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Mitsubishi Electric RD77MS2 User Manual

Melsec iq-r programmable controller simple motion module

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MELSEC iQ-R Simple Motion Module

User's Manual (Application)

-RD77MS2

-RD77MS4

-RD77MS8

-RD77MS16

-RD77GF4

-RD77GF8

-RD77GF16

-RD77GF32

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Summary of Contents for Mitsubishi Electric RD77MS2

Page 1 MELSEC iQ-R Simple Motion Module User's Manual (Application) -RD77MS2 -RD77GF4 -RD77MS4 -RD77GF8 -RD77MS8 -RD77GF16 -RD77MS16 -RD77GF32...
Page 3: Safety Precautions
SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using MELSEC iQ-R series programmable controllers, please read the manuals for the product and the relevant manuals introduced in those manuals carefully, and pay full attention to safety to handle the product correctly. If the equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.
Page 4 [Design Precautions] WARNING ● Configure a circuit so that the external power supply is turned off first and then the programmable controller. If the programmable controller is turned off first, an accident may occur due to an incorrect output or malfunction. ●...
Page 5 [Design Precautions] WARNING ● If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo amplifier and servo motor, make sure that the safety standards are satisfied. ● Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the module or servo amplifier differs from the safety directive operation in the system.
Page 6 [Installation Precautions] WARNING ● Shut off the external power supply (all phases) used in the system before mounting or removing the module. Failure to do so may result in electric shock or cause the module to fail or malfunction. [Installation Precautions] CAUTION ●...
Page 7 [Wiring Precautions] CAUTION ● Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction. ● Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.
Page 8 [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 will cause the battery to produce heat, explode, ignite, or leak, resulting in injury and fire.
Page 9 [Startup and Maintenance Precautions] CAUTION ● Do not touch the integrated circuits on the circuit board of an extended SRAM cassette or a battery- less option cassette. Doing so may cause malfunction or failure of the module. ● 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.
Page 10 Cautions When Using Mitsubishi Programmable Controllers or GOTs Connected to a Personal Computer With the RS-232/USB Interface (FA-A-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. However, note that the signal ground (SG) is common for the module and its USB interface.
Page 11 [Disposal Precautions] CAUTION ● When disposing of this product, treat it as industrial waste. ● When disposing of batteries, separate them from other wastes according to the local regulations. For details on battery regulations in EU member states, refer to the MELSEC iQ-R Module Configuration Manual.
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 Speed control ................115 Speed-position switching control (INC mode) .
Page 15 Creating a program to enable/disable the manual pulse generator operation......198 CHAPTER 6 INTER-MODULE SYNCHRONIZATION FUNCTION CHAPTER 7 EXPANSION CONTROL Speed-torque Control .
Page 16 8.10 Servo ON/OFF ............... . . 323 Servo ON/OFF.
Page 17 Setting items for home position return parameters ..........457 Setting items for extended parameters [RD77MS] .
Page 18 14.3 Error and Warning Details ............. . . 706 Error type.
Page 19: Relevant Manuals
This manual does not include information on the module function blocks. For details, refer to the Function Block Reference for the module used. e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool.
Page 20: Terms
TERMS Unless otherwise specified, this manual uses the following terms. Term Description 2-axis module A generic term for RD77MS2 4-axis module A generic term for RD77MS4 and RD77GF4 8-axis module A generic term for RD77MS8 and RD77GF8 16-axis module A generic term for RD77MS16 and RD77GF16...
Page 21 Term Description Remote device station A station that exchanges I/O signals (bit data) and I/O data (word data) with another station by cyclic transmission. This station responds to a transient transmission request from another station. Remote I/O station A station that exchanges I/O signals (bit data) with the master station by cyclic transmission Remote input (RX) Bit data input from a slave station to the master station (For some areas in a local station, data are input in the opposite direction.)
Page 22: Chapter 1 Start And Stop
START AND STOP This chapter describes start and stop methods of the positioning control for the Simple Motion module. Start The Simple Motion module operates the start trigger in each control, and starts the positioning control. The following table shows the start signals for each control. This section describes the start using the positioning start signal and the external command signal.
