Mitsubishi Electric MELSEC-LD77MS16 Manuals

Manuals and User Guides for Mitsubishi Electric MELSEC-LD77MS16. We have 2 Mitsubishi Electric MELSEC-LD77MS16 manuals available for free PDF download: User Manual

Mitsubishi Electric MELSEC-LD77MS16 User Manual (1040 pages)

Brand: Mitsubishi Electric | Category: Control Unit | Size: 7.52 MB

Safety Precautions
3
Introduction
14
Revisions
15
Table of Contents
16
Compliance with the Emc and Low Voltage Directives
24
Relevant Manuals
24
Terms
27
Packing List
28
Section 1 Product Specifications and Handling
29
Features of LD77MS
32
Positioning Control
32
Purpose and Applications of Positioning Control
36
Mechanism of Positioning Control
38
Overview of Positioning Control Functions
39
Outline Design of Positioning System
49
Communicating Signals between LD77MS and each Module
50
Flow of All Processes
54
Flow of System Operation
54
Outline of Starting
56
Outline of Stopping
58
Outline for Restarting
60
General Image of System
62
Component List
63
Applicable System
67
How to Check the Function Version and SERIAL no
68
Restrictions by the SERIAL No. and Version
69
Performance Specifications
72
LD77MS Control Functions
74
List of Functions
74
LD77MS Main Functions
77
LD77MS Sub Functions
79
LD77MS Common Functions
81
Combination of LD77MS Main Functions and Sub Functions
84
List of Input/Output Signals with PLC CPU
86
Specifications of Input/Output Signals with PLC CPU
86
Plc Cpu)
89
Details of Output Signals (PLC CPU LD77MS)
91
Electrical Specifications of Input Signals
93
Specifications of Interfaces with External Devices
93
Signal Layout for External Input Connection Connector
95
List of Input Signal Details
97
Interface Internal Circuit
99
External Circuit Design
104
Installation, Wiring and Maintenance Procedures
120
Outline of Installation, Wiring and Maintenance
120
Names of each Part
121
Handling Precautions
123
Installation
125
Precautions for Installation
125
Precautions for Wiring
126
Wiring
126
Precautions for Wiring
129
Confirming the Installation and Wiring
138
Items to Confirm When Installation and Wiring Are Completed
138
Disposal Instructions
139
Maintenance
139
Precautions for Maintenance
139
Parameters and Data Required for Control
142
Types of Data
142
Setting Items for Positioning Parameters
146
Setting Items for OPR Parameters
148
Setting Items for Expansion Parameters
149
Setting Items for Servo Parameters
149
Setting Items for Positioning Data
150
Setting Items for Block Start Data
152
Setting Items for Condition Data
153
Types and Roles of Monitor Data
154
Types and Roles of Control Data
159
Basic Parameters 1
163
List of Parameters
163
Basic Parameters 2
168
Detailed Parameters 1
169
Detailed Parameters 2
180
OPR Basic Parameters
192
OPR Detailed Parameters
200
Expansion Parameters
205
Servo Parameters
210
List of Positioning Data
223
List of Block Start Data
239
List of Condition Data
244
List of Monitor Data
254
System Monitor Data
254
Axis Monitor Data
268
List of Control Data
298
System Control Data
298
Axis Control Data
306
Precautions for Creating Program
344
List of Devices Used
348
Creating a Program
358
General Configuration of Program
358
Positioning Control Operation Program
359
Positioning Program Examples
363
Initialization Program
395
Program Details
395
Start Details Setting Program
396
Start Program
398
Continuous Operation Interrupt Program
410
Restart Program
412
Stop Program
415
Configuration and Roles of LD77MS Memory
420
Buffer Memory Area Configuration
423
Data Transmission Process
425
Machine OPR
442
Outline of OPR Control
442
Two Types of OPR Control
442
Machine OPR
446
Outline of the Machine OPR Operation
446
Machine OPR Method
447
OPR Method (1): Near-Point Dog Method
448
OPR Method (2): Count Method 1)
450
OPR Method (3): Count Method 2)
452
OPR Method (4): Data Set Method
454
OPR Method (5): Scale Origin Signal Detection Method
455
Fast OPR
458
Outline of the Fast OPR Operation
458
Outline of the OPR Setting Condition
460
Selection of the OPR Setting Condition
460
Outline of Major Positioning Controls
462
Data Required for Major Positioning Control
464
Operation Patterns of Major Positioning Controls
465
Designating the Positioning Address
475
Confirming the Current Value
476
Control Unit "Degree" Handling
478
Interpolation Control
481
Relation between each Control and Positioning Data
486
Setting the Positioning Data
486
1-Axis Linear Control
488
2-Axis Linear Interpolation Control
492
3-Axis Linear Interpolation Control
498
4-Axis Linear Interpolation Control
504
1-Axis Fixed-Feed Control
509
2-Axis Fixed-Feed Control (Interpolation)
512
3-Axis Fixed-Feed Control (Interpolation)
514
4-Axis Fixed-Feed Control (Interpolation)
