Mitsubishi Electric RD77MS2, RD77MS4, RD77MS8, RD77MS16 User Manual

MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control)

RD77MS2 RD77MS4 RD77MS8 RD77MS16

SAFETY PRECAUTIONS

WARNING

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

CAUTION

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

(Read these precautions before using this product.)

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

the product correctly. The precautions given in this manual are concerned with this product only. 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 precautions are classified into two levels: " WARNING" and " CAUTION".

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

consequences.

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

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

[Design Precautions]

WARNING

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

protective interlock circuit for forward/reverse operation or upper/lower limit positioning.

(2) The programmable controller stops its operation upon detection of the following status, and the

output status of the system will be as shown below.

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

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

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

the CPU module cannot detect any error. To ensure safety operation in such a case, provide a safety mechanism or a fail-safe circuit external to the programmable controller. For a fail-safe circuit example, refer to the user's manual of the CPU module to use.

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

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

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

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

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

WARNING

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

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

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

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

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

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

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

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

stops, depending on the stop group setting in parameter. Set the parameter to meet the specifications of a positioning control system. In addition, set the home position return parameter and positioning data within the specified setting range.

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

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

● 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.

● Do not remove the SSCNET cable while turning on the control circuit power supply of Multiple CPU system and servo amplifier. Do not see directly the light generated from SSCNET connector of the module or servo amplifier and the end of SSCNET cable. When the light gets into eyes, you may feel something wrong with eyes. (The light source of SSCNET complies with class1 defined in JISC6802 or IEC60825-1.)

[Design Precautions]

CAUTION

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

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

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

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

● Reset the CPU module after changing the parameters. Failure to do so may cause malfunction because the previous parameter settings remain in the module.

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

[Installation Precautions]

WARNING

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

[Installation Precautions]

CAUTION

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

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

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

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

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

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

[Wiring Precautions]

WARNING

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

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

[Wiring Precautions]

CAUTION

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

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

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

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

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

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

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

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

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

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

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

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

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

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

● For Ethernet cables to be used in the system, select the ones that meet the specifications in the MELSEC iQ-R Ethernet/CC-Link IE User's Manual (Startup). If not, normal data transmission is not guaranteed.

[Startup and Maintenance Precautions]

WARNING

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

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

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

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

[Startup and Maintenance Precautions]

CAUTION

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

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

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

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

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

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

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

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

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

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

CAUTION

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

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

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

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

● When using the absolute position system function, on starting up, and when the module or absolute value motor has been replaced, always perform a home position return.

● Before starting the operation, confirm the brake function.

● Do not perform a megger test (insulation resistance measurement) during inspection.

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

position detection function is correct.

● Lock the control panel and prevent access to those who are not certified to handle or install electric equipment.

[Operating Precautions]

CAUTION

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

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

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

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

[Disposal Precautions]

CAUTION

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

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

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

[Transportation Precautions]

CAUTION

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

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

CONDITIONS OF USE FOR THE PRODUCT

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

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

and

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

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

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

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

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

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

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

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

BULLETINS AND GUIDELINES FOR the PRODUCT.

("Prohibited Application")

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

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

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

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

assurance system is required by the Purchaser or End User.

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

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

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

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

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

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

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

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

contact the Mitsubishi representative in your region.

INTRODUCTION

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

This manual describes the functions and programming of the relevant products listed below. Before using this product, please

read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the

MELSEC iQ-R series programmable controller to handle the product correctly.

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

will not cause system control problems.

Please make sure that the end users read this manual.

Relevant products

RD77MS2, RD77MS4, RD77MS8, RD77MS16

In this manual, buffer memories are classified using the following symbols. Each area name can represent the

buffer memories corresponding to each axis.

• [Pr.**]: Symbols indicating positioning parameter or home position return parameter items

• [Da.**]: Symbols indicating positioning data or block start data items

• [Md.**]: Symbols indicating monitor data items

• [Cd.**]: Symbols indicating control data items

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES

Method of ensuring compliance

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.