Page 23 • Signal state Signal name Signal state Device I/O signal PLC READY signal CPU module preparation completed READY signal Preparation completed All axis servo ON All axis servo ON Synchronization flag The buffer memory can be accessed. Axis stop signal Axis stop signal is OFF [Cd.180] Axis stop M code ON signal...
Page 24 Start by the positioning start signal The operation at starting by the positioning start signal is shown below. • When the positioning start signal turns ON, the start complete signal ([Md.31] Status: b14) and BUSY signal turn ON, and the positioning operation starts. It can be seen that the axis is operating when the BUSY signal is ON. •...
Page 25 ■Operation timing and processing time The following shows details about the operation timing and time during position control. • Operation example Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] M code ON signal (WITH mode) ([Md.31] Status: b12) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14)
Page 26 Start by the external command signal (DI) [RD77MS] When starting positioning control by inputting the external command signal (DI), the start command can be directly input into the Simple Motion module. This allows the variation time equivalent to one scan time of the CPU module to be eliminated. This is an effective procedure when operation is to be started as quickly as possible with the start command or when the starting variation time is to be suppressed.
Page 27 ■Starting time chart • Operation example Operation pattern Dwell time Positioning data No. 1(00) Positioning start signal [Y10] All axis servo ON [Y1] [Md.26] Axis operation Servo OFF Standby status PLC READY signal [Y0] READY signal [X0] Start complete signal ([Md.31] Status: b14) BUSY signal [X10]...
Page 28: Multiple Axes Simultaneous Start
Multiple axes simultaneous start The "multiple axes simultaneous start" starts outputting the command to the specified simultaneous starting axis at the same timing as the started axis. A maximum of four axes can be started simultaneously. Control details The multiple axes simultaneous start control is carried out by setting the simultaneous start setting data to the multiple axes simultaneous start control buffer memory of the axis control data, "9004"...
Page 29 Simultaneous starting axis start 4343+100n 1004343+100n data No.3 The signal of axis 3 and 4 cannot be used in the RD77MS2. Refer to the following for the setting details. Page 616 Control Data Setting examples The following shows the setting examples in which the axis 10 is used as the start axis and the axis 12 and axis 14 are used as the simultaneous starting axes.
Page 30: Stop
Stop The axis stop signal or stop signal from external input signal is used to stop the control. Create a program to turn ON the axis stop signal [Cd.180] as the stop program. Each control is stopped in the following cases. •...
Page 31 Stop cause Stop process Home position return Major High-level Manual control control positioning positioning control control Machine Fast home JOG/ Manual home position Inching pulse position return operation generator return control operation control Forced stop Forced stop input to Simple Motion Immediate stop ...
Page 32 Types of stop processes The operation can be stopped with deceleration stop, rapid stop or immediate stop. ■Deceleration stop The operation stops with "deceleration time 0 to 3" ([Pr.10], [Pr.28], [Pr.29], [Pr.30]). Which time from "deceleration time 0 to 3" to use for control is set in positioning data ([Da.4]).
Page 33 Order of priority for stop process The order of priority for the Simple Motion module stop process is as follows. (Deceleration stop) < (Rapid stop) < (Immediate stop) • If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0 (including automatic deceleration), operation changes depending on the setting of "[Cd.42] Stop command processing for deceleration stop selection".
Page 34: Restart
Restart When a stop factor occurs during position control and the operation stops, the positioning can be restarted from the stopped position to the position control end point by using the "restart command" ([Cd.6] Restart command). ("Restarting" is not possible when "continuous operation is interrupted.") This instruction is efficient when performing the remaining positioning from the stopped position in the positioning control of incremental method such as INC linear 1.
Page 35 Time chart for restarting ■Operation example Dwell time Positioning start signal [Y10] [Cd.180] Axis stop All axis servo ON [Y1] PLC READY signal [Y0] READY signal [X0] Start complete signal ([Md.31] Status: b14) BUSY signal [X10] Positioning complete signal ([Md.31] Status: b15) Error detection signal ([Md.31] Status: b13) [Md.26] Axis operation status...
Page 36: Chapter 2 Home Position Return Control
