MOTION CONTROLLERS Q172CPU(N)

Transcription

1 MOTION CONTROLLERS Q173CPU(N) Q172CPU(N)

2 SAFETY PRECAUTIONS (Read these precautions before using.) When using this equipment, thoroughly read this manual and the associated manuals introduced in this manual. Also pay careful attention to safety and handle the module properly. These precautions apply only to this equipment. Refer to the Q173CPU(N)/Q172CPU(N) Users manual for a description of the Motion controller safety precautions. These SAFETY PRECAUTIONS classify the safety precautions into two categories: "DANGER" and "CAUTION".! DANGER 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 medium or slight personal injury or physical damage. Depending on circumstances, procedures indicated by! CAUTION may also be linked to serious results. In any case, it is important to follow the directions for usage. Store this manual in a safe place so that you can take it out and read it whenever necessary. Always forward it to the end user. A - 1

3 For Safe Operations 1. Prevention of electric shocks! DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks. Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks. When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc.. Failing to do so may lead to electric shocks. Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance : 100 or less) Do not ground commonly with other devices. The wiring work and inspections must be done by a qualified technician. Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do so may lead to electric shocks or damage. Never operate the switches with wet hands, as this may lead to electric shocks. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to electric shocks. Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power is ON, as this may lead to electric shocks. Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller and servo amplifier, as this may lead to electric shocks. 2. For fire prevention! CAUTION Install the Motion controller, servo amplifier, servomotor and regenerative resistor on inflammable material. Direct installation on flammable material or near flammable material may lead to fire. If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo amplifier s power source. If a large current continues to flow, fire may occur. When using a regenerative resistor, shut the power OFF with an error signal. The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead to fire. Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may lead to fire. A - 2

4 3. For injury prevention! CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. Do not touch the servo amplifier's heat radiating fins, regenerative resistor and servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns. Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries. Do not go near the machine during test operations or during operations such as teaching. Doing so may lead to injuries. 4. Various precautions Strictly observe the following precautions. Mistaken handling of the unit may lead to faults, injuries or electric shocks. (1) System structure! CAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source. If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor. Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off. Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the combinations listed in the instruction manual. Other combinations may lead to fire or faults. If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller, servo amplifier and servomotor, make sure that the safety standards are satisfied. Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. In systems where coasting of the servomotor will be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use dynamic brakes. Make sure that the system considers the coasting amount even when using dynamic brakes. A - 3

5 ! CAUTION In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic brakes. The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking. The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking. The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed. Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system. Use wires and cables within the length of the range described in the instruction manual. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor. Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation. There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure (when the ball screw and servomotor are connected with a timing belt, etc.). Install a stopping device to ensure safety on the machine side. (2) Parameter settings and programming! CAUTION Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect. The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode, servo amplifier and servo power supply module. The protective functions may not function if the settings are incorrect. Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Set the stroke limit input validity parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. A - 4

6 ! CAUTION Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Set the servo amplifier capacity and type parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Use the program commands for the program with the conditions specified in the instruction manual. Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Some devices used in the program have fixed applications, so use these with the conditions specified in the instruction manual. The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used. Use the interlock program specified in the special function module's instruction manual for the program corresponding to the special function module. (3) Transportation and installation! CAUTION Transport the product with the correct method according to the mass. Use the servomotor suspension bolts only for the transportation of the servomotor. Do not transport the servomotor with machine installed on it. Do not stack products past the limit. When transporting the Motion controller or servo amplifier, never hold the connected wires or cables. When transporting the servomotor, never hold the cables, shaft or detector. When transporting the Motion controller or servo amplifier, never hold the front case as it may fall off. When transporting, installing or removing the Motion controller or servo amplifier, never hold the edges. Install the unit according to the instruction manual in a place where the mass can be withstood. A - 5

7 ! CAUTION Do not get on or place heavy objects on the product. Always observe the installation direction. Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and other devices. Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or that have missing parts. Do not block the intake/outtake ports of the servomotor with cooling fan. Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the Motion controller, servo amplifier or servomotor. The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them. Securely fix the Motion controller and servo amplifier to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and use the unit in the following environmental conditions. Environment Ambient temperature Ambient humidity Storage temperature Atmosphere Altitude Vibration Motion controller/servo amplifier According to each instruction manual. According to each instruction manual. According to each instruction manual. Conditions Servomotor 0 C to +40 C (With no freezing) (32 F to +104 F) 80% RH or less (With no dew condensation) -20 C to +65 C (-4 F to +149 F) Indoors (where not subject to direct sunlight). No corrosive gases, flammable gases, oil mist or dust must exist 1000m ( ft.) or less above sea level According to each instruction manual When coupling with the synchronization encoder or servomotor shaft end, do not apply impact such as by hitting with a hammer. Doing so may lead to detector damage. Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead to shaft breakage. When not using the module for a long time, disconnect the power line from the Motion controller or servo amplifier. Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store. When storing for a long time, please contact with our sales representative. A - 6