MELSEC iQ-R Module Configuration Manual Safety Guidelines (This manual is included with the base unit.)

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

Additional measures

To ensure that this product maintains EMC and Low Voltage Directives, please refer to one of the following manuals.

MELSEC iQ-R Module Configuration Manual Safety Guidelines (This manual is included with the base unit.)

CONTENTS

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

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

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

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13

TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

CHAPTER 1 OUTLINE OF SYNCHRONOUS CONTROL 15

1.1 Outline of Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

1.2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1.3 Operation Method of Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Synchronous control execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20

Starting/ending for synchronous control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

Stop operation of output axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

CHAPTER 2 INPUT AXIS MODULE 24

2.1 Servo Input Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Overview of servo input axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

Servo input axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Servo input axis monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

2.2 Synchronous Encoder Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

Overview of synchronous encoder axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Setting method for synchronous encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Synchronous encoder axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38

Synchronous encoder axis control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43

Synchronous encoder axis monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46

CHAPTER 3 CAM FUNCTION 48

3.1 Control Details for Cam Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

3.2 Create Cam Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54

Memory configuration of cam data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Cam data operation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56

Cam auto-generation function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59

CHAPTER 4 SYNCHRONOUS CONTROL 61

4.1 Main Shaft Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Overview of main shaft module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Main shaft parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62

Main shaft clutch parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64

Main shaft clutch control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

4.2 Auxiliary Shaft Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69

Overview of auxiliary shaft module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69

Auxiliary shaft parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69

Auxiliary shaft clutch parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71

Auxiliary shaft clutch control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76

4.3 Clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77

Overview of clutch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Control method for clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Smoothing method for clutch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Use example of clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

4.4 Speed Change Gear Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Overview of speed change gear module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88

Speed change gear parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89

4.5 Output Axis Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90

Overview of output axis module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90

Output axis parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

4.6 Synchronous Control Change Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96

Overview of synchronous control change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Synchronous control change control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96

4.7 Synchronous Control Monitor Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100

4.8 Phase Compensation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

4.9 Output Axis Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .105

CHAPTER 5 SYNCHRONOUS CONTROL INITIAL POSITION 106

5.1 Synchronous Control Initial Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

5.2 Synchronous Control Initial Position Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

5.3 Cam Axis Position Restoration Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Cam axis current value per cycle restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Cam reference position restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Cam axis feed current value restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

5.4 Synchronous Control Analysis Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

5.5 Cam Position Calculation Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120

Cam position calculation control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120

Cam position calculation monitor data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

5.6 Method to Restart Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127

APPENDICES 128

Appendix 1 List of Buffer Memory Addresses (for Synchronous Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Appendix 2 Sample Program of Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .133

INDEX 138

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .140

WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .141

TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .142

RELEVANT MANUALS

Manual name [manual number] Description Available form

MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control) [IB-0300249] (This manual)

MELSEC iQ-R Simple Motion Module User's Manual (Application) [IB-0300247]

MELSEC iQ-R Simple Motion Module User's Manual (Startup) [IB-0300245]

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

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

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

e-Manual has the following features:

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

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

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

• Pages that users often browse can be bookmarked.

Functions and programming for the synchronous control of the Simple Motion module

Functions, input/output signals, buffer memories, parameter settings, programming, and troubleshooting of the Simple Motion module

Specifications, procedures before operation, system configuration, wiring, and operation examples of the Simple Motion module

Print book

e-Manual EPUB PDF

Print book

e-Manual EPUB PDF

Print book

e-Manual EPUB PDF

TERMS

Unless otherwise specified, this manual uses the following terms.

Term Description

CPU module Abbreviation for the MELSEC iQ-R series CPU module.

Simple Motion module Abbreviation for the MELSEC iQ-R series Simple Motion module.

RD77MS Another term for the MELSEC iQ-R series Simple Motion module.

Servo amplifier Abbreviation for SSCNET/H and SSCNET compatible servo amplifier.

