function

Create in cam open

area with cam data

operation function

Create with

cam auto-generation

Data method/

Auto-generation type

Stroke ratio data format Cam resolution

Coordinate data format Coordinate number 8 bytes Coordinate number 8 bytes

Stroke ratio data format Cam resolution

Coordinate data format Coordinate number 8 bytes Coordinate number 8 bytes

Stroke ratio data format

Coordinate data format Coordinate number 8 bytes

For a rotary cutter 28 bytes Cam resolution

Cam storage area

(262144 bytes)

4 bytes Cam resolution 4 bytes

0 byte

Cam open area

(1048576 bytes)

Cam resolution

4 bytes

When writing with the cam data operation function or when the cam auto-generation function is executed, the writing area free capacity size may decrease since the size changes depending on the cam resolution change, etc. In this case, write the cam data with GX Works2 or delete them once.

Delete method of cam data

The data of cam storage area/cam open area can be deleted (initialize) by the parameter initialization function with a parameter setting and positioning data. The parameter initialization function is executed by setting "1" in "[Cd.2] Parameter initialization request". Write the empty data in the cam storage area with GX Works2 to delete only cam data.

Password protection for cam data

The cam data can be protected as shown below by password setting.

Password setting Cam data operation with GX Works2 Cam data operation with buffer memory

Password for read

protection

Password for write

protection

Cam data cannot be read without unlocking

the password for read protection.

Cam data cannot be written without unlocking

the password for write protection.

Reading cam data is not operated.

Writing cam data and generating cam data

auto-generation is not operated.

The password for cam data is deleted with cam data by "[Cd.2] Parameter initialization request".

3 - 12

Chapter 3 Cam Function

3.2.2 Cam data operation function

This function is used to write/read cam data via buffer memory with the cam operation control data. The amount of data for each operation is 4096 points with the stroke ratio data format, and 2048 points with the coordinate data format. If it is more than that, the operation should be executed separately.

Setting item Setting details

[Cd.600]

Cam data

operation

request

[Cd.601]

Operation cam

No.

[Cd.602]

Cam data first

position

[Cd.603]

Number of cam

data operation

points

[Cd.604]

Cam data

format

[Cd.605]

Cam resolution/

coordinate

number

(Note-1): With the exception of positioning control, main cycle processing is executed during the next available time. It changes by status of

axis start.

Cam operation control data

• Set the command for operating cam data.

• The Simple Motion module resets the value to "0"

automatically after completion of cam data

operation.

Fetch cycle: Main cycle

• Set the operating cam No.

Fetch cycle: At requesting cam data operation

• Set the first position for the operating cam data.

Fetch cycle: At requesting cam data operation

• Set the number of operating cam data points.

Fetch cycle: At requesting cam data operation

• Write operation: Set cam data format.

Fetch cycle: At requesting cam data operation

• Read operation: The cam data format is stored.

Refresh cycle: At completing cam data operation

• Write operation: Set the cam resolution/the

Fetch cycle: At requesting cam data operation

• Read operation: The cam resolution/the

Refresh cycle: At completing cam data operation

(Note-1)

coordinate number.

coordinate number is stored.

Setting value

(Read operation: Stored value)

Set in decimal.

1: Read (Cam open area)

2: Write (Cam storage area)

3: Write (Cam open area)

Set in decimal.

1 to 256

Set in decimal.

• Stroke ratio data format

1 to cam resolution

• Coordinate data format

0 to (Coordinate number - 1)

Set in decimal.

• Stroke ratio data format

1 to 4096

• Coordinate data format

1 to 2048

Set in decimal.

1: Stroke ratio data format

2: Coordinate data format

Set in decimal.

• Stroke ratio data format

256/512/1024/2048/4096/8192/16384/

32768

• Coordinate data format

2 to 16384

Default

value

Buffer memory

address

0 45000

0 45001

0 45002

0 45003

0 45004

0 45005

3 - 13

Setting item Setting details

• Write operation: Set the cam data starting point.

Fetch cycle: At requesting cam data operation

[Cd.606]

Cam data

starting point

[Cd.607]

Cam data value

• Read operation: The cam data starting point is

stored.

Refresh cycle: At completing cam data operation

• Setting is not required with coordinate data

format.

• Write operation: Set the cam data corresponding

to the cam data format.

Fetch cycle: At requesting cam data operation

• Read operation: The cam data is stored.

Refresh cycle: At completing cam data operation

(Note-2): Cam axis cycle units (Refer to Section 4.5.1)

(Note-3): Output axis position units (Refer to Section 4.5.1)

[Cd.600] Cam data operation request

Setting value

(Read operation: Stored value)

Set in decimal.

• Stroke ratio data format

0 to (Cam resolution - 1)

• Coordinate data format

Setting not required

Set in decimal.

• Stroke ratio data format

-2147483648 to 2147483647[

• Coordinate data format

Input value:

0 to 2147483647 [Cam axis cycle units

Output value:

-2147483648 to 2147483647 [Output axis position units

(Note-2)

Chapter 3 Cam Function

10-7%]

]

(Note-3)

Default

]

Buffer memory

value

0 45006

address

45008

53199

Set the following commands to write/read cam data.