HOME POSITION RETURN CONTROL The details and usage of "home position return control" are explained in this chapter. Outline of Home Position Return Control Two types of home position return control In "home position return control", a position is established as the starting (or "home position") when carrying out positioning control, and positioning is carried out toward that starting point.
Page 37 When using an absolute position system • This flag turns on in the following cases: • When not executing a machine home position return even once after the system starts • Machine home position return start (Unless a machine home position return is completed normally, the home position return request flag does not turn off.) •...
Page 38 ■External input signal of the servo amplifier Refer to the servo amplifier instruction manual or manual for details on signal input availability and wiring. Wire the MR-J3/MR-J4 series servo amplifier or MR-J5(W)-B as shown in the following drawing. As for the 24 V DC power supply, the direction of current can be switched.
Page 39: Machine Home Position Return
Machine Home Position Return Outline of the machine home position return operation Machine home position return operation In a machine home position return, a home position is established. None of the address information stored in the Simple Motion module, CPU module, or servo amplifier is used at this time. The position mechanically established after the machine home position return is regarded as the "home position"...
Page 40: Machine Home Position Return Method
Machine home position return method The method by which the machine home position is established (method for judging the home position and machine home position return completion) is designated in the machine home position return according to the configuration and application of the positioning method.
Page 41: Proximity Dog Method [Rd77Ms]
Proximity dog method [RD77MS] The following shows an operation outline of the home position return method "proximity dog method". Operation chart [Pr.46] Home position Deceleration at the proximity dog ON return speed [Pr.47] Creep speed [POINT] After the home position return has been started, the zero point 4.
Page 42 Precautions during operation • When the home position return retry function is not set ("0" is set in "[Pr.48] Home position return retry"), the error "Start at home position" (error code: 1940H) will occur if the machine home position return is attempted again after the machine home position return completion.
Page 43: Count Method1 [Rd77Ms]
Count method1 [RD77MS] The following shows an operation outline of the home position return method "count method 1". In the home position return with the "count method 1", the following operations can be performed: • The machine home position return on the proximity dog •...
Page 44 Precautions during operation • The error "Count method movement amount fault" (error code: 1944H) will occur if the "[Pr.50] Setting for the movement amount after proximity dog ON" is smaller than the deceleration distance from the "[Pr.46] Home position return speed" to "[Pr.47] Creep speed".
Page 45: Count Method2 [Rd77Ms]
Count method2 [RD77MS] The following shows an operation outline of the home position return method "count method 2". The "count method 2" method is effective when a "zero signal" cannot be received. (Note that compared to the "count method 1" method, using this method will result in more deviation in the stop position during machine home position return.) Operation chart [Pr.46] Home position [Pr.50] Setting for the movement amount...
Page 46 Precautions during operation • The error "Count method movement amount fault" (error code: 1944H) will occur and the operation will not start if the "[Pr.50] Setting for the movement amount after proximity dog ON" is smaller than the deceleration distance from the "[Pr.46] Home position return speed"...
Page 47: Data Set Method [Rd77Ms]
Data set method [RD77MS] The following shows an operation outline of the home position return method "data set method". The "Data set method" method is effective when a "Proximity dog" is not used. With the data set method home position return, the position where the machine home position return has been carried out, is registered into the Simple Motion module as the home position, and the command position value and feed machine value is overwritten to a home position address.
Page 48: Scale Origin Signal Detection Method [Rd77Ms]
Scale origin signal detection method [RD77MS] The following shows an operation outline of the home position return method "scale origin signal detection method". Set "0: Need to pass servo motor Z-phase after power on" in "Function selection C-4 (PC17)". If "1: Not need to pass servo motor Z-phase after power on"...
Page 49 Precautions during operation • The error "Start at home position" (error code: 1940H) will occur if another machine home position return is attempted immediately after a machine home position return completion when the home position is in the proximity dog ON position. •...