8 (4) Wiring! CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier. Correctly connect the output side (terminals U, V, W). Incorrect connections will lead the servomotor to operate abnormally. Do not connect a commercial power supply to the servomotor, as this may lead to trouble. Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals, etc. Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning. Do not connect or disconnect the connection cables between each unit, the encoder cable or PLC expansion cable while the power is ON. Servo amplifier VIN (24VDC) Control output signal Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may lead to the cables combing off during operation. Do not bundle the power line or cables. RA (5) Trial operation and adjustment! CAUTION Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine. Extreme adjustments and changes may lead to unstable operation, so never make them. When using the absolute position system function, on starting up, and when the Motion controller or absolute value motor has been replaced, always perform a home position return. A - 7

9 (6) Usge methods! CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. The units must be disassembled and repaired by a qualified technician. Do not make any modifications to the unit. Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the Motion controller or servo amplifier. When using the CE Mark-compliant equipment, refer to the "EMC Installation Guidelines" (data number IB(NA)-67339) for the Motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers, inverters and other equipment. Use the units with the following conditions. Item Conditions Q61P-A1 Q61P-A2 Q62P Q63P Q64P +10% +10% +10% +30% +10% 100 to 120VAC -15% 200 to 240VAC -15% 100 to 240VAC -15% 24VDC -35% 100 to 120VAC -15% / Input power +10% 200 to 240VAC -15% (85 to 132VAC) (170 to 264VAC) (85 to 264VAC) (15.6 to 31.2VDC) (85 to 132VAC/ 170 to 264VAC) Input frequency 50/60Hz ±5% Tolerable momentary power failure 20ms or less (7) Corrective actions for errors! CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the check details according to the instruction manual, and restore the operation. If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with electromagnetic brakes or install a brake mechanism externally. Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally. Shut off with servo ON signal OFF, alarm, magnetic brake signal. Shut off with the emergency stop signal(emg). Servomotor RA1 EMG Electromagnetic brakes 24VDC A - 8

10 ! CAUTION If an error occurs, remove the cause, secure the safety and then resume operation after alarm release. The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machine restarts suddenly.) (8) Maintenance, inspection and part replacement! CAUTION Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual. Do not touch the lead sections such as ICs or the connector contacts. Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup. Do not perform a megger test (insulation resistance measurement) during inspection. When replacing the Motion controller or servo amplifier, always set the new module settings correctly. When the Motion controller or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur. 1) After writing the servo data to the Motion controller using programming software, switch on the power again, then perform a home position return operation. 2) Using the backup function of the programming software, load the data backed up before replacement. After maintenance and inspections are completed, confirm that the position detection of the absolute position detector function is correct. Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic capacitor will generate gas during a fault, so do not place your face near the Motion controller or servo amplifier. The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary damage from faults. Replacements can be made by our sales representative. A - 9

11 (9) About processing of waste When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area).! CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life. When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident. (10) General cautions! CAUTION All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections. When operating the product, always return the covers and partitions to the designated positions, and operate according to the instruction manual. A - 10

12 REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Mar., 2003 IB(NA) A First edition Jun., 2004 IB(NA) B [Addition model] Q172EX-S1, Q173PX-S1, FR-V5 0- [Addition function] For Home position return function [Additional correction/partial correction] Safety precautions, About processing of waste, Error code list, etc. Mar., 2006 IB(NA) C [Addition model] Q62P, Q172EX-S2, Q172EX-S3, Q170ENC [Addition function] Cam axis command signal, Smoothing clutch complete signal, Gain changing signal, Real mode axis information register, Mechanical system program - Clutch for slippage system (linear acceleration/deceleration system), Mixed function of virtual mode with real mode [Additional correction/partial correction] Safety precautions, Error code list, Warranty, Manual model code (1CT783 1XB783), etc. Japanese Manual Version IB(NA) 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 MITSUBISHI ELECTRIC CORPORATION A - 11