519
2-Axis Circular Interpolation Control with Sub Point Designation
522
2-Axis Circular Interpolation Control with Center Point Designation
528
1-Axis Speed Control
536
2-Axis Speed Control
539
3-Axis Speed Control
543
4-Axis Speed Control
547
Speed-Position Switching Control (INC Mode)
552
Speed-Position Switching Control (ABS Mode)
563
Position-Speed Switching Control
572
Current Value Changing
582
NOP Instruction
587
JUMP Instruction
588
Loop
590
Lend
592
High-Level Positioning Control 10- 1 to
595
Outline of High-Level Positioning Control
596
Data Required for High-Level Positioning Control
597
Block Start Data" and "Condition Data" Configuration
598
High-Level Positioning Control Execution Procedure
600
Relation between Various Controls and Block Start Data
601
Setting the Block Start Data
601
Block Start (Normal Start)
602
Condition Start
604
Wait Start
605
Simultaneous Start
606
Repeated Start (for Loop)
607
Repeated Start (for Condition)
608
Restrictions When Using the NEXT Start
609
Relation between Various Controls and the Condition Data
610
Setting the Condition Data
610
Condition Data Setting Examples
613
Multiple Axes Simultaneous Start Control
615
Start Program for High-Level Positioning Control
620
Starting High-Level Positioning Control
620
Example of a Start Program for High-Level Positioning Control
621
Outline of Manual Control
626
Three Manual Control Methods
626
JOG Operation
628
Outline of JOG Operation
628
JOG Operation Execution Procedure
631
Setting the Required Parameters for JOG Operation
632
Creating Start Programs for JOG Operation
634
JOG Operation Example
636
Inching Operation
639
Outline of Inching Operation
639
Inching Operation Execution Procedure
642
Setting the Required Parameters for Inching Operation
643
Creating a Program to Enable/Disable the Inching Operation
644
Inching Operation Example
646
Manual Pulse Generator Operation
648
Outline of Manual Pulse Generator Operation
648
Manual Pulse Generator Operation Execution Procedure
652
Setting the Required Parameters for Manual Pulse Generator Operation
653
Creating a Program to Enable/Disable the Manual Pulse Generator Operation
654
Outline of Speed-Torque Control
658
Speed-Torque Control
658
Setting the Required Parameters for Speed-Torque Control
660
Setting the Required Data for Speed-Torque Control
661
Operation of Speed-Torque Control
663
Synchronous Control
689
Control Sub Functions 13- 1 to
691
Outline of Sub Functions
692
OPR Retry Function
694
Sub Functions Specifically for Machine OPR
694
OP Shift Function
698
Backlash Compensation Function
701
Functions for Compensating the Control
701
Electronic Gear Function
703
Near Pass Function
710
Functions to Limit the Control
712
Speed Limit Function
712
Torque Limit Function
714
Software Stroke Limit Function
718
Hardware Stroke Limit Function
724
Forced Stop Function
728
Functions to Change the Control Details
731
Speed Change Function
731
Override Function
738
Acceleration/Deceleration Time Change Function
741
Torque Change Function
746
Target Position Change Function
750
Absolute Position System
754
Other Functions
756
Step Function
756
Skip Function
761
M Code Output Function
765
Teaching Function
769
Command In-Position Function
775
Acceleration/Deceleration Processing Function
778
Pre-Reading Start Function
781
Deceleration Start Flag Function
784
Stop Command Processing for Deceleration Stop Function
787
Speed Control 10 X Multiplier Setting for Degree Axis Function
790
Operation Setting for Incompletion of OPR Function
793
Servo ON/OFF
795
Follow up Function
797
Outline of Common Functions
800
Parameter Initialization Function
802
Execution Data Backup Function
804
External Signal Selection Function
807
External I/O Signal Logic Switching Function
813
History Monitor Function
815
Amplifier-Less Operation Function
819
Virtual Servo Amplifier Function
826
Driver Communication Function
830
Mark Detection Function
838
Optional Data Monitor Function
850
Module Error Collection Function
854
Connect/Disconnect Function of SSCNET Communication
855
LD77MH Initial Value Setting Function
861
Hot Line Forced Stop Function
864
Interlock During Dedicated Instruction Is Executed
868
List of Dedicated Instructions
868
Zp.pstrt1, Zp.pstrt2, Zp.pstrt3, Zp.pstrt4
869
Zp.teach1, Zp.teach2, Zp.teach3, Zp.teach4
873
Zp.pfwrt
877
Zp.pinit
881
Checking Errors Using GX Works2
886
Checking Errors Using a Display Unit
888
Troubleshooting
889
Error and Warning Details
893
LD77MS Detection Error
900
List of Errors
900
Servo Amplifier Detection Error
934
LD77MS Detection Warning
936
List of Warnings
936
Servo Amplifier Detection Warning
948
Appendix 1 List of Buffer Memory Addresses

950
Appendix 2 Connection with Servo Amplifiers

976
Appendix 2.1 SSCNET Cables

977
Appendix 2.2 Serial Absolute Synchronous Encoder Cable

981
Appendix 2.3 SSCNET Cable (SC-J3BUS_M-C) Manufactured by

984
Appendix 3 Connection with External Device

985
Appendix 3.1 Connector

985
Appendix 3.2 External Input Signal Cable

988
Appendix 3.3 Manual Pulse Generator (MR-HDP01)

993
Appendix 4 Comparisons with LD77MH Models

994
Appendix 5 When Using GX Works2

999
Appendix 6 Compatible Devices with SSCNET (/H)

1000
Appendix 6.1 Servo Driver VCII Series/Vph Series Manufactured by Nikki Denso Co., Ltd

1000
Appendix 6.2 Inverter FR-A700 Series

1007
Appendix 6.3 Alphastep/5-Phase Stepping Motor Driver Manufactured by ORIENTAL MOTOR Co., Ltd

1016
Appendix 6.4 IAI Electric Actuator Controller Manufactured by IAI Corporation

1025
Appendix 6.5 Connection with MR-JE-B

1033
Appendix 7 External Dimension Drawing

1034

Mitsubishi Electric MELSEC-LD77MS16 User Manual (238 pages)

Simple Motion Module

Brand: Mitsubishi Electric | Category: Controller | Size: 2.06 MB

Safety Precautions
3
Conditions of Use for the Product
16
Introduction
17
Revisions
18
Table of Contents
19
Compliance with the Emc and Low Voltage Directives
22
Relevant Manuals
23
Manual Page Organization
26
Terms
28
Packing List
29
Outline of Synchronous Control
33
Chapter 1 Outline of Synchronous Control

34
Chapter 2 Input Axis Module

50
Chapter 3 Cam Function

86
- Control Details for Cam Function
  86
- Create Cam Data
  94
- Synchronous Control
  105
  - Main Shaft Module
    106
Chapter 4 Synchronous Control

106
- Overview of Main Shaft Module
  106
- Main Shaft Parameters
  107
- Main Shaft Clutch Parameters
  109
- Main Shaft Clutch Control Data
  117
- Auxiliary Shaft Module
  118
- Clutch
  130
  - Overview of Clutch
    130
  - Control Method for Clutch
    130
  - Smoothing Method for Clutch
    137
  - Use Example of Clutch
    142
- Speed Change Gear Module
  143
  - Overview of Speed Change Gear Module
    143
  - Speed Change Gear Parameters
    144
- Output Axis Module
  146
  - Overview of Output Axis Module
    146
  - Output Axis Parameters
    148
- Synchronous Control Change Function
  152
  - Overview of Synchronous Control Change Function
    152
  - Synchronous Control Change Control Data
    153
- Synchronous Control Monitor Data
  158
- Phase Compensation Function
  163
- Output Axis Sub Functions
  166
Chapter 5 Synchronous Control Initial Position

170
Chapter 6 Troubleshooting (Synchronous Control)

205
- Error and Warning of Input Axis
  205
  - List of Input Axis Errors
    206
  - List of Input Axis Warnings
    207
- Error and Warning of Output Axis
  208
  - List of Output Axis Errors
    208
  - List of Output Axis Warnings
    212
- Warning of Cam Operation
  213
Appendix- 1 to Appendix-18

218
Appendix 1 Comparisons with the Motion Controller SV22

218
Appendix 2 Sample Program of Synchronous Control

222
Appendix 3 Lists of Buffer Memory Addresses for Synchronous Control

226

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Mitsubishi Electric MELSEC-LD77MS16 Manuals

Mitsubishi Electric MELSEC-LD77MS16 User Manual (1040 pages)

Table of Contents

Appendix 1 List of Buffer Memory Addresses

Appendix 2 Connection with Servo Amplifiers

Appendix 2.1 SSCNET Cables

Appendix 2.2 Serial Absolute Synchronous Encoder Cable

Appendix 2.3 SSCNET Cable (SC-J3BUS_M-C) Manufactured by

Appendix 3 Connection with External Device

Appendix 3.1 Connector

Appendix 3.2 External Input Signal Cable

Appendix 3.3 Manual Pulse Generator (MR-HDP01)

Appendix 4 Comparisons with LD77MH Models

Appendix 5 When Using GX Works2

Appendix 6 Compatible Devices with SSCNET (/H)

Appendix 6.1 Servo Driver VCII Series/Vph Series Manufactured by Nikki Denso Co., Ltd

Appendix 6.2 Inverter FR-A700 Series

Appendix 6.3 Alphastep/5-Phase Stepping Motor Driver Manufactured by ORIENTAL MOTOR Co., Ltd

Appendix 6.4 IAI Electric Actuator Controller Manufactured by IAI Corporation

Appendix 6.5 Connection with MR-JE-B

Appendix 7 External Dimension Drawing

Mitsubishi Electric MELSEC-LD77MS16 User Manual (238 pages)

Table of Contents

Chapter 1 Outline of Synchronous Control

Chapter 2 Input Axis Module

Chapter 3 Cam Function

Chapter 4 Synchronous Control

Chapter 5 Synchronous Control Initial Position

Chapter 6 Troubleshooting (Synchronous Control)

Appendix- 1 to Appendix-18

Appendix 1 Comparisons with the Motion Controller SV22

Appendix 2 Sample Program of Synchronous Control

Appendix 3 Lists of Buffer Memory Addresses for Synchronous Control

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