Page 50 • When the zero signal is detected again during deceleration (4.) in the following figure) with detection of zero signal, the operation stops at the zero signal detected lastly to complete the home position return. [Pr.44] Home position return direction [Pr.46] Home position return speed [Pr.47] Creep speed Proximity dog OFF...
Page 51: Driver Home Position Return Method
Driver home position return method The home position return is executed based on the positioning pattern set on the driver (servo amplifier) side (hereafter called the "driver side"). Set the setting values of home position return in the parameters of the driver side. Refer to the manual of the driver because the home position return operation and parameters depend on the specification of the driver.
Page 52 When the machine home position return is stopped Motor speed 9001 [Cd.3] Positioning start No. Positioning start signal [Y11] Busy signal [X11] [Cd.180] Axis stop Home position return request flag ([Md.31] Status: b3) Home position return complete flag ([Md.31] Status: b4) 0: Standby 7: Home position return 1: Stopped...
Page 53 Restrictions • The home position return cannot be started with the Simple Motion module during servo-off. Thus, the servo amplifier home position return method, Method 35 and 37 (Data set method), cannot be executed during servo-off. [RD77GF] • When the synchronous control is executed with the axis where the MR-J4-GF software version A0 is used as the servo input axis, do not perform the home position return.
Page 54: Fast Home Position Return
Fast Home Position Return Outline of the fast home position return operation Fast home position return operation After establishing home position by a machine home position return, positioning control to the home position is executed without using a proximity dog or a zero signal. The following shows the operation during a basic fast home position return start.
Page 55 • Normal timing time (Unit: [ms]) [RD77MS] Operation cycle 0.444 0.186 to 1.228 1.186 to 1.662 0.000 to 0.444 0.888 0.186 to 1.228 2.234 to 2.330 0.000 to 0.888 1.777 0.186 to 1.228 3.932 to 4.550 0.000 to 1.777 3.555 0.186 to 1.228 5.520 to 8.098 0.000 to 3.555...
Page 56: Selection Of The Home Position Return Setting Condition
Selection of the Home Position Return Setting Condition This function can be set when the servo amplifier to be connected supports the servo parameter "Selection of the home position return setting condition". Refer to the instruction manual or manual for the servo amplifiers to be connected for confirming if the function is supported or not.
Page 57: Chapter 3 Major Positioning Control
MAJOR POSITIONING CONTROL The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this chapter. The major positioning controls include such controls as "positioning control" in which positioning is carried out to a designated position using the address information, "speed control"...
Page 58 "interpolation control". (Page 71 Interpolation control) In the RD77MS2, when 3- or 4-axis interpolation is carried out, or axis 3 or axis 4 is designated to the axis to be interpolated for 2-axis interpolation, the error "Illegal interpolation description command" (error code: 1A22H) will occur and the positioning control does not start.
Page 59: Data Required For Major Positioning Control
Data required for major positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "major positioning controls". Setting item Setting details Positioning [Da.1] Operation pattern Set the method by which the continuous positioning data (Ex: positioning data No.1, No.2, data No.1 No.3) will be controlled.
Page 60: Operation Patterns Of Major Positioning Controls
Operation patterns of major positioning controls In "major positioning control" (high-level positioning control), "[Da.1] Operation pattern" can be set to designate whether to continue executing positioning data after the started positioning data. The "operation pattern" includes the following 3 types. Positioning control Operation pattern Positioning complete...
Page 61 Continuous positioning control • The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the Simple Motion module command speed reaches 0 to carry out the next positioning data operation. If a dwell time is designated, the acceleration is carried out after the designated time elapses.
Page 62 Continuous path control ■Continuous path control • The speed is changed without deceleration stop between the command speed of the "positioning data No. currently being executed" and the speed of the "positioning data No. to carry out the next operation". The speed is not changed if the current speed and the next speed are equal.
Page 63 ■Deceleration stop conditions during continuous path control Deceleration stops are not carried out in continuous path control, but the machine will carry out a deceleration stop to speed "0" in the following 3 cases. • When the operation pattern of the positioning data currently being executed is "continuous path control: 11", and the movement direction of the positioning data currently being executed differs from that of the next positioning data.
Page 64 ■Speed handling • Continuous path control command speeds are set with each positioning data. The Simple Motion module carries out the positioning at the speed designated with each positioning data. • The command speed can be set to "-1" in continuous path control. The control will be carried out at the speed used in the previous positioning data No.
Page 65 ■Speed switching (Standard speed switching mode: Switch the speed when executing the next positioning data.) (Page 519 [Pr.19] Speed switching mode) • If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the machine will accelerate or decelerate after reaching the positioning point set in the "positioning data currently being executed"...
Page 66 ■Speed switching (Front-loading speed switching mode: The speed switches at the end of the positioning data currently being executed.) (Page 519 [Pr.19] Speed switching mode) • If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the speed will change over to the speed set in the "positioning data to carry out the next operation"...
Page 67: Designating The Positioning Address
Designating the positioning address The following shows the two methods for commanding the position in control using positioning data. Absolute system Positioning is carried out to a designated position (absolute address) having the home position as a reference. This address is regarded as the positioning address.
Page 68: Confirming The Current Value
Confirming the current value Values showing the current value The following two types of addresses are used as values to show the position in the Simple Motion module. These addresses ("command position value" and "machine feed value") are stored in the monitor data area, and used in monitoring the current value display, etc.
Page 69 Monitoring the current value The "command position value" and "machine feed value" are stored in the following buffer memory addresses, and can be read using a "DFROM(P) instruction" or "DMOV(P) instruction" from the CPU module. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Monitor item Buffer memory addresses Axis 1 to axis 16...
Page 70: Control Unit "Degree" Handling
Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. Command position value and machine feed value addresses The address of "[Md.20] Command position value" becomes a ring address from 0 to 359.99999. The address of "[Md.21] Machine feed value"...
Page 71 Positioning control method when the control unit is set to "degree" ■Absolute system (When the software stroke limit is invalid) Positioning is carried out in the nearest direction to the designated address, using the current value as a reference. (This is called "shortcut control".) 1) Positioning is carried out in a clockwise direction when the current value is moved from 315...
Page 72 ■Incremental system Positioning is carried out for a designated movement amount in a designated movement direction when in the incremental system of positioning. The movement direction is determined by the sign (+, -) of the movement amount. For a positive (+) movement direction Clockwise For a negative (-) movement direction Counterclockwise...
Page 73: Interpolation Control
Interpolation control Meaning of interpolation control In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2-axis fixed- feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", "2-axis speed control", "3-axis speed control", "4-axis speed control", "2-axis circular interpolation control", and "3-axis helical interpolation control", each control is performed so that linear and arc paths are drawn using a motor set in two to four axis directions.
Page 74 Setting positioning data When carrying out interpolation control, the same positioning data Nos. are set for the "reference axis" and the "interpolation axis". The following table shows the "positioning data" setting items for the reference axis and interpolation axis. : Setting always required, : Set according to requirements (Set to "" when not used.), : Setting restrictions exist : Setting not required (Use the initial value or a value within the setting range.) Setting item Reference axis setting item...
Page 75 Interpolation control continuous positioning When carrying out interpolation control in which "continuous positioning control" and "continuous path control" are designated in the operation pattern, the positioning method for all positioning data from the started positioning data to the positioning data in which "positioning complete"...
Page 76 Limits to interpolation control There are limits to the interpolation control that can be executed and speed ([Pr.20] Interpolation speed designation method) that can be set, depending on the "[Pr.1] Unit setting" of the reference axis and interpolation axis. (For example, 2-axis circular interpolation control cannot be executed if the reference axis and interpolation axis units differ.) The following table shows the interpolation control and speed designation limits.
Page 77: Setting The Positioning Data
Setting the Positioning Data Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be set differ according to the "[Da.2] Control method". The following table shows the positioning data setting items corresponding to the different types of control. (In this section, it is assumed that the positioning data setting is carried out using an engineering tool.) : Always set : Set as required (""...
Page 78 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur at start.) : Setting not required (Use the initial value or a value within the setting range.) Positioning data Speed-position switching control Position-speed switching control...
Page 79 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur at start.) : Setting not required (Use the initial value or a value within the setting range.) Positioning data Other control NOP instruction...
Page 80: 1-Axis Linear Control
1-axis linear control In "1-axis linear control" ("[Da.2] Control method" = ABS linear 1, INC linear 1), one motor is used to carry out position control in a set axis direction. 1-axis linear control (ABS linear 1) ■Operation chart In absolute system 1-axis linear control, positioning is carried out from the current stop position (start point address) to the address (end point address) set in "[Da.6] Positioning address/movement amount".
Page 81 1-axis linear control (INC linear 1) ■Operation chart In incremental system 1-axis linear control, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
Page 82: 2-Axis Linear Interpolation Control
2-axis linear interpolation control In "2-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 2, INC linear 2), two motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Page 71 Interpolation control for details on interpolation control.) 2-axis linear interpolation control (ABS linear 2) ■Operation chart...
Page 83 ■Setting positioning data When using 2-axis linear interpolation control (ABS linear 2), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis [Da.1] Operation pattern...
Page 84 2-axis linear interpolation control (INC linear 2) ■Operation chart In incremental system 2-axis linear interpolation control, the designated 2 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/movement amount".
Page 85 ■Setting positioning data When using 2-axis linear interpolation control (INC linear 2), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis [Da.1] Operation pattern...
Page 86: 3-Axis Linear Interpolation Control
3-axis linear interpolation control In "3-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 3, INC linear 3), three motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Page 71 Interpolation control for details on interpolation control.) 3-axis linear interpolation control (ABS linear 3) ■Operation chart...
Page 87 ■Setting positioning data When using 3-axis linear interpolation control (ABS linear 3), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis [Da.1] Operation pattern...
Page 88 3-axis linear interpolation control (INC linear 3) ■Operation chart In the incremental system 3-axis linear interpolation control, the designated 3 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in the "[Da.6] Positioning address/movement amount".
Page 89 ■Setting positioning data When using 3-axis linear interpolation control (INC linear 3), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis [Da.1] Operation pattern...
Page 90: 4-Axis Linear Interpolation Control
4-axis linear interpolation control In "4-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 4, INC linear 4), four motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Page 71 Interpolation control for details on interpolation control.) 4-axis linear interpolation control (ABS linear 4) In the absolute system 4-axis linear interpolation control, the designated 4 axes are used.
Page 91 4-axis linear interpolation control (INC linear 4) In the incremental system 4-axis linear interpolation control, the designated 4 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in the "[Da.6] Positioning address/movement amount".
Page 92: Fixed-Feed Control
Fixed-feed control In "fixed-feed control" ("[Da.2] Control method" = fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4), the motor of the specified axis is used to carry out fixed-feed control in a set axis direction. In fixed-feed control, any remainder of below control accuracy is rounded down to convert the movement amount designated in the positioning data into the command value to servo amplifier.
Page 93 ■Restrictions • The error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur and the operation cannot start if "continuous path control" is set in "[Da.1] Operation pattern". ("Continuous path control" cannot be set in fixed-feed control.) •...
Page 94 When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the Simple Motion module and reflected at the next positioning. For the fixed-feed control, since the movement distance is maintained constant (= the command number of pulses is maintained constant), