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Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual
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Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual

Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual

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MELSEC iQ-R Motion Module
User's Manual
(Advanced Synchronous Control
for Simple Motion Mode)
-RD78G4
-RD78G8
-RD78G16

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Summary of Contents for Mitsubishi Electric MELSEC iQ-R RD78G4

  • Page 1 MELSEC iQ-R Motion Module User's Manual (Advanced Synchronous Control for Simple Motion Mode) -RD78G4 -RD78G8 -RD78G16...

  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (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 MELSEC iQ-R Module Configuration Manual for a description of the PLC system safety precautions.
  • Page 4 [Design Precautions] WARNING ● Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller. Failure to do so may result in an accident due to an incorrect output or malfunction. (1) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured external to the programmable controller.
  • Page 5 [Design Precautions] WARNING ● When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely. For other forms of control (such as program modification, parameter change, forced output, or operating status change) of a running programmable controller, read the relevant manuals carefully and ensure that the operation is safe before proceeding.
  • Page 6 [Design Precautions] CAUTION ● Do not install the control lines or communication cables together with the main circuit lines or power cables. Doing so may result in malfunction due to electromagnetic interference. Keep a distance of 100mm or more between those cables. ●...
  • Page 7 Also, attach an extension connector protective cover to each unused extension cable connector as necessary. Directly touching any conductive parts of the connectors while power is on may result in electric shock. *1 For details, please consult your local Mitsubishi Electric representative.
  • Page 8 ● Mitsubishi Electric 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.
  • Page 9 [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.
  • Page 10 [Startup and Maintenance Precautions] CAUTION ● 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.
  • Page 11 The personal computer can be connected to the module without taking specific measures. For details, refer to the following. Precautions on connecting a Mitsubishi Electric PLC or GOT to a personal computer via an RS-232/ USB interface (FA-D-0298) When the USB cable used is the GT09-C30USB-5P manufactured by Mitsubishi Electric, specific measures are not required to connect the AC-powered personal computer to the module.

  • Page 12: Introduction

    INTRODUCTION Thank you for purchasing the Mitsubishi Electric 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.

  • Page 13: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 INTRODUCTION .
  • Page 14 Overview of auxiliary shaft module ............100 Auxiliary shaft parameters .

  • Page 15: Relevant Manuals

    Reference of the Motion module (Simple Motion module) [BCN-B62005-1040] e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool. e-Manual has the following features: • Required information can be cross-searched in multiple manuals.

  • Page 16: Terms

    A generic term for motor drive devices, such as servo amplifiers Engineering tool A generic term for GX Works3 and MR Configurator2 A generic term for the Mitsubishi Electric GOTs (GOT1000, GOT2000 series) High-speed counter module An abbreviation for the MELSEC iQ-R series high-speed counter module...

  • Page 17: Chapter 1 Outline Of Advanced Synchronous Control

    OUTLINE OF ADVANCED SYNCHRONOUS CONTROL The outline, specifications, and operation method of synchronous control using the 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.
  • Page 18 *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, home position return, manual control, and speed-torque control, refer to the following manual. MELSEC iQ-R Motion Module User's Manual (Application for Simple Motion Mode) *2 Speed change gear can be arranged on one of "Main shaft side", "Auxiliary shaft side"...
  • Page 19 List of synchronous control modules The modules used in the synchronous control are as follows. Input axis module Synchronous encoder axis parameter Synchronous encoder axis Synchronous parameter Command generation Main shaft module axis parameter Command generation axis Input axis Composite main Main shaft (main shaft main) shaft gear...
  • Page 20 ■Input axis • Input axis module Name Parts Function description Maximum number of usable items Reference per module per axis RD78G4 RD78G8 RD78G16 Servo input axis  • Used to drive the input axis with the  Page 28 Servo position of the servo motor controlled by Input Axis the Motion module.
  • Page 21 • Speed change gear module Name Parts Function description Maximum number of usable items Reference per module per axis RD78G4 RD78G8 RD78G16 Speed change • It is used to change the speed by the set Page 120 Speed gear speed change ratio during the operation. Change Gear Module •...

  • Page 22: Performance Specifications

    Performance Specifications Performance specifications Item Number of settable axes RD78G4 RD78G8 RD78G16 Input axis Servo input axis 4 axes/module 8 axes/module 16 axes/module Command generation axis 4 axes/module 8 axes/module 8 axes/module Synchronous encoder axis 4 axes/module 8 axes/module 16 axes/module Composite main shaft gear 1/output axis Main shaft main input axis...
  • Page 23 ■Coordinate data format Number of coordinates Maximum number of registered cams Cam storage area Cam open area 1024 2048 4096 8192 16384 Cam operation specifications Item Specification Operation method of cam data 1) Engineering tool Write/read/verify data to/from/with cam storage area 2) Via buffer memory (Cam data operation function) Write/read data to/from cam storage area and cam open area Cam auto-generation function...

  • Page 24: 1.3 Operation Method Of Synchronous Control

    Operation Method of Synchronous Control Synchronous control execution procedure The synchronous control is executed using the following procedure. STEP 1 Set the following parameters. One of the following two methods can be used. • Common parameters ([Pr.82], [Pr.152]) Preparation • Positioning parameters ([Pr.1] to [Pr.4], Method (1) [Pr.7] to [Pr.22], [Pr.25] to [Pr.42], [Pr.81], : Directly set (write) the parameters...

  • Page 25: Starting/Ending Of Synchronous Control

    Precautions • Mechanical elements such as limit switches are considered as already installed. • Parameter settings for positioning control apply to all controls with the Motion module. • Be sure to execute the home position return when the home position return request flag is ON. Starting/ending of synchronous control Set the advanced synchronous control parameters for each output axis to start synchronous control.
  • Page 26 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 advanced synchronous control parameters. "5: Analyzing" is set in "[Md.26] Axis operation status" at the synchronous control start, and the advanced synchronous control parameters are analyzed.
  • Page 27 • 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.

  • Page 28: Stop Operation Of Output Axis

    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 (Page 122 Output Axis Module).
  • Page 29 Deceleration stop The output axis decelerates to a stop according to the setting in "[Pr.37] Stop group 1 rapid stop selection" to "[Pr.39] Stop group 3 rapid stop selection". The deceleration time is set in "[Pr.446] Synchronous control deceleration time", and rapid stop deceleration time is set in either "[Pr.36] Rapid stop deceleration time"...

  • Page 30: Chapter 2 Input Axis Module

    INPUT AXIS MODULE The settings for the parameter and monitor data for the input axis module that is used for synchronous control are explained in this chapter. Refer to the following manual for details on the connection and control for the servo amplifier and the synchronous encoder that are used for input axis module.
  • Page 31 If "1: Command position value" or "2: Actual position value" is set in "[Pr.300] Servo input axis type", set "1: Update command position value" in "[Pr.21] Command position value during speed control" to start the speed position change control. If "0: Do not update command position value" or "2: Clear command position value to zero"...

  • Page 32: Servo Input Axis Parameters

    Servo input axis parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to axis 16 [Pr.300] • Set the current value type to be ■Set in decimal. 32800+10n Servo input axis type generated of the input value for 0: Invalid the servo input axis.
  • Page 33 [Pr.301] Servo input axis smoothing 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 "Actual position value" or "Feedback value" is used as input values.
  • Page 34 [Pr.304] Servo input axis rotation direction restriction 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 such as machine vibration when "Actual position value" or "Feedback value" is used as input values.

  • Page 35: Servo Input Axis Monitor Data

    Servo input axis monitor data n: Axis No. - 1 Monitor item Storage details Monitor value Buffer memory address Axis 1 to axis 16 [Md.300] • The position value for the servo input axis ■Monitoring is carried out in 33120+10n Servo input axis position value is stored.
  • Page 36 [Md.303] Servo input axis rotation direction restriction amount While the rotation direction is restricted for a servo input axis, the accumulation for input movement amount in the opposite direction of the enabled direction is stored in servo input axis position units (Page 29 Servo input axis position units) as follows.

  • Page 37: Command Generation Axis

    Command Generation Axis Overview of command generation axis The "command generation axis" is an axis that executes only the command generation that is generated when "1: Valid" is set in "[Pr.340] Command generation axis valid setting". It can be controlled individually from the axis connected with a servo amplifier. The command generation axis is used to drive the input axis based on the positioning data or the JOG operation.
  • Page 38 The sub functions that can be used for the command generation axis are shown below. : Combination possible : Combination restricted : Combination not possible Sub function Control mode ABS linear 1 INC linear 1 Forward Reverse Forward Reverse Current run speed 1 run speed 1 run speed/...
  • Page 39 ■Change command generation axis parameters and positioning data The command generation axis does not store parameters or positioning data in the buffer memory. Therefore, rewrite the parameters and the positioning data using the following methods. • When using GX Works3 Set the command generation axis parameters and positioning data using GX Works3.
  • Page 40 Units for the command generation axis The position units and speed units for the command generation axis are shown below based on the setting "[Pr.1] Unit setting". ■Command generation axis position units Setting value of "[Pr.1] Unit setting" Command generation axis position Range units 0: mm...

  • Page 41: Command Generation Axis Parameters

    Command generation axis parameters All command generation axis parameters are prepared for each command generation axis. However, change the parameters using GX Works3 or control data because the parameters are not in the buffer memory. Setting item Setting details Setting value Default value Buffer memory address...
  • Page 42 List of parameters that can be used The specifications of each parameter are the same as for the servo amplifier axis. For detailed specifications, refer to "MAJOR POSITIONING CONTROL" in the following manual. MELSEC iQ-R Motion Module User's Manual (Application for Simple Motion Mode) : Available, : Not available ■Servo network composition parameters Name...
  • Page 43 ■Detailed parameters1 Name Servo amplifier axis Command generation axis [Pr.11] Backlash compensation amount   [Pr.12] Software stroke limit upper limit value : Initial value 0  [Pr.13] Software stroke limit lower limit value : Initial value 0  [Pr.14] Software stroke limit selection ...
  • Page 44 Name Servo amplifier axis Command generation axis [Pr.122] Manual pulse generator speed limit mode   [Pr.123] Manual pulse generator speed limit value   [Pr.127] Speed limit value input selection at control mode switching   ■Home position return basic parameters Name Servo amplifier axis Command generation axis...

  • Page 45: Command Generation Axis Control Data

    Command generation axis control data All command generation axis control data is prepared for each command generation axis. n: Axis No. - 1 Setting item Setting details Setting value Default value Buffer memory address [Cd.184] Start the positioning operation. ■Set in decimal. 61964+128n Positioning start Fetch cycle: Operation cycle...
  • Page 46 List of control data that can be used The specifications are the same as for the servo amplifier axis. For the detailed specifications, refer to "MAJOR POSITIONING CONTROL" in the following manual. MELSEC iQ-R Motion Module User's Manual (Application for Simple Motion Mode) : Available, : Not available ■System control data Name...
  • Page 47 Name Servo amplifier axis Command generation axis [Cd.37] Skip command   [Cd.38] Teaching data selection   [Cd.39] Teaching positioning data No.   [Cd.40] ABS direction in degrees   [Cd.43] Simultaneous starting axis   [Cd.45] Speed-position switching device selection ...

  • Page 48: Command Generation Axis Monitor Data

    Command generation axis monitor data n: Axis No. - 1 Monitor item Storage details Monitor value Buffer memory address [Md.141] The BUSY status is stored. ■Monitoring is carried out in decimal. 61004+120n BUSY Refresh cycle: Operation cycle 1: BUSY Other than 1: Not BUSY [Md.345] The accumulative position value for the ■Monitoring is carried out in decimal.
  • Page 49 List of monitor data that can be used The specifications are the same as for the servo amplifier axis. For the detailed specifications, refer to "MAJOR POSITIONING CONTROL" in the following manual. MELSEC iQ-R Motion Module User's Manual (Application for Simple Motion Mode) : Available, : Not available ■System monitor data Name...
  • Page 50 ■Axis monitor data Name Servo amplifier axis Command generation axis [Md.20] Command position value   [Md.21] Machine feed value   [Md.22] Speed command   [Md.23] Axis error No.   [Md.24] Axis warning No.   [Md.25] Valid M code ...
  • Page 51 Name Servo amplifier axis Command generation axis [Md.102] Deviation counter value   [Md.103] Motor rotation speed   [Md.104] Motor current value   [Md.108] Servo status1 b0: READY ON   b1: Servo ON   b2, b3: Control mode ...

  • Page 52: Command Generation Axis Positioning Data

    Command generation axis positioning data All positioning data is not in the buffer memory. Therefore, change the data using GX Works3 or control data. The specification of command generation axis positioning data is the same as for "major positioning controls". However, the positioning data is 100 points for each axis.
  • Page 53 Name Servo amplifier axis Command generation axis 0Eh: INC ArcMP   0Fh: ABS ArcRGT   10h: ABS ArcLFT   11h: INC ArcRGT   12h: INC ArcLFT   13h: FWD V2   14h: RVS V2 ...

  • Page 54: Write/Read Method For Command Generation Axis Parameter And Positioning Data

    Write/read method for command generation axis parameter and positioning data Since the command generation axis parameter and positioning data are not retained in the buffer memory, change each setting value by using the control data. The fetch timing of each parameter and positioning data follows the respective specifications.
  • Page 55 Read method for command generation axis parameter Specify the command generation axis parameter No. to "[Cd.300] Command generation axis parameter No. designation". Set "2: Read request" in "[Cd.302] Command generation axis parameter control request". The setting value to the command generation axis parameter is read in 2 words in "[Cd.301] Command generation axis parameter setting value".
  • Page 56 Positioning data No.1 1: ABS linear 1 [Da.1] Operation pattern [Cd.303] Command generation axis 1: 1 of positioning data No. positioning data No. designation [Cd.304] Command generation axis 1: [Da.1] Operation pattern positioning data designation [Cd.305] Command generation axis 1: ABS linear 1 positioning data setting value [Cd.306] Command generation axis 0: Not control request...

  • Page 57: Synchronous Encoder Axis

    Synchronous Encoder Axis 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.320] Synchronous encoder axis type Input pulse of [Pr.329] Resolution of synchronous...
  • Page 58 Synchronous encoder axis type The following two types of synchronous encoders can be used as the synchronous encoder axis. Refer to the following for the setting method for each synchronous encoder axis. Page 58 Setting method for synchronous encoder Synchronous encoder axis type Details Synchronous encoder via servo amplifier Used to use a synchronous encoder connected to the servo amplifier which supports the scale measurement...
  • Page 59 ■Synchronous encoder axis speed units Setting value of "[Pr.321] Synchronous encoder axis Synchronous encoder Range unit setting" axis speed units Control unit Speed time unit Number of decimal places for speed 0: mm 0: second[s] mm/s -2147483648 to 2147483647[mm/s]  ...

  • Page 60: Setting Method For Synchronous Encoder

    Setting method for synchronous encoder Synchronous encoder via 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. To use the scale measurement function, set the following CiA402 objects automatically to the PDO mapping. Refer to the following manual for details of each object.
  • Page 61 When "2: Used in incremental system" is set in the servo parameter "Scale measurement function selection (PA22.3)", "0" is set for the initial value of the synchronous encoder axis position value and the synchronous encoder axis position value per cycle after the servo amplifier axis is connected. Therefore, connection becomes valid, and the counter is enabled. If the corresponding servo amplifier axis is not connected, the connection of the synchronous encoder axis will be invalid.
  • Page 62 ■Setting example The following shows an example where the MR-J5-_G-RJ set as Axis 3 is used for synchronous encoder axis 1 of the Motion module and the rotary servo motor HK-KT series is used as the scale measurement encoder. Motion module MR-J5-G-RJ (IP address: 192.168.3.1) Servo motor encoder signal...
  • Page 63 Synchronous encoder via CPU (Synchronous encoder via CPU module) ■Setting method Used to operate a gray code encoder that is connected to the input module of CPU module 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".
  • Page 64 ■Restrictions • "[Cd.325] Input value for synchronous encoder via CPU" is taken every operation cycle, but it is asynchronous with the scan time of the CPU module. Therefore, speed fluctuation of the synchronous encoder axis becomes larger if the refresh cycle of "[Cd.325] Input value for synchronous encoder via CPU"...

  • Page 65: Synchronous Encoder Axis Parameters

    Synchronous encoder axis parameters j: Synchronous encoder axis No. - 1 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to axis 16 [Pr.320] • Set the synchronous encoder axis ■Set in decimal. 34720+20j Synchronous encoder type to be used.
  • Page 66 *1 The range 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. *2 Synchronous encoder axis position units (Page 56 Synchronous encoder axis position units) *3 Set the value as follows in a program.
  • Page 67 [Pr.320] Synchronous encoder axis type Set the synchronous encoder type to be generated of the input value for the synchronous encoder axis. Setting value Details 0: Disabled Synchronous encoder axis is invalid. 101 to 116: Synchronous encoder via servo Generate the input value based on the synchronous encoder input via servo amplifier connected to the amplifier specified servo amplifier (axis 1 to axis 16).
  • Page 68 [Pr.324] Synchronous encoder axis length per cycle Set the length per cycle for the synchronous encoder axis position value per cycle. The position value of synchronous encoder axis is stored in "[Md.321] Synchronous encoder axis position value per cycle" at ring counter based on the setting value.
  • Page 69 [Pr.325] Synchronous encoder axis smoothing time constant Set the averaging time to execute a smoothing process for the input movement amount 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 Averaging by...
  • Page 70 [Pr.328] Synchronous encoder axis rotation direction restriction Set this parameter to restrict the input movement amount for the synchronous encoder axis to one direction. This helps to avoid reverse operation caused by such as machine vibration of synchronous encoder input. Setting value Details 0: Without rotation direction...

  • Page 71: Synchronous Encoder Axis Control Data

    Synchronous encoder axis control data j: Synchronous encoder axis No. - 1 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to axis 16 [Cd.320] • If set to "1", the synchronous encoder axis ■Set in decimal. 35040+10j Synchronous encoder control is started.
  • Page 72 [Cd.320] Synchronous encoder axis control start If set to "1", the synchronous encoder axis control is started. [Md.320] Synchronous encoder axis position value [Cd.320] Synchronous encoder axis control start [Cd.321] Synchronous encoder 0: Current value change axis control method [Cd.322] Synchronous encoder axis position value setting address If set to "101 to 116", the synchronous encoder axis control starts based on the high-speed input request [DI] for the specified...
  • Page 73 [Cd.321] Synchronous encoder axis control method Set the control method for the synchronous encoder axis. Setting value Details 0: Current value change The synchronous encoder axis position value and the synchronous encoder axis position value per cycle are changed as follows.

  • Page 74: Synchronous Encoder Axis Monitor Data

    Synchronous encoder axis monitor data j: Synchronous encoder axis No. - 1 Monitor item Storage details Monitor value Buffer memory address Axis 1 to axis 16 [Md.320] • The position value for the synchronous ■Monitoring is carried out in decimal. 35200+20j Synchronous encoder axis encoder axis is stored.
  • Page 75 [Md.322] Synchronous encoder axis speed The speed for a synchronous encoder axis is stored in synchronous encoder axis speed units (Page 57 Synchronous encoder axis speed units). If the speed for a synchronous encoder axis exceeds the monitor range (Page 55 Overview of synchronous encoder axis), "Input axis speed display over"...
  • Page 76 [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.

  • Page 77: Chapter 3 Cam Function

    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".
  • Page 78 Cam data The cam data used in the cam function includes "storage data" which is used for reading/writing with the engineering tool and "open data" which is transmitted to the internal memory at cam control. Storage data Open data (Reading and writing not possible) Linear cam Stroke ratio data format Stroke ratio data format...
  • Page 79 ■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. Refer to the following for setting methods for cam data. Page 82 Create Cam Data Setting item Setting details...
  • Page 80 ■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 position value per cycle Output value: Stroke position from cam reference position With this format, "[Pr.441] Cam stroke amount"...
  • Page 81 ■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 operation in the stroke ratio data format.
  • Page 82 Cam reference position The cam reference position is calculated as shown below. ■Stroke ratio data format Cam reference position = The preceding cam reference position + (Cam stroke amount  Stroke ratio at the last point) ■Coordinate data format Cam reference position = The preceding cam reference position + Output value corresponding to "Input value = Cam axis length per cycle"...
  • Page 83 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 position value per cycle = 0" can be set as the cam data starting point. The default value of the cam data starting point is 0.

  • Page 84: Create Cam Data

    Create Cam Data Memory configuration of cam data Cam data is arranged in the following 2 areas. Memory Storage item Details Remark configuration Cam storage area Cam data Data is written by the following operations. • Data is preserved even when •...
  • Page 85 2) Operation with buffer memory Motion module Buffer memory [Cd.600] Cam data operation request (1: Read) Coordinate data [Cd.600] Cam data operation request (1: Read) Stroke ratio data Auto-generation data • Rotary cutter 1) Operation with an engineering tool [Cd.608] Cam auto- Auto-generation data Write...
  • Page 86 Cam data operation with an engineering tool Cam data can be modified while viewing the waveform with the engineering tool. The cam data is written/read/verified to the cam storage area with the engineering tool, however it cannot be executed to the cam open area.

  • Page 87: Cam Data Operation Function

    Cam data operation function This function is used to write/read cam data via buffer memory with the cam operation control data. To operate the points more than the amount of data for each operation (as follows), the operation should be executed separately. Cam data format Amount of data for each operation Stroke ratio data format...
  • Page 88 [Cd.600] Cam data operation request Set the following commands to write/read cam data. Setting value Details 1: Read (Cam open area) The cam data 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.
  • Page 89 [Cd.605] Cam resolution/coordinate number Set/load the cam resolution/the coordinate number. Operation Details 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 following range when using the coordinate data format.

  • Page 90: Cam Auto-Generation Function

    Cam auto-generation function The cam auto-generation function is used to generate cam data automatically for specific purposes based on parameter settings. With this function, cam data is generated in the cam open area. Up to 1 Mbyte data including the normal cam data can be generated. (Example: 256 cam data (with the stroke ratio format, resolution is 1024) can be automatically generated.) The processing time of cam auto-generation takes longer if the data point is larger.
  • Page 91 Cam operation control data Setting item Setting details Setting value Default Buffer memory value address [Cd.608] • Set the request for cam auto-generation. ■Set in decimal. 53200 Cam auto-generation • After completion of cam auto-generation, "0" is 1: Cam auto-generation request request automatically stored by the Motion module.
  • Page 92 [Cd.611] Cam auto-generation data Set the cam auto-generation data corresponding to "[Cd.610] Cam auto-generation type". ■Cam auto-generation parameter for rotary cutter The cam data starting point for a rotary cutter is 0. Buffer memory address Item Setting value Details 53204 Cam resolution 256/512/1024/2048/4096/8192/16384/32768 Set the cam resolution for generating the cam.

  • Page 93: Chapter 4 Advanced Synchronous Control

    ADVANCED SYNCHRONOUS CONTROL The parameters and monitor data for synchronous control such as "Main shaft module", "Speed change gear module", and "Output axis module" are explained in this chapter. Configure the required settings according to the control and application requirements for each module. Main Shaft Module Overview of main shaft module For the main shaft module, the input value is generated as a composite value from two input axes (the main and sub input...

  • Page 94: Main Shaft Parameters

    Main shaft parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to axis 16 [Pr.400] • Set the input axis No. on the main input ■Set in decimal. 36400+200n Main input axis side for the main shaft.
  • Page 95 [Pr.402] Composite main shaft gear Set the composite method for input values from the main and sub input axes. The setting values for each axis are shown as follows. Setting value Details 0: No input The input value from the input axis is calculated as 0. 1: Input+ The input value from the input axis is calculated as it is.

  • Page 96: Main Shaft Clutch Parameters

    Main shaft clutch parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to axis 16 [Pr.405] • Set the control method for the ■Set in hexadecimal. 0000H 36408+200n Main shaft clutch clutch.
  • Page 97 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to axis 16 [Pr.410] • Set the movement amount ■Set in decimal. 36416+200n Movement amount between the clutch OFF condition -2147483648 to 2147483647 36417+200n before main shaft completing and the clutch [Main input axis position units , or cam axis cycle...
  • Page 98 [Pr.405] Main shaft clutch control setting Set the ON and OFF control methods separately for the main shaft clutch. The clutch control setting can be changed during synchronous control, however, the setting "No clutch" (Direct coupled operation) cannot be selected during synchronous control after already selecting another setting. Refer to the following for operation details on the clutch control.
  • Page 99 [Pr.406] Main shaft clutch reference address setting Select the address type to be used as the reference address for clutch control. Note that the processing order of the main shaft gear and the main shaft clutch will change depending on the reference address setting. Setting value Details 0: Position value after composite...
  • Page 100 [Pr.410] Movement amount before main shaft clutch OFF Set the movement amount of the reference address with a signed value between the clutch OFF condition completing and the clutch opening. Setting value Details 1 to 2147483647 (Positive value) Used when the reference address is increasing in direction. No movement amount (The clutch is immediately turned OFF with the clutch OFF condition completing.) -2147483648 to -1 (Negative value) Used when the reference address is decreasing in direction.

  • Page 101: Main Shaft Clutch Control Data

    Main shaft clutch control data n: Axis No. - 1 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to axis 16 [Cd.400] • Set the clutch command ON/OFF. ■Set in decimal. 44080+20n Main shaft clutch Fetch cycle: Operation cycle 0: Main shaft clutch command...

  • Page 102: Auxiliary Shaft Module

    Auxiliary Shaft Module Overview of auxiliary shaft module For the auxiliary shaft module, the input value is generated from the auxiliary shaft. The input value can be converted by the auxiliary shaft gear that provides the deceleration ratio and the rotation direction for the machine system, etc. Refer to the followings for details on setting for the auxiliary shaft module.
  • Page 103 [Pr.418] Auxiliary shaft axis No. Set the input axis No. for the auxiliary shaft. Setting value Details 0: Invalid The input value is always 0. 1 to 16: Servo input axis Set the servo input axis (axis 1 to axis 16). When the servo input axis is not set in the system setting, the input value is always 0.

  • Page 104: Auxiliary Shaft Clutch Parameters

    Auxiliary shaft clutch parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to axis 16 [Pr.422] • Set the control method for the ■Set in hexadecimal. 0000H 36436+200n Auxiliary shaft clutch.
  • Page 105 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to axis 16 [Pr.428] • Set the clutch smoothing method. ■Set in decimal. 36446+200n Auxiliary shaft Fetch cycle: At operation start 0: Direct clutch smoothing (Synchronous control) 1: Time constant method (Exponent) method 2: Time constant method (Linear)
  • Page 106 ■OFF control mode Setting value Details 0: OFF control invalid Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control. 1: One-shot OFF The clutch is turned OFF after moving the distance "[Pr.427] Movement amount before main shaft clutch OFF" (One- shot operation) after "[Md.423] Auxiliary shaft clutch ON/OFF status"...
  • Page 107 [Pr.425] Movement amount before auxiliary shaft clutch ON Set the movement amount of the reference address with a signed value between the clutch ON condition completing and the clutch closing. Setting value Details 1 to 2147483647 (Positive value) Used when the reference address is increasing in direction. No movement amount (The clutch is immediately turned ON with the clutch ON condition completing.) -2147483648 to -1 (Negative value) Used when the reference address is decreasing in direction.
  • Page 108 [Pr.428] Auxiliary shaft clutch smoothing method Set the smoothing method for clutch ON/OFF. Refer to the following. Page 113 Smoothing method for clutch Setting value Details 0: Direct No smoothing. 1: Time constant method Smoothing with an exponential curve based on the time constant setting. (Exponent) 2: Time constant method (Linear) Smoothing with linear acceleration/deceleration based on the time constant setting.

  • Page 109: Auxiliary Shaft Clutch Control Data

    Auxiliary shaft clutch control data n: Axis No. - 1 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to axis 16 [Cd.403] • Set the clutch command ON/OFF. ■Set in decimal. 44083+20n Auxiliary shaft Fetch cycle: Operation cycle 0: Auxiliary shaft clutch clutch command command OFF...

  • Page 110: Clutch

    Clutch Overview of clutch The clutch is used to transmit/disengage command pulses from the main/auxiliary shaft input side to the output axis module through turning the clutch ON/OFF, which controls the operation/stop of the servo motor. A clutch can be configured for the main and auxiliary shafts. Control method for clutch Set the ON and OFF control methods separately in "[Pr.405] Main shaft clutch control setting"...
  • Page 111 ON control mode ■No clutch (Direct coupled operation) Execute direct coupled operation without clutch control. Other clutch parameters are not applicable during direct coupled operation by setting "0: No clutch". "Clutch forced OFF command" and the change of the clutch control setting are ignored during direct coupled operation.
  • Page 112 ■Address mode The clutch is turned ON when the reference address reaches "Clutch ON address". The movement amount after passing through the ON address is calculated as the output movement amount of the clutch based on the reference address passing through, thereby controlling the clutch with an accurate movement amount. Clutch ON/OFF status Clutch ON address Current value specified in...
  • Page 113 OFF control mode ■OFF control invalid Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control. ■One-shot OFF The clutch is turned OFF after moving the distance of the movement amount before clutch OFF (One-shot operation) after "Clutch ON/OFF status"...
  • Page 114 ■Address mode The clutch is turned OFF when the reference address reaches "Clutch OFF address". The movement amount before passing through the OFF address is calculated as the output movement amount of the clutch based on the reference address passing through, thereby controlling the clutch with an accurate movement amount. Clutch ON/OFF status Clutch OFF address Current value specified...

  • Page 115: Smoothing Method For Clutch

    Smoothing method for clutch Set the clutch smoothing method in "[Pr.411] Main shaft clutch smoothing method" and "[Pr.428] Auxiliary shaft clutch smoothing method". The 2 types of clutch smoothing include the following. • Time constant method smoothing • Slippage method smoothing When not using clutch smoothing, set "0: Direct"...
  • Page 116 ■Time constant method linear acceleration/deceleration smoothing Set "2: Time constant method (Linear)" in the clutch smoothing method. Clutch ON/OFF status Clutch smoothing status Speed before clutch processing Speed after clutch smoothing Clutch smoothing time constant Slippage method smoothing Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON, and with slippage at clutch OFF when the clutch turns OFF.
  • Page 117 ■Slippage method linear acceleration/deceleration smoothing Set "4: Slippage method (Linear)" or "5: Slippage method (Linear: Input value follow up)" in the clutch smoothing method. The differences between "4: Slippage method (Linear)" and "5: Slippage method (Linear: Input value follow up)" are shown below.
  • Page 118 When the clutch smoothing status ON section is shortened Clutch ON/OFF status ON section is shortened. Clutch smoothing status Input speed (Speed before clutch processing) Output speed (Speed after clutch processing) Slippage amount at clutch ON Slippage amount at clutch OFF Clamped at high speed ["5: Slippage method (Linear: Input value follow up)"...
  • Page 119 ["5: Slippage method (Linear: Input value follow up)" is set.] The output speed is changed depending on the input speed. (When the input speed is decelerated and accelerated again, the speed might be accelerated rapidly.) Clutch ON/OFF status Clutch smoothing status Input speed (Speed before clutch processing)
  • Page 120 ■Operation at input speed deceleration during slippage method smoothing When the speed before clutch processing decreases, the speed after clutch smoothing is controlled without exceeding the speed before clutch processing. If slippage amount remains when the speed before clutch processing becomes 0, the smoothing process will be continued. Then, the clutch smoothing process will be executed with the remaining slippage amount when the speed before clutch processing gets faster than the speed after clutch smoothing.

  • Page 121: Use Example Of Clutch

    Use example of clutch The following machine shows an example using clutch control for a flying shear cutting system that synchronizes off a start signal from a sensor input. Sensor input Main shaft gear (High speed input request [DI]) Main shaft main Main shaft clutch (Synchronous 100mm...

  • Page 122: Speed Change Gear Module

    Speed Change Gear Module Overview of speed change gear module A speed change gear module is used to change the input speed from the main shaft/auxiliary shaft/composite auxiliary shaft gear during operation. When not using a speed change gear module, set "0: No speed change gear" in "[Pr.434] Speed change gear".

  • Page 123: Speed Change Gear Parameters

    Speed change gear parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to axis 16 [Pr.434] • Set the arrangement for the speed change ■Set in decimal. 36460+200n Speed change gear gear.

  • Page 124: Output Axis Module

    Output Axis Module Overview of output axis module For the output axis module, the cam axis position value per cycle is calculated based on the input value (the output value from a speed change gear), and is converted based on the set cam data. The command position value which is a command is output to the servo amplifier.
  • Page 125 Units for the output axis The position units for the output axis are shown below based on the setting "[Pr.1] Unit setting". Setting value of "[Pr.1] Unit setting" Output axis position unit Range 0: mm 10 -214748.3648 to 214748.3647[mm] (10 m) (-214748364.8 to 214748364.7[m]) 1: inch...

  • Page 126: Output Axis Parameters

    Output axis parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to axis 16 [Pr.438] • Set the units for the cam axis length per ■Set in hexadecimal. 0000H 36470+200n Cam axis cycle cycle.
  • Page 127 [Pr.438] Cam axis cycle unit setting Set the command units for the cam axis input per cycle to be used for cam control. These units are used for setting the cam axis length per cycle and the cam axis position value per cycle. There is no influence on the control for the parameter for monitor display.
  • Page 128 [Pr.440] Cam No. Set the cam No. for cam control. Cam No.0 operates as a linear cam for 100% of its stroke ratio along the cam axis length per cycle. The cam No. can be changed during synchronous control. The value set in "[Pr.440] Cam No." is valid when the cam axis position value per cycle passes through the 0th point of cam data, or is on the 0th point.
  • Page 129 [Pr.445] Cam 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 is reflected in the time constant setting. [Pr.444] Cam axis phase Current value per cycle after phase compensation compensation advance time Current value per cycle before phase compensation Cam axis position...

  • Page 130: Synchronous Control Change Function

    Synchronous Control Change Function Overview of synchronous control change function This function can change the cam reference position, the cam axis position value per cycle and the position value per cycle after the main/auxiliary shaft gear during the synchronous control. The following 5 methods exist for the synchronous control change function.
  • Page 131 [Cd.407] Synchronous control change command Set the synchronous control change command. Setting Details Reference value Cam reference position movement Page 129 Cam reference position movement Change cam axis position value per cycle Page 129 Change cam axis position value per cycle Change position value per cycle after Page 130 Change position value per cycle after main shaft gear main shaft gear...
  • Page 132 ■Change position value per cycle after main shaft gear The position value per cycle after main shaft gear is changed to the value set in "[Cd.408] Synchronous control change value". This operation is completed within one operation cycle. Clutch control is not executed if the position value per cycle after main shaft gear (the value before being changed and after being changed) has already passed through the ON/OFF address in address mode.
  • Page 133 [Cd.409] Synchronous control reflection time Set the reflection time for synchronous control change processing as follows. [Cd.407] Synchronous control Setting details for "[Cd.409] Synchronous control reflection time" change command 0: Cam reference position movement The time to reflect the movement amount to the cam reference position. 1: Change cam axis position value per Setting not required.

  • Page 134: Synchronous Control Monitor Data

    Synchronous Control Monitor Data Synchronous control monitor data is updated only during synchronous control. The monitor values ([Md.400], [Md.401], [Md.402], [Md.407], [Md.408], and [Md.409]) from the last synchronous control session are restored the next time the system's power supply turns ON. Restarting operation status from the last synchronous control session is possible through returning to the last position via positioning control (Page 139 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION).
  • Page 135 Monitor item Storage details Monitor value Buffer memory address Axis 1 to axis 16 [Md.412] • The executing cam axis length per cycle is stored. ■Monitoring is carried out in 42822+40n Execute cam axis length per Refresh cycle: Operation cycle (During synchronous decimal display.
  • Page 136 Change method 1): The new position value after composite main shaft gear is calculated based on the current value of the main input axis. Position value after composite main shaft gear = Main input direction of composite main shaft gear  Main input axis current value Change method 2): The movement amount of the main input axis from the last synchronous control session is reflected to the position value after composite main shaft gear.
  • Page 137 [Md.412] Execute cam axis length per cycle The executing cam axis length per cycle is stored. When "[Pr.439] Cam axis length per cycle" is changed during synchronous control, this is updated when the controlling cam axis length per cycle switches. [Md.420] Main shaft clutch ON/OFF status The clutch ON/OFF status is stored.

  • Page 138: Phase Compensation Function

    Phase Compensation Function In synchronous control, delays in progresses, etc. cause the phase to deviate at the output axis motor shaft end with respect to the input axis (servo input axis or synchronous encoder axis). The phase compensation function compensates in this case so that the phase does not deviate.
  • Page 139 Setting example When the axis 1 is synchronized with a synchronous encoder axis via the servo amplifier, the phase compensation advance time is set as follows. (When the model is MR-J5-G, the operation cycle is 2.00[ms], and the model loop gain of the axis 1 is 80) Setting item Setting value [Pr.326] Synchronous encoder axis phase...

  • Page 140: Output Axis Sub Functions

    Output Axis Sub Functions The following shows which sub functions apply for the output axis in synchronous control. : Valid, : Invalid Sub function Output Details axis Backlash compensation function The same control as other methods.  Electronic gear function ...

  • Page 141: Chapter 5 Advanced Synchronous Control Initial Position

    ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION The initial position for synchronous control is explained in this chapter. Configure these settings for situations that require initial position alignment for synchronous control. Synchronous Control Initial Position The following synchronous control monitor data can be aligned to a set position when starting synchronous control, as the initial position for synchronous control.
  • Page 142 Position value after composite main shaft gear at synchronous control start The position value after composite main shaft gear is restored as follows according to the main input axis operation executed before starting synchronous control. Operation of main Servo input axis Command Synchronous encoder axis input axis...
  • Page 143 Position value per cycle after main/auxiliary shaft gear at synchronous control start The position value per cycle after main shaft gear/position value per cycle after auxiliary shaft gear is restored as follows according to the main input axis/auxiliary shaft operation executed before starting synchronous control. Operation of main Servo input axis Command...
  • Page 144 The position value per cycle after main shaft gear/position value per cycle after auxiliary shaft gear at the last synchronous control session is restored when "0: Invalid" is set in "[Pr.400] Main input axis No."/"[Pr.418] Auxiliary shaft axis No.", or when a servo input axis or a synchronous encoder axis as the main input axis/auxiliary shaft is not connected.
  • Page 145 Cam axis position at synchronous control start The cam axis position is composed of the relationship of 3 positions "Cam axis position value per cycle", "Cam reference position" and "Cam axis command position value". One of positions can be restored by defining 2 positions when starting synchronous control.

  • Page 146: Synchronous Control Initial Position Parameters

    Synchronous Control Initial Position Parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer memory address value Axis 1 to axis 16 [Pr.460] • Select the setting method for the position ■Set in decimal. 36500+200n Setting method of value per cycle after main shaft gear.
  • Page 147 [Pr.460] Setting method of position value per cycle after main shaft gear Select the setting method of "[Md.401] Position value per cycle after main shaft gear" when starting synchronous control. Setting value Details 0: Previous value The position value per cycle after main shaft gear from the last synchronous control session is stored. 1: Initial setting value of position value per cycle The value set in "[Pr.465] Position value per cycle after main shaft gear (Initial setting)"...
  • Page 148 [Pr.465] Position value per cycle after main shaft gear (Initial setting) Set the initial setting value of the position value per cycle after main shaft gear when "[Pr.460] Setting method of position value per cycle after main shaft gear" is set to "1: Position value per cycle after main shaft gear (Initial setting)". The unit settings are in cam axis cycle units (Page 123 Units for the output axis).

  • Page 149: Cam Axis Position Restoration Method

    Cam Axis Position Restoration Method Cam axis position value per cycle restoration If "[Pr.462] Cam axis position restoration object" is set to "0: Cam axis position value per cycle restoration" when starting synchronous control, the cam axis position value per cycle is restored based on the cam reference position and the cam axis command position value.
  • Page 150 Cam axis position value per cycle restoration operation ■With a two-way cam pattern operation • Search from "Cam axis position value per cycle = 0". (Cam data starting point = 0) Cam axis position value per cycle Search from "Cam axis position value per cycle=0". Cam axis command position value (Command position value) Restored to the first command position value that matches.
  • Page 151 • The search fails. (Pattern 2) When the cam axis position value per cycle restoration is executed in a cam stroke range that straddles 0[degree] Cam axis position value per cycle When the cam stroke range straddles 0 degrees and the unit is degree, 360degree "Cam axis position value per cycle restoration disable"...
  • Page 152 • Search from a value in the middle of the cam axis position value per cycle. (Cam data starting point  0) [Pr.468] Cam axis position value per cycle (Initial setting) Cam axis position value per cycle Search from the value in the middle. Cam axis command position value (Command position value) New cam reference position...
  • Page 153 Example The following shows an example of restarting the cam (a cam similar to a cam with a linear feed where two identical positioning points do not exist on the cam) from the command position value after a forced stop, when the forced stop has stopped operation.

  • Page 154: Cam Reference Position Restoration

    Cam reference position restoration If "[Pr.462] Cam axis position restoration object" is set to "1: cam reference position restoration" when starting synchronous control, the cam reference position is restored based on the cam axis position value per cycle and the cam axis command position value.
  • Page 155 • Restore operation at start of advanced synchronous control Command position value[pulse] The estimated cam pattern for Cam starting point is set to "Cam axis position value per cycle = 0[pulse]" as the origin is determined. "command position value = Time[ms] 0[pulse]".

  • Page 156: Cam Axis Command Position Value Restoration

    Cam axis command position value restoration If "[Pr.462] Cam axis position restoration object" is set to "2: Cam axis command position value restoration" when starting synchronous control, the cam axis command position value is restored based on the cam axis position value per cycle and the cam reference position.
  • Page 157 Example The following shows an example of starting a cam pattern from the zero point of the cam axis position value per cycle with the current command position value position as the origin when returning to a specified point, or home position return is completed after a forced stop.
  • Page 158 • Cam operation Command position value [pulse] With the "command position value = 150[pulse]" position as the start point, the cam operates for the amount of "Cam reference position + cam stroke amount". Time[ms] Cam axis position Cam axis position value per cycle is "0[pulse]" at this point value per cycle[pulse] 1000 Time[ms]...

  • Page 159: Synchronous Control Analysis Mode

    Synchronous Control Analysis Mode With synchronous control analysis mode, advanced synchronous control parameters are only analyzed when there is a command to start synchronous control. This mode is used to confirm the synchronous positions of the output axes in order to align axes with position control before starting synchronous control.
  • Page 160 Synchronous control system control data Setting item Setting details Setting value Default Buffer memory address value Axis 1 to axis 16 [Cd.380] • Synchronous control begins if the target axis ■Set the target axis in bit. 36320 Synchronous bit is turned ON. Set with the following buffer memory addresses.

  • Page 161: Cam Position Calculation Function

    Cam Position Calculation Function The cam position is calculated by the program with this function. This function can be used to calculate the cam position for the synchronous control initial position before starting synchronous control. Example The following shows the procedure for synchronous position alignment, in a synchronous system where cam axes 2 and 3 are synchronized with the cam axis position value per cycle of axis 1.
  • Page 162 [Cd.612] Cam position calculation request Set the following commands to calculate the cam position. Setting Details value Cam axis command position value calculation request Cam axis position value per cycle calculation request The result is stored in "[Md.600] Cam position calculation result" and the setting value is reset to "0" automatically after completion of cam position calculation.

  • Page 163: Cam Position Calculation Monitor Data

    Cam position calculation monitor data Monitor item Storage details Monitor value Buffer memory address [Md.600] • The result of the cam position calculation ■Monitoring is carried out in decimal. 53800 Cam position calculation result is stored. • When calculating the cam axis 53801 Refresh cycle: At completion of the command position value:...
  • Page 164 ■Stroke ratio data format When "the nth point of cam data  [Cd.617] Cam position calculation: Cam axis position value per cycle < the n + 1st point of cam data", the position corresponding to "[Cd.618] Cam position calculation: Cam axis command position value" is searched from the nth point of cam data.
  • Page 165 ■Coordinate data format (1) The range before the 1st point of cam data When the 1st point of the cam data is larger than 0 and "[Cd.617] Cam position calculation: Cam axis position value per cycle < the 1st point of cam data", the position corresponding to "[Cd.618] Cam position calculation: Cam axis command position value"...
  • Page 166 When "[Cd.617] Cam position calculation: Cam axis position value per cycle" is corresponding to the 1st point of cam data Search order At the 2nd point Search starting point At the 3rd point At the 1st point [Cd.617] Cam position At the 0th point At the 5th point calculation: Cam axis...
  • Page 167 (3) The range from the last point of cam data to the cam axis length per cycle When "the last point of cam data  [Cd.617] Cam position calculation: Cam axis position value per cycle < cam axis length per cycle", the position corresponding to "[Cd.618] Cam position calculation: Cam axis command position value"...

  • Page 168: Method To Restart Synchronous Control

    Method to Restart Synchronous Control The relationship of the synchronous position for synchronous control is always saved in the Motion module. Synchronous control can be restarted without returning all axes to their starting points by restoring the synchronized relationship through the synchronous control initial position parameters (Page 144 Synchronous Control Initial Position Parameters).

  • Page 169: Appendices

    APPENDICES Appendix 1 List of Buffer Memory Addresses (for Synchronous Control) The following shows the relation between the buffer memory addresses and items for synchronous control. Refer to "List of Buffer Memory Addresses" in the following manual for the list of general buffer memory addresses. MELSEC iQ-R Motion Module User's Manual (Application for Simple Motion Mode) Refer to "Buffer Memory"...
  • Page 170 ■Synchronous parameter: Main shaft n: Axis No. - 1 Item Fetch cycle Buffer memory address Axis 1 to axis 16 [Pr.400] Main input axis No. At operation start (Synchronous control) 36400+200n [Pr.401] Sub input axis No. At operation start (Synchronous control) 36401+200n [Pr.402] Composite main shaft gear...
  • Page 171 ■Synchronous parameter: Speed change gear n: Axis No. - 1 Item Fetch cycle Buffer memory address Axis 1 to axis 16 [Pr.434] Speed change gear At operation start (Synchronous control) 36460+200n [Pr.435] Speed change gear smoothing time constant At operation start (Synchronous control) 36461+200n [Pr.436] Speed change ratio: Numerator...
  • Page 172 Monitor data ■Servo input axis monitor data n: Axis No. - 1 Item Refresh cycle Buffer memory address Axis 1 to axis 16 [Md.300] Servo input axis position value Operation cycle 33120+10n 33121+10n [Md.301] Servo input axis speed Operation cycle 33122+10n 33123+10n [Md.302]...
  • Page 173 Item Refresh cycle Buffer memory address [Md.42] Control system repetition counter Immediate 60933+120n [Md.44] Positioning data No. being executed Immediate 60935+120n [Md.46] Last executed positioning data No. Immediate 60937+120n [Md.47] Positioning data being executed Positioning identifier Immediate 60938+120n M code Immediate 60939+120n Dwell time...
  • Page 174 ■Cam operation monitor data: Cam position calculation Item Refresh cycle Buffer memory address [Md.600] Cam position calculation result At completion of the condition 53800 (Completion of cam position calculation) 53801 Control data ■Command generation axis control data n: Axis No. - 1 Item Fetch cycle Buffer memory address...
  • Page 175 ■Synchronous control system control data Item Fetch cycle Buffer memory address Axis 1 to axis 16 [Cd.380] Synchronous control start Operation cycle 36320 [Cd.381] Synchronous control analysis mode At operation start (Synchronous control) 36322 ■Synchronous encoder axis control data j: Synchronous encoder axis No. - 1 Item Fetch cycle Buffer memory address...
  • Page 176 ■Cam operation control data: Cam data operation Item Fetch cycle Refresh cycle Buffer memory address [Cd.600] Cam data operation request Main cycle 45000  [Cd.601] Operation cam No. At request (Cam data 45001  operation request) [Cd.602] Cam data first position At request (Cam data 45002 ...
  • Page 177 ■Cam operation control data: Cam position calculation Item Fetch cycle Buffer memory address [Cd.612] Cam position calculation request Main cycle 53780 [Cd.613] Cam position calculation: Cam No. At request (Cam position calculation 53781 request) [Cd.614] Cam position calculation: Stroke amount At request (Cam position calculation 53782 request)

  • Page 178: Appendix 2 Sample Program For Synchronous Control

    Appendix 2 Sample Program for Synchronous Control The following shows a sample program for synchronous control of the axis 1 with the axis 4 as an input axis by using 4-axis modules. Set the MR-J5-G for the station No. 1 and 2 on the "CC-Link IE TSN Configuration" screen, and set the station No. 1 for the axis 1 and station No.
  • Page 179 Set the cam data (cam No.1). Set the synchronous parameter of the axis 1. APPX Appendix 2 Sample Program for Synchronous Control...
  • Page 180 Create the program to start synchronous control. The sample program when the start I/O No. of the Motion module is set to 01H is shown below. Classification Label name Description Module label RD78GS_1.bSynchronizationFlag_D Synchronization flag RD78GS_1.bPLC_Ready_D PLC READY RD78GS_1.bAllAxisServoOn_D All axis servo ON RD78GS_1.bnBusy_D[0] Axis 1 BUSY RD78GS_1.stnAxMntr_D[0].wAxisOperationStatus_D...
  • Page 181 Program example For details of the module FBs, refer to "Motion Module FB" in the following manual. MELSEC iQ-R Motion Module (Simple Motion Mode) Function Block Reference APPX Appendix 2 Sample Program for Synchronous Control...

  • Page 182: Index

    INDEX ....132,134 Cam reference position ..144,146 Cam reference position (Initial setting) ....100,101 Auxiliary shaft axis No.
  • Page 183 Main shaft gear Slippage amount at auxiliary shaft ..... . . 92,93 ......103,106 Denominator clutch ON .

  • Page 184: Revisions

    Japanese manual number: IB-0300574-D This manual confers no industrial property rights or any 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.

  • Page 185: Warranty

    WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.

  • Page 186: Information And Services

    INFORMATION AND SERVICES For further information and services, please contact your local Mitsubishi Electric sales office or representative. Visit our website to find our locations worldwide. MITSUBISHI ELECTRIC Factory Automation Global Website Locations Worldwide www.MitsubishiElectric.com/fa/about-us/overseas/ TRADEMARKS Microsoft and Windows are trademarks of the Microsoft group of companies.
  • Page 188 IB(NA)-0300575ENG-D(2311)MEE MODEL: RD78-U-SMAD-E MODEL CODE: 1XB037 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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