MR-J4(W)-B MR-J4-_B/MR-J4W_-_B Servo amplifier series

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

MR-JE-B MR-JE-_B Servo amplifier series

Engineering tool Generic term for GX Works3 and MR Configurator2.

GX Works3 Product name of the software package for the MELSEC programmable controllers.

MR Configurator2 Product name of the setup software for the servo amplifier (Version 1.27D or later).

Intelligent function module A MELSEC iQ-R series module that has functions other than input or output, such as A/D converter module and D/A

Manual pulse generator Abbreviation for manual pulse generator (prepared by user).

SSCNET/H

SSCNET

SSCNET(/H) Generic term for SSCNET/H, SSCNET.

Servo network

2-axis module Generic term for RD77MS2.

4-axis module Generic term for RD77MS4.

8-axis module Generic term for RD77MS8.

16-axis module Generic term for RD77MS16.

converter module

High speed synchronous communication network between RD77MS and servo amplifier.

*1 SSCNET: S

ervo System Controller NETwork

1 OUTLINE OF SYNCHRONOUS CONTROL

Positioning data

Positioning control

Positioning start Synchronous control start Synchronous control start

Synchronous encoder axis

Servo input axis

Synchronous parameter

Synchronous control start

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

Cam data

Output axis

Speed change gear

Auxiliary

shaft axis

Cam

Synchronous

encoder

Manual pulse generator/ Synchronous encoder input

Simple Motion module

Synchronous encoder axis

parameter

Servo input axis

parameter

Auxiliary

shaft

clutch

Servo

amplifier

Servo motor

Servo

amplifier

Servo motor

Servo

amplifier

Servo

amplifier

Auxiliary

shaft gear

Main shaft

(sub input axis)

Main shaft

(main input axis)

Composite

main shaft gear

Main shaft gear

Main shaft clutch

Composite auxiliary shaft gear

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

"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.

*1 It is possible to drive the servo input axis except for the positioning control (home position return, manual control, speed-torque control,

synchronous control). For details on the positioning control, the home position return, the manual control and the speed-torque control, refer to the following manual of the Simple Motion module that is used. User's Manual (Application)

*2 Speed change gear can be arranged on one of "Main shaft side", "Auxiliary shaft side" or "After composite auxiliary shaft gear".

1 OUTLINE OF SYNCHRONOUS CONTROL

1.1 Outline of Synchronous Control

List of synchronous control module

Synchronous parameter

Synchronous encoder

axis parameter

Synchronous encoder axis

Servo input axis

parameter

Servo input axis

Input axis module

Main shaft module

Output axis module

Cam data

Speed change gear module

Auxiliary shaft module

Main shaft

(main input axis)

Auxiliary

shaft

clutch

Auxiliary

shaft gear

Main shaft

(sub input axis)

Main shaft

gear

Main shaft clutch

Composite auxiliary shaft gear

Composite main

shaft gear

Output axis

Speed change gear

Auxiliary shaft axis

Cam

The module is used in synchronous control as follows.

■Input axis

Classification Name Parts Function description Maximum number of usable Reference

Input axis module

• Input axis module can be set to one of servo input axis or synchronous encoder axis.

• Speed change gear can be arranged on one of main shaft side, auxiliary shaft side or after composite

auxiliary shaft gear.

• Set the movement amount of input axis module as large as possible to prevent the speed fluctuation of

output axis module in the synchronous control. If the movement amount of input axis module is small, the

speed fluctuation of output axis module may occur depending on the setting for synchronous parameter.

• The following items can be monitored using the Simple Motion Module Setting Function; each synchronous

control monitor data and rotation direction of main shaft main input axis, main shaft sub input axis, auxiliary

shaft axis, and output axis (cam axis feed current value)

Number per module Number

per axis

Servo Input Axis

Synchronous Encoder Axis

Servo input axis

Synchronous encoder axis

 • Used to drive the input axis with

the position of the servomotor controlled by the Simple Motion module.

input pulse from the synchronous encoder.

2-axis module

24816Page 24

4 Page 31

4-axis module

8-axis module

16-axis module

1 OUTLINE OF SYNCHRONOUS CONTROL

1.1 Outline of Synchronous Control

■Output axis

Classification Name Parts Function description Maximum number of usable Reference

Number per module Numbe

r per axis

Main Shaft Module

Main Shaft Module Page 77 Clutch

Auxiliary Shaft Module

Main shaft module

Auxiliary shaft module

Main shaft main input axis

Main shaft sub input axis

Composite main shaft gear

Main shaft gear

Main shaft clutch

Auxiliary shaft axis

• The input axis on the main side of the main shaft module.

• The reference position on the main shaft.

• The input axis on the sub side of the main shaft module.

• It is used to input the compensation amount for the position of the main shaft main input axis.

• The composite movement amount of the main shaft main input axis and the main shaft sub input axis are transmitted to the main shaft gear.

• The converting movement amount after composite main shaft gear is transmitted by the setting gear ratio.

• The movement amount of the main shaft is transmitted by the clutch ON/OFF.

• The input axis of the auxiliary shaft module.

2-axis module

248161Page 61

248161Page 69

4-axis module

8-axis module

16-axis module

Speed change gear module

Output axis module

Auxiliary shaft gear

Auxiliary shaft clutch

Composite auxiliary shaft gear

Speed change gear

Output axis • The cam conversion is

• The converting movement amount of the auxiliary shaft is transmitted by the setting gear ratio.

• The movement amount of the auxiliary shaft is transmitted by the clutch ON/OFF.

• The composite movement amount 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.

processed based on the input movement amount and the setting cam data.

• The feed current value is output as the command to the servo amplifier.

248161Page 69

248161

248161Page 88

248161Page 90

Auxiliary Shaft Module

Auxiliary Shaft Module Page 77 Clutch

Page 69 Auxiliary Shaft Module

Speed Change Gear Module

Output Axis Module

■Cam data

Classification Name Function description Maximum number of usable Reference

Number per module

Cam data Cam data • It controls the operation pattern of the output axis (two-way

operation and feed operation), which is corresponding to the input movement amount of the output axis module.

Up to 256 Page 48

CAM FUNCTION

1 OUTLINE OF SYNCHRONOUS CONTROL

1.1 Outline of Synchronous Control

1.2 Performance Specifications

Performance specifications

Item Number of settable axes

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

Input axis Servo input axis 2 axes/module 4 axes/module 8 axes/module 16 axes/module

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 1/output axis

Composite auxiliary shaft gear 1/output axis

Speed change gear 1/output axis

Output axis (Cam axis) 2 axes/module 4 axes/module 8 axes/module 16 axes/module

Cam specifications

4 axes/module

Item Specification

Memory capacity Cam storage area 256k bytes

Cam open area 1024k bytes

Number of cam registration

Comment Up to 32 characters per cam data

Cam data Stroke ratio data format Cam resolution 256/512/1024/2048/4096/8192/16384/32768

*1 The maximum number of cam registration by the cam resolution is shown below. (In case it created by the same cam resolution.)

Stroke ratio -214.7483648 to 214.7483647 [%]

Coordinate data format Coordinate number 2 to 16384

Coordinate data Input value: 0 to 2147483647

Up to 256 (Dependent on memory capacity, cam resolution and coordinate number)

Output value: -2147483648 to 2147483647

1 OUTLINE OF SYNCHRONOUS CONTROL

1.2 Performance Specifications

■Stroke ratio data format

Cam resolution Maximum number of cam registration

Cam storage area Cam open area

256 256 256

512 128 256

1024 64 256

2048 32 128

4096 16 64

8192 8 32

16384 4 16

32768 2 8

■Coordinate data format

Coordinate number Maximum number of cam registration

Cam storage area Cam open area

128 256 256

256 128 256

512 64 256

1024 32 128

2048 16 64

4096 8 32

8192 4 16

16384 2 8

Cam operation specifications

Item Specification

Operation method of cam data (1) Engineering tool

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

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

Cam position calculation function 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

Synchronous encoder axis type Incremental synchronous encoder/

Control unit mm, inch, degree, pulse

Unit conversion Numerator -2147483648 to 2147483647

Denominator 1 to 2147483647

Length per cycle setting range 1 to 2147483647

Current value range Current value -2147483648 to 2147483647

Current value per cycle 0 to (Length per cycle - 1)

Control method Control instruction Current value change, Counter disable, Counter enable

Current value setting address

Synchronous encoder via servo amplifier/ Synchronous encoder via CPU

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

[Synchronous encoder axis position unit]

[pulse]

[Synchronous encoder axis position unit]

Address setting range: -2147483648 to 2147483647 [Synchronous encoder axis position unit]

1 OUTLINE OF SYNCHRONOUS CONTROL

1.2 Performance Specifications

1.3 Operation Method of Synchronous Control

Set the following parameters.

• Common parameters ([Pr.24], [Pr.82], [Pr.89], [Pr.96], [Pr.97], [Pr.150] to [Pr.153])

• Positioning parameters ([Pr.1] to [Pr.4], [Pr.7] to [Pr.22], [Pr.25] to [Pr.42], [Pr.81], [Pr.83], [Pr.84], [Pr.90], [Pr.95], [Pr.116] to [Pr.119], [Pr.122], [Pr.123])

• Expansion parameters ([Pr.91] to [Pr.94])

STEP 1

Preparation

One of the following two methods can be used.

Directly set (write) the parameters in the Simple Motion module using the engineering tool.

Set (write) the parameters from the CPU module to the Simple Motion module using the program.

End of control

Turn ON the target axis bit in "[Cd.380] Synchronous control start" and start synchronous control by the program in STEP 2.

STEP 2

STEP 3

Set the cam data.

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

STEP 4

Start synchronous control

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

Operate the input axis.

Operate 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

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

STEP 6

Complete synchronous control

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.

Stop the input axis by the program in STEP 2.

Monitor the synchronous control change

Monitor using the engineering tool. Changing the control by the program in STEP 2.

Verify that it's during synchronous control.

Verify that it's during synchronous control in "[Md.26] Axis operation status".

Set "input axis parameters" for synchronous control. ([Pr.300] to [Pr.304], [Pr.320] to [Pr.329])

Set "synchronous parameters" for synchronous control. ([Pr.400] to [Pr.468])

Create a program that executes to start / change control / stop synchronous control. (Set "[Cd.380]Synchronous control start", start and stop the input axis operation and change the reduction ratio)

Synchronous control execution procedure

The synchronous control is executed using the following procedure.

*1 Page 24 INPUT AXIS MODULE *2 Page 48 CAM FUNCTION *3 Page 61 SYNCHRONOUS CONTROL, Page 110 Synchronous Control Initial Position Parameters *4 Page 128 APPENDICES

1 OUTLINE OF SYNCHRONOUS CONTROL

1.3 Operation Method of Synchronous Control

Precautions

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

Standby (0)

Analyzing (5)

Standby (0)

Synchronous control (15)

BUSY signal

[Cd.380] Synchronous control

start (Target axis bit)

[Md.26] Axis operation status

[Md.20] Feed current value

[Md.321] Synchronous encoder

axis current value per cycle

[Md.407] Cam axis current

value per cycle

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

• Be sure to execute the home position return when the home position return request flag is ON.

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 synchronous control, and the

output axes synchronize with input axis operations.

Synchronous control system control data

Setting item Setting details Setting value Default value Buffer memory

[Cd.380] Synchronous control start

*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, and from axis 1 to 8 is valid in the

8-axis module.

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 the following for the stop operation of output axis at the synchronous control end. Page 23 Stop operation of output axis

• 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 16 bits. (bit0: axis 1 to bit15: axis 16 OFF : Synchronous control end ON : Synchronous control start

address

)

1 OUTLINE OF SYNCHRONOUS CONTROL

1.3 Operation Method of Synchronous Control

0 36320

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.

Bit Details

b0 In speed control flag

b1 Speed-position switching latch flag

b2 Command in-position flag

b4 Home position return complete flag

b5 Position-speed switching latch flag

b10 Speed change 0 flag

• 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.

• If the input axis operates during the analysis at the synchronous control start, the movement amount of the

input axis is reflected immediately after the synchronous control start. The output axis might suddenly

accelerate depending on the movement amount of the input axis. Start the input axis operation after

confirming that are configured for synchronous control.

• The analysis process for synchronous control start might take time depending on the parameter setting for

synchronous control. (When "0: Cam axis current value per cycle restoration" is set in "[Pr.462] Cam axis

position restoration object" and the cam (cam resolution: 32768) is searched: About 26 ms, When "0: Cam

axis current value per cycle restoration" is set in "[Pr.462] Cam axis position restoration object" and the cam

(cam resolution: 256) is searched: About 0.4 ms) 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.

• 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 OUTLINE OF SYNCHRONOUS CONTROL

1.3 Operation Method of Synchronous Control

Stop operation of output axis

BUSY signal

[Md.22] Feedrate

Immediate stop

[Md.407] Cam axis current value

per cycle

[Md.20] Feed current value

(Cam operation)

[Cd.380] Synchronous control start

(Target axis bit)

Slope of deceleration

"[Pr.8] Speed limit value"

Deceleration time

(Sudden stop deceleration time)

Axis stop signal

[Md.22] Feedrate

BUSY signal

Deceleration stop

[Md.407] Cam axis current value

per cycle

[Cd.380] Synchronous control start

(Target axis bit)

[Md.20] Feed current value

(Cam operation)

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. (Page 90 Output Axis

Module)

Stop cause Stop process

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

Software stroke limit error occurrence

Emergency stop

Forced stop

Stop group1 to 3*1 (Stop with hardware stroke limit or stop command) Deceleration stop

*1 Refer to "User's Manual (Application)" of the Simple Motion module that is used.

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.

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 slope of deceleration is as follows.

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.

1 OUTLINE OF SYNCHRONOUS CONTROL

1.3 Operation Method of Synchronous Control

2 INPUT AXIS MODULE

Input smoothing

processing

Phase

compensation

processing

Rotation direction

restriction

Feed current value Real current value Servo command value Feedback value

Servo motor position

Current value of

servo input axis

[Pr.300] Servo input axis

type

[Pr.301] Servo input axis

smoothing time constant

[Pr.302] Servo input axis phase

compensation advance time

[Md.303] Servo input axis

rotation direction restriction amount

[Md.300] Servo input axis

current value

[Md.301] Servo input axis speed

[Md.302] Servo input axis phase

compensation amount

[Pr.303] Servo input axis phase

compensation time constant

[Pr.304] Servo input axis

rotation direction restriction

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

this chapter.

Refer to the following manual of the Simple Motion module that is used for details on the connection and control for the servo

amplifier and the synchronous encoder that used for input axis module. User's Manual (Application)

2.1 Servo Input Axis

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.

Control method for servo input axis

All controls (including synchronous control) can be executed for a servo input axis.

Refer to the following manual of the Simple Motion module that is used for the controls other than the synchronous control. User's Manual (Application)

2 INPUT AXIS MODULE

2.1 Servo Input Axis

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 following manual of the Simple Motion module that is used for details on virtual servo amplifier

function. User's Manual (Application)

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: 1BA7H) 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".

■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.1] Unit setting"

0: mm  10-4mm

1: inch  10

2: degree  10-5degree -21474.83648 to 21474.83647 [degree]

3: pulse pulse -2147483648 to 2147483647 [pulse]

 pulse -2147483648 to 2147483647 [pulse]

Servo input axis position unit

-1

(10

m)

-5

inch -21474.83648 to 21474.83647 [inch]

Range

-214748.3648 to 214748.3647 [mm] (-214748364.8 to 214748364.7 [m])

■Servo input axis speed 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

*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]).

• 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 error 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".

• 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".

Setting value of "[Pr.1] Unit setting"

0: mm  10-2mm/min -21474836.48 to 21474836.47 [mm/min]

1: inch  10-3inch/min -2147483.648 to 2147483.647 [inch/min]

2: degree  10-3degree/min

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

 pulse/s -2147483648 to 2147483647 [pulse/s]

Servo input axis speed unit Range

-2147483.648 to 2147483.647 [degree/min]

2 INPUT AXIS MODULE

2.1 Servo Input Axis

Servo input axis parameters

Simple Motion module

Unit → Pulse conversion

(Backlash compensation)

1: Feed current value 3: Servo command value

2: Real current value

Pulse → Unit conversion

4: Feedback value

Servo amplifier

n: Axis No. - 1

Setting item Setting details Setting value Default value Buffer memory

address

[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

• Set the current value type to be 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 movement amount to one direction.

Fetch cycle: At power supply ON

■Set in decimal. 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 [s]

■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

0 32800+10n

0 32801+10n

0 32802+10n

32803+10n

10 32804+10n

0 32805+10n

*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.

[Pr.300] Servo input axis type

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

Setting value Details

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

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

4: Feedback value Generate the input value based on the encoder feedback pulse from the servo amplifier.

from the servo amplifier.

converted into encoder pulse units).

2 INPUT AXIS MODULE

2.1 Servo Input Axis

[Pr.301] Servo input axis smoothing time constant

[Pr.301] Servo input axis smoothing

time constant

[Pr.301] Servo input axis smoothing

time constant

Input value speed before smoothing

Input value speed after smoothing

Averaging by smoothing time constant

Servo input axis current value

63%

Speed before phase compensation

Speed after phase compensation

Current value after phase compensation

Current value before phase compensation

Speed before phase compensation

[Pr.302] Servo input axis phase

compensation advance time

[Md.302] Servo input

axis phase compensation amount

[Md.302] Servo input axis

phase compensation amount

[Pr.303] Servo input axis phase

compensation time constant

[Pr.303] Servo input axis phase

compensation time constant

Set the averaging time to execute a smoothing process for the input movement amount 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.

[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 the following for the delay time inherent to the system using the servo input axis. Page 104 Phase Compensation Function

Setting value Details

1 to 2147483647 [s] Advance the phase (input response) according to the setting time.

0 [s] Do not execute phase compensation.

-2147483648 to -1 [s] 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.

2 INPUT AXIS MODULE

2.1 Servo Input Axis

[Pr.304] Servo input axis rotation direction restriction

Speed before rotation direction restriction

The input movement amount is accumulated as a rotation direction restricted amount, and will be reflected when the input movement amount in the enabled direction.

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

[Md.301] Servo input axis speed

(Speed after rotation direction restriction)

[Md.303] Servo input axis

rotation direction restriction amount

Set this parameter to restrict the input movement amount 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.

Setting value Details

0: Without rotation direction restriction Rotation direction restriction is not executed.

1: Enable only for current value increase direction Enable only the input movement amount in the increasing direction of the

2: Enable only for current value decrease direction Enable only the input movement amount in the decreasing direction of the

The input movement amount in the reverse direction of the enabled direction accumulates as a rotation direction restricted

amount, and will be reflected when the input movement amount 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

• The home position return is executed

• The current value is changed

servo input axis current value.

2 INPUT AXIS MODULE

2.1 Servo Input Axis

+ 116 hidden pages

Mitsubishi Electric RD77MS2, RD77MS4, RD77MS8, RD77MS16 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

CONDITIONS OF USE FOR THE PRODUCT

INTRODUCTION

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES

CONTENTS

RELEVANT MANUALS

TERMS

1 OUTLINE OF SYNCHRONOUS CONTROL

1.1 Outline of Synchronous Control

1.2 Performance Specifications

Synchronous control execution procedure

1.3 Operation Method of Synchronous Control

Starting/ending for synchronous control

Stop operation of output axis

Overview of servo input axis

2 INPUT AXIS MODULE

2.1 Servo Input Axis

Servo input axis parameters