1: Read (Cam open area) ......... The cam is read from the cam open area and stored to

the buffer memory.

2: Write (Cam storage area) ...... The cam data is written to the cam storage area and the

cam open area from the buffer memory.

3: Write (Cam open area) .......... The cam data is written to the cam open area from the

buffer memory. The setting value is reset to "0" automatically after completion of cam data operation. If a warning occurs when requesting cam data operation, the warning number is stored in "[Md.24] Axis warning No." of axis 1, and the setting value is reset to "0" automatically.

When another request command is set, the operation does not get executed and the setting value is reset to "0" automatically.

[Cd.601] Operation cam No.

Set the cam No. to write/read.

[Cd.602] Cam data first position

Set the first position of the cam data to write/read. Set the cam data first position within the range from 1 to the cam resolution in cam resolution units using the stroke ratio data format. The stroke ratio of the 0th cam data is 0% fixed, and this data cannot be written/read. Set a value within the range from 0 to (Coordinate number - 1) with the coordinate data format.

3 - 14

Chapter 3 Cam Function

[Cd.603] Number of cam data operation points

Set the number of operation points to write/read starting from the first position of cam data. The following shows the operation details when the value of "Cam data first position + Cam data operation points - 1" is larger than the cam resolution in the stroke ratio data format.

Reading: The cam data from the first position to the cam resolution is read in the buffer

memory.

Writing : The warning "Outside number of cam data operation points range" (warning

code 813) occurs, and writing is not executed. The following shows the operation details when the value of "Cam data first position + Cam data operation points" is larger than the coordinate number with the coordinate data format.

Reading: The cam data from the first position to the last coordinate is read in the buffer

memory.

Writing : The warning "Outside number of cam data operation points range" (warning

code 813) occurs, and writing is not executed.

[Cd.604] Cam data format

Set one of the following cam data formats.

1: Stroke ratio data format 2: Coordinate data format

[Cd.605] Cam resolution/coordinate number

Set/load the cam resolution/the coordinate number.

Reading: The cam resolution/the coordinate number of the set cam data is read. Writing : Set the cam resolution with the following values when using the stroke ratio

data format.

256/512/1024/2048/4096/8192/16384/32768

Set the coordinate number within the range from 2 to 16384 when using the

coordinate data format.

[Cd.606] Cam data starting point

Set/load the cam data starting point. This is used with the stroke ratio data format.

Reading: The cam starting point of the set cam data is read.

Writing : Set the cam data starting point within the range from 0 to (Cam resolution - 1).

3 - 15

Chapter 3 Cam Function

[Cd.607] Cam data value

Set/load the cam data operation points according to one of the following formats. (1) Stroke ratio data format

Buffer memory

address

45008

45009

45010

45011

to to

53198

53199

(2) Coordinate data format

Buffer memory

address

45008

45009

45010

45011

45012

45013

45014

45015

to to to

53196

53197

53198

53199

[Cd.601] to [Cd.607] Cam data

At second point

At 2048th point

Item Setting value

Stroke ratio at first point

Stroke ratio at second point

Stroke ratio at 4096th point.

Item Setting value

Input value

At first point

Output value

Input value

Output value

Input value

Output value

Not set Set

-2147483648 to 2147483647 [

(-214.7483648 to 214.7483647 [%])

0 to 2147483647

[Cam axis cycle unit]

-2147483648 to 2147483647

[Output axis position unit]

0 to 2147483647

[Cam axis cycle unit]

-2147483648 to 2147483647

[Output axis position unit]

0 to 2147483647

[Cam axis cycle unit]

-2147483648 to 2147483647

[Output axis position unit]

10-7%]

[Cd.600] Cam data operation request

002

3 - 16

Mitsubishi Electric QD77MS, LD77MH, QD77GF, LD77MS User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

CONDITIONS OF USE FOR THE PRODUCT

INTRODUCTION

REVISIONS

CONTENTS

COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES

RELEVANT MANUALS

MANUAL PAGE ORGANIZATION

TERMS

PACKING LIST

Chapter1 Outline of Synchronous Control

1.1 Outline of synchronous control

1.2 Performance specifications

1.3 Restrictions by the SERIAL No. and version

1.4 Operation method of synchronous control

1.4.1 Synchronous control execution procedure

1.4.2 Starting/ending for synchronous control

1.4.3 Stop operation of output axis

Chapter 2 Input Axis Module

2.1 Servo input axis

2.1.1 Overview of servo input axis

2.1.2 Servo input axis parameters

2.1.3 Servo input axis monitor data

2.2 Synchronous encoder axis

2.2.1 Overview of synchronous encoder axis

2.2.2 Setting method for synchronous encoder

2.2.3 Synchronous encoder axis parameters

2.2.4 Synchronous encoder axis control data

2.2.5 Synchronous encoder axis monitor data

Chapter 3 Cam Function

3.1 Control details for cam function

3.2 Create cam data

3.2.1 Memory configuration of cam data

3.2.2 Cam data operation function