13 INTRODUCTION Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller. Please read this manual carefully so that equipment is used to its optimum. CONTENTS Safety Precautions...A- 1 Revisions...A-11 Contents...A-12 About Manuals...A OVERVIEW 1-1 to Overview Motion Control in SV13/SV22 Real Mode Motion Control in SV22 Virtual Mode STARTING UP THE MULTIPLE CPU SYSTEM 2-1 to Starting Up the System Differences Between Incremental System and Absolute System Operation for incremental system Operation for absolute (absolute position) system Differences Between Real Mode and Virtual Mode Positioning data Positioning devices Servo programs Control change (Current value change/speed change) PERFORMANCE SPECIFICATIONS 3-1 to POSITIONING DEDICATED SIGNALS 4-1 to Internal Relays Axis statuses Axis command signals Virtual servomotor axis statuses Virtual servomotor axis command signals Synchronous encoder axis statuses Synchronous encoder axis command signals Cam axis command signals Smoothing clutch complete signals Common devices Data Registers Axis monitor devices Control change registers Virtual servomotor axis monitor devices A - 12

14 4.2.4 Current value after virtual servomotor axis main shaft's differential gear Synchronous encoder axis monitor devices Current value after synchronous encoder axis main shaft's differential gear Cam axis monitor devices Common devices Motion registers (#) Special relays (SP.M) Special registers (SP.D) MECHANICAL SYSTEM PROGRAM 5-1 to Mechanical Module Connection Diagram Mechanical Module List DRIVE MODULE 6-1 to Virtual Servomotor Operation description Parameter list Virtual servomotor axis devices (Internal relays, data registers) Synchronous Encoder Operation description Parameter list Synchronous encoder axis devices (Internal relays, data registers) Virtual Servomotor/Synchronous Encoder Control Change Virtual servomotor control change Synchronous encoder control change TRANSMISSION MODULE 7-1 to Gear Operation Parameters Clutch Operation Parameters Speed Change Gear Operation Parameters Differential Gear Operation Parameters (Must be not set) OUTPUT MODULE 8-1 to Rollers Operation Parameter list Ball Screw Operation A - 13

15 8.2.2 Parameter list Rotary Tables Operation Parameter list Cam Operation Settings items at cam data creating Parameter list Cam curve list REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START 9-1 to Switching from the Real to Virtual Mode Switching from the Virtual to Real Mode Switching from the virtual to real mode by user side Switching from the virtual to real mode by operating system software Continuous operation on servo error in virtual mode Precautions at Real/Virtual Mode Switching Stop and re-start Stop operation/stop causes during operation and re-starting operation list AUXILIARY AND APPLIED FUNCTIONS 10-1 to Mixed Function of Virtual Mode with Real Mode Cam/Ball Screw Switching Function APPENDICES APP- 1 to APP-75 APPENDIX 1 Cam Curves...APP- 1 APPENDIX 2 Error Codes Stored Using The Motion CPU...APP- 5 APPENDIX 2.1 Expression Method for Word Data Axis No...APP- 8 APPENDIX 2.2 Related Systems and Error Processing...APP- 9 APPENDIX 2.3 Servo program setting errors (Stored in D9190)...APP-10 APPENDIX 2.4 Drive module errors...app-15 APPENDIX 2.5 Servo errors...app-20 APPENDIX 2.6 PC link communication errors...app-36 APPENDIX 2.7 Output Module Errors...APP-37 APPENDIX 2.8 Errors at Real/Virtual Mode Switching...APP-43 APPENDIX 3 Special Relays/special registers...app-45 APPENDIX 3.1 Special relays...app-45 APPENDIX 3.2 Special registers...app-49 APPENDIX 4 Setting Range for Indirect Setting Devices...APP-53 APPENDIX 5 Processing Times of the Motion CPU...APP-55 A - 14

16 About Manuals This manual is only to explain hardware of the Motion controller. The following manuals are related to this product. Referring to this list, please request the necessary manuals. This User's Manual do not describes hardware specification and handling methods of the PLC CPU modules, power supply modules, base unit and I/O module in details. The above contents, refer to the QCPU User's Manual and Building Block I/O Module User's Manual. Related Manuals (1) Motion controller Manual Name Q173CPU(N)/Q172CPU(N) Motion controller User's Manual This manual explains specifications of the Motion CPU modules, Q172LX Servo external signal interface module, Q172EX Serial absolute synchronous encoder interface module, Q173PX Manual pulse generator interface module, Teaching units, Power supply modules, Servo amplifiers, SSCNET cables, synchronous encoder cables and others. (Optional) Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC) This manual explains the Multiple CPU system configuration, performance specifications, functions, programming, error codes and others of the Motion SFC. (Optional) Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE) This manual explains the servo parameters, positioning instructions, device list, error list and others. (Optional) Q173CPU(N)/Q172CPU(N) Motion controller (SV43) Programming Manual This manual describes the dedicated instructions to execute the positioning control by Motion program of EIA language (G-code). This manual explains the Multiple CPU system configuration, performance specifications, functions, programming, debugging, servo parameters, positioning instructions device list and error list and others. (Optional) Manual Number (Model Code) IB (1XB780) IB (1XB781) IB (1XB782) IB (1CT784) A - 15

17 (2) PLC Manual Name QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base modules, extension cables, memory card battery and others. (Optional) QCPU User's Manual (Function Explanation, Program Fundamentals) This manual explains the functions, programming methods and devices and others to create programs with the QCPU. (Optional) QCPU User's Manual (Multiple CPU System) This manual explains the functions, programming methods and cautions and others to construct the Multiple CPU system with the QCPU. (Optional) QCPU (Q Mode)/QnACPU Programming Manual (Common Instructions) This manual explains how to use the sequence instructions, basic instructions, application instructions and micro computer program. (Optional) QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions) This manual explains the dedicated instructions used to exercise PID control. (Optional) QCPU (Q Mode)/QnACPU Programming Manual (SFC) This manual explains the system configuration, performance specifications, functions, programming, debugging, error codes and others of MELSAP3. (Optional) I/O Module Type Building Block User's Manual This manual explains the specifications of the I/O modules, connector, connector/terminal block conversion modules and others. (Optional) Manual Number (Model Code) SH ENG (13JR73) SH ENG (13JR74) SH ENG (13JR75) SH (13JF58) SH (13JF59) SH (13JF60) SH (13JL99) A - 16

18 1 OVERVIEW 1. OVERVIEW 1.1 Overview 1 This programming manual describes the dedicated instructions, positioning control parameters and positioning dedicated devices for mechanical system program comprised of a virtual main shaft or mechanical module required to execute the synchronous control in the Motion controller (SV22 virtual mode). The following positioning control is possible in the Motion controller (SV22 virtual mode). Applicable CPU Q173CPU(N) (32 axes) Q172CPU(N) (8 axes) Number of positioning control axes Up to 32 axes Up to 8 axes In this manual, the following abbreviations are used. Generic term/abbreviation Description Q173CPU(N)/Q172CPU(N), Motion CPU or Motion CPU module Q173CPUN/Q172CPUN/Q173CPUN-T/Q172CPUN-T/Q173CPU/Q172CPU Motion CPU module Q172LX Servo external signals interface module/ Q172LX/Q172EX/Q173PX Q172EX(-S1/-S2/-S3) Serial absolute synchronous encoder interface module (Note-1) / or Motion module Q173PX(-S1) Manual pulse generator interface module MR-H-BN Servo amplifier model MR-H BN MR-J2 -B Servo amplifier model MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5 AMP or Servo amplifier General name for "Servo amplifier model MR-H BN/MR-J2S- B/MR-J2M-B/ MR-J2- B/MR-J2-03B5, Vector inverter FREQROL-V500 series" QCPU, PLC CPU or PLC CPU module Qn(H)CPU Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series" CPUn Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU system" Programming software package General name for "MT Developer" and "GX Developer" Operating system software General name for "SW RN-SV Q " SV13 Operating system software for conveyor assembly use (Motion SFC) : SW6RN-SV13Q SV22 Operating system software for automatic machinery use (Motion SFC) : SW6RN-SV22Q MT Developer Abbreviation for Integrated start-up support software package "MT Developer" GX Developer Abbreviation for MELSEC PLC programming software package "GX Developer (Version 6 or later)" Manual pulse generator or MR-HDP01 Abbreviation for "Manual pulse generator (MR-HDP01)" Serial absolute synchronous encoder Abbreviation for "Serial absolute synchronous encoder (MR-HENC/Q170ENC)" or MR-HENC/Q170ENC SSCNET (Note-2) High speed serial communication between Motion controller and servo amplifier 1-1

19 1 OVERVIEW Generic term/abbreviation Description Absolute position system General name for "System using the servomotor and servo amplifier for absolute position" Cooling fan unit Cooling fan unit (Q170FAN) Dividing unit Dividing unit (Q173DV) Battery unit Battery unit (Q170BAT) A 0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board SSC I/F communication cable Abbreviation for "Cable for SSC I/F board/card" Intelligent function module Abbreviation for "MELSECNET/H module/ethernet module/cc-link module/serial communication module" Vector inverter (FR-V500) Vector inverter FREQROL-V500 series (Note-1) : Q172EX can be used in SV22. (Note-2) : SSCNET: Servo System Controller NETwork REMARK For information about the each module, design method for program and parameter, refer to the following manuals relevant to each module. Motion CPU module/motion unit Item PLC CPU, peripheral devices for PLC program design, I/O modules and intelligent function module Operation method for MT Developer SV13/SV22 Multiple CPU system configuration Performance specification Design method for common parameter Auxiliary and applied functions Design method for positioning control program in the real mode Design method for positioning control parameter Reference Manual Q173CPU(N)/Q172CPU(N) User s Manual Manual relevant to each module Help of each software Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC) Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)! CAUTION When designing the system, provide external protective and safety circuits to ensure safety in the event of trouble with the Motion controller. There are electronic components which are susceptible to the effects of static electricity mounted on the printed circuit board. When handling printed circuit boards with bare hands you must ground your body or the work bench. Do not touch current-carrying or electric parts of the equipment with bare hands. Make parameter settings within the ranges stated in this manual. Use the program instructions that are used in programs in accordance with the conditions stipulated in this manual. Some devices for use in programs have fixed applications: they must be used in accordance with the conditions stipulated in this manual. 1-2

20 1 OVERVIEW 1.2 Motion Control in SV13/SV22 Real Mode (1) System with servomotor is controlled directly using the servo program in (SV13/SV22) real mode. (2) Setting of the positioning parameter and creation of the servo program/motion SFC program are required. (3) The procedure of positioning control is shown below: 1) Motion SFC program is requested to start using the S(P). SFCS instruction of the PLC program. (Motion SFC program can also be started automatically by parameter setting.) 2) Execute the positioning control using the specified Motion SFC program. (Output to the servo amplifier) 3) The servomotor is controlled. Program structure in SV13/SV22 real mode <PLC CPU> PLC program 1) <Motion CPU> Motion SFC program Transfer SP.SFCS K0 Motion SFC program start request instruction (Note) : Motion SFC program can also be started automatically by parameter setting. Specification of starting program No. [G100] M2049//servo ON accept? Servo program [K10: real] 1 INC-2 Axis 1, PLS Axis 2, PLS Combined-speed PLS/s 2) 3) Servo amplifier Servomotor END Positioning control parameters System settings Fixed parameters Servo parameters Parameter blocks Home position return data JOG operation data Limit switch output data 1-3

21 1 OVERVIEW 1.3 Motion Control in SV22 Virtual Mode (1) Synchronous control with software is performed using the mechanical system program comprised by virtual main shaft and mechanical module in (SV22) virtual mode. (2) Mechanical system programs is required in addition to the positioning parameter, servo program/motion SFC program used in real mode. (3) The procedure of positioning control in virtual model is shown below: 1) Motion SFC program for virtual mode is requested to start using the S(P). SFCS instruction of the PLC program. (Motion SFC program can also be started automatically by parameter setting.) 2) The virtual servomotor of the mechanical system program is started. 3) Output the operation result obtained through the transmission module to the servo amplifier set as the output module. 4) The servomotor is controlled. Program structure in SV22 virtual mode <PLC CPU> <Motion CPU> PLC program 1) Motion SFC program Transfer Mechanical system program Drive module (Virtual servomotor) SP.SFCS K0 Motion SFC Specification of starting program start program No. request instruction [G200] M2044//on virtual mode? Servo program 2) Transmission module (Note) : Motion SFC program can also be started automatically by parameter setting. [K100: virtual] 1 VF Axis 1, Speed # 0 PLS/s (Axis 1) END Output module Positioning control parameters System settings Fixed parameters Servo parameters Parameter blocks Limit switch output data Home position return data is not used, since home position return cannot be executed in virtual mode. (Home position return is executed in real mode.) JOG operation in virtual mode is controlled using the JOG operation data set by drive module parameters. 3) 3) Servo amplifier Servo amplifier 4) Servomotor 4) Servomotor 1-4

22 2 STARTING UP THE MULTIPLE CPU SYSTEM 2. STARTING UP THE MULTIPLE CPU SYSTEM 2.1 Starting Up the System The procedure for virtual mode positioning control is shown below. The procedure to start up for virtual mode system is shown below. 2 START Install SW6RN-GSV22P, SW3RN-CAMP(When cam is used) Starting up SW6RN-GSV22P System settings Set the following positioning parameters Fixed parameters Servo parameters Parameter blocks Refer to Section "1.5 System Settings" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC). Refer to Chapter "4 PARAMETERS FOR POSITIONING CONTROL" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE). Execute the relative check, and correct the setting errors Will cam be used? NO YES Starting up SW3RN-CAMP Cam data settings Create the mechanical system program Refer to Section "1.5 System Settings" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC). Check the mechanical system program, and correct the setting errors 1) 2-1

23 2 STARTING UP THE MULTIPLE CPU SYSTEM 1) Create the Motion SFC program and servo program Turn the power supply of Multiple CPU system ON Write the following data to the Motion CPU using a peripheral device System setting data Servo setting data Motion SFC parameter Motion SFC program Servo program Mechanical system program Cam data(when cam is used) Starting up the servo amplifier using a peripheral device Refer to Section "1.5 System Settings" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC). Execute the JOG operation, manual pulse generator operation and home position return test Adjust cam setting axis (When cam is used) (Bottom dead point, stroke value, etc.) Real mode Align the virtual mode operation start position Set data in the parameter setting device Switch from real mode to virtual mode Start drive module operation Virtual mode Check operation state with the servo monitor or mechanical system monitor END 2-2

24 2 STARTING UP THE MULTIPLE CPU SYSTEM 2.2 Differences Between Incremental System and Absolute System The procedure for virtual mode operation is shown below Operation for incremental system The operation procedure for incremental system is shown below. START Turn the power supply of Multiple CPU system ON Refer to Section "1.5 System Settings" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC). Execute the all axes servo start request (Turn M2042 on) Execute the home position return Align the virtual mode operation start position Real mode Set data in the parameter setting device Switch from real mode to virtual mode Set the operation start address by the current value change Virtual mode Execute virtual mode operation 2-3

25 2 STARTING UP THE MULTIPLE CPU SYSTEM Operation for absolute (absolute position) system START The operation procedure for absolute system is shown below. Turn the power supply of Multiple CPU system ON Execute the all axes servo start request (Turn M2042 on) Refer to Section "1.5 System Settings" of the Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (Motion SFC). Is the home position return request signal ON? NO YES Execute the home position return NO Is the continuation disabled warning signal ON? Real mode Align the virtual mode operation start position YES Set data in the parameter setting device Switch from real mode to virtual mode Set the operation start address by the current value change Virtual mode Execute virtual mode operation 2-4

26 2 STARTING UP THE MULTIPLE CPU SYSTEM 2.3 Differences Between Real Mode and Virtual Mode Positioning data Specifications of the positioning data, positioning devices and servo programs, etc. used in the real mode differ in part in the virtual mode. When using them in the virtual mode, refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual (REAL MODE)" after checking about a different point in the real mode. Positioning data used in the virtual mode are shown in Table 2.1 below. Table 2.1 Positioning Data List Item Real mode Virtual mode Remark System settings Fixed parameters Usable units differ according to the output module. Servo parameters Parameter blocks Only [PLS] usable. Home position return data JOG operation data Limit switch output data : Used : Used (Restrictions in part) : Not used Positioning devices The operating ranges of positioning devices used in virtual mode are shown in Table 2.2 below. Table 2.2 Operating Range of Positioning Devices Device name Real mode Virtual mode Internal relays M2000 to M3839 M4640 to M4687 M5440 to M5487 M2000 to M5599 Special relays Data registers Special registers M9073 to M9079 D0 to D799 D1120 to D1239 D9180 to D9201 D0 to D

27 2 STARTING UP THE MULTIPLE CPU SYSTEM Servo programs (1) Servo program area (a) The same servo program (Kn) No. cannot be used in both the real and virtual modes. The range of the servo program (Kn) used in the virtual mode must be set in advance. (The range is set using a peripheral device which started SW6RN-GSV22P.) (2) Servo instructions (a) The home position return, speed control ( ), speed/position switching control and high-speed oscillation control among the controls which can be used in the real mode cannot be used in the virtual mode. (b) Control units of the parameter block and the torque limit value among the positioning data which can be set using the servo program are not used. (3) Differences of the servo instruction between real mode and virtual mode are shown in Table 2.3 below. Table 2.3 Differences of Servo Instruction List Item Real mode Virtual mode Remark Speed/position control VPF VPR VPSTART VVF Speed control ( ) Servo VVR instruction Switch to virtual Home position mode after home ZERO return position return in the real mode. High-speed OSC oscillation Fixed Control units as Positioning Parameter block "PLS" data The torque limit value is set with the Torque limit value "drive module parameter". : Used : Unusable : Not used (Note) : It is common in the real mode and virtual mode about instructions except for the above table. 2-6

28 2 STARTING UP THE MULTIPLE CPU SYSTEM Control change (Current value change/speed change) When a control change is executed in the virtual mode, the feed current value/speed of the drive module is changed. Control changes are not possible for the output module (except for cam). Differences between control changes in the real and virtual modes are shown in Table 2.4 below. Table 2.4 Differences List of Control Change Virtual mode Item Real mode Drive module Virtual Synchronous servomotor encoder Roller Output module Ball Rotary screw table Cam Current value change Speed change (Note-1) : Used : Unusable (Note-1) : If the output module is a roller which uses a speed change gear, a speed change can be executed by changing the speed change gear ratio. REMARK 1) Refer to the following Chapters for details of the drive and output modules. Drive module : Chapter 5 and 6 Output module : Chapter 5 and 8 2-7

29 2 STARTING UP THE MULTIPLE CPU SYSTEM MEMO 2-8

30 3 PERFORMANCE SPECIFICATIONS 3. PERFORMANCE SPECIFICATIONS Performance specifications of the Motion CPU are shown in Table 3.1 below. Table 3.1 Motion CPU Performance Specifications (Virtual Mode) Item Q173CPUN(-T)/Q173CPU Q172CPUN(-T)/Q172CPU Number of control axes Up to 32 axes (Simultaneous : 2 to 4 axes) (Independent : 32 axes) Up to 8 axes (Simultaneous : 2 to 4 axes) (Independent : 8 axes) Control method Synchronous control, PTP (Point to Point), speed control, fixed-pitch feed, constant-speed control, position follow-up control, speed-switching control Drive module Virtual servomotor Synchronous encoder PLS Control units Roller mm, inch Ball screw Output module Rotary table Fixed as "degree" Cam mm, inch, PLS Program language Dedicated instructions (Servo program + mechanical system program) Capacity 14k steps (14334 steps) (Note-2) Servo program Number of positioning points Total of 3200 points (It changes with programs, indirect specification is possible.) Number of modules which can be set per CPU Mechanical system program Drive modules Virtual axes Transmission modules Output modules Virtual module 32 axes 8 axes Synchronous encoder 12 axes 8 axes Main shaft 32 8 Auxiliary input axis 32 8 Gear Clutch Speed change gear Differential gear 32 8 Differential gear to main shaft 32 8 Roller 32 8 Ball screw 32 8 Total of 32 Total of 8 Rotary table 32 8 Cam 32 8 Program setting method WindowsNT R 4.0/ Windows R 98/ Windows R 2000/ Windows R XP which started SW6RN-GSV22P Types Up to 256 (Note-3) Resolution per cycle (Note-3) Cam Memory capacity 132k bytes Storage memory for cam data CPU internal RAM memory Stroke resolution Control mode Two-way cam/feed cam Cam data setting method WindowsNT R 4.0/ Windows R 98/ Windows R 2000/ Windows R XP which started SW3RN-CAMP 3 3-1

31 3 PERFORMANCE SPECIFICATIONS Table 3.1 Motion CPU Performance Specifications (Virtual Mode) (Continued) Item Q173CPUN(-T)/Q173CPU Q172CPUN(-T)/Q172CPU Virtual servomotor Interpolation functions Control methods Method Positioning Position command Speed command Automatic trapezoidal Acceleration/ acceleration/ deceleration deceleration control S-curve acceleration/ deceleration JOG operation function M-function (with mode) Manual pulse generator operation function (Test mode only) Linear interpolation (2 to 4 axes), circular interpolation (2 axes) PTP (Point to Point), speed control, fixed-pitch feed, constant-speed control, position follow-up control PTP : Selection of absolute or incremental data method Fixed-pitch feed : Incremental data method Constant-speed control : Both absolute and incremental data method can be used together Position follow-up control : Absolute data method Address setting range : to [PLS] Acceleration-fixed acceleration/deceleration Acceleration time : 1 to [ms] Deceleration time : 1 to [ms] Speed setting range : 1 to [PLS/s] S-curve ratio : 0 to 100[%] Provided Time-fixed acceleration/deceleration Acceleration/deceleration time:1 to 5000 [ms] (Only constant-speed control is possible.) M-code output function provided, M-code complete wait function provided Up to 3 units can be connected. Up to 3 axes can be operated simultaneously. Setting of magnification : 1 to (Note-4) Setting of smoothing magnification provided. (Note-1) : When the TREN input signal is used as "external input mode clutch", the high speed reading function cannot be used. (Note-2) : Capacity matching the servo program for real mode. (Note-3) : Relation between a resolution per cycle of cam and type are shown below. Resolution per cycle Type (Note-4) : The setting range of 1 to 100 is valid in the SW6RN-SV22Q (Ver. 00B or before). 3-2

32 4 POSITIONING DEDICATED SIGNALS 4. POSITIONING DEDICATED SIGNALS The internal signals of the Motion CPU and the external signals to the Motion CPU are used as positioning signals. (1) Internal signals The following five devices of the Motion CPU are used as the internal signals of the Motion CPU. Internal relay (M)... M2000 to M5599 (3600 points) Special relay (SP.M)... M9073 to M9079 (7 points) Data register (D)... D0 to D1599 (1600 points) Motion register (#)... #8000 to #8191 (192 points) Special register (SP.D)... D9180 to D9201 (22 points) (2) External signals The external input signals to the Motion CPU are shown below. Upper/lower limit switch input... The upper/lower limit of the positioning range is controlled. Stop signal... Stop signal for speed control. Proximity dog signal... ON/OFF signal from the proximity dog. Speed/position switching signal... Signal for switching from speed to position. Manual pulse generator input... Signal from the manual pulse generator. 4 PLC control processor PLC CPU Shared CPU memory Configuration between modules 1) Device memory 2) Device memory Shared CPU memory Motion CPU Motion control processor PLC bus SSCNET Servo amplifier Sensor, solenoid, etc. (DI/O) PLC intelligent function module (A/D, D/A, etc.) Motion control dedicated I/F (DOG signal, manual pulse generator) M M Servomotor Note) : Device memory data : 1) = 2) Fig.4.1 Flow of the internal signals/external signals 4-1

33 4 POSITIONING DEDICATED SIGNALS The positioning dedicated devices are shown below. It indicates the device refresh cycle of the Motion CPU for status signal with the positioning control, and the device fetch cycle of the Motion CPU for command signal with the positioning control. The operation cycle and main cycle of the Motion CPU are shown below. (a) Operation cycle Item Q173CPU(N) Q172CPU(N) Number of control axes Up to 32 axes Up to 8 axes Operation cycle (Default) SV [ms] / 1 to 4 axes 1.77[ms] / 5 to 12 axes 3.55[ms] / 13 to 24 axes 7.11[ms] / 25 to 32 axes 0.88[ms] / 1 to 4 axes 1.77[ms] / 5 to 8 axes (b) Main cycle is not fixed-cycle as operation cycle. The cycle is dozens[ms] to hundreds[ms]. 4.1 Internal Relays (1) Internal relay list Q173CPU(N) Q172CPU(N) Device No. Purpose Real Virtual Device No. Purpose Real Virtual M0 to User device M0 (2000 points) to User device (2000 points) M2000 to Common device M2000 (320 points) to Common device (320 points) M2320 to Special relay allocated device (Status) (80 points) M2320 to Special relay allocated device (Status) (80 points) M2400 to Axis status (20 points 32 axes) Real mode... Each axis Virtual mode Output module M2400 to Axis status (20 points 8 axes) Real mode... Each axis Virtual mode Output module M3040 to M3072 to Unusable Common device (Command signal) (64 points) M2560 to M3072 to Unusable Common device (Command signal) (64 points) Real/ virtual community M3136 to Special relay allocated device (Command signal) (64 points) M3136 to Special relay allocated device (Command signal) (64 points) M3200 to Axis command signal (20 points 32 axes) Real mode... Each axis Virtual mode Output module M3200 to Axis command signal (20 points 8 axes) Real mode... Each axis Virtual mode Output module M3840 Unusable M3360 Unusable to to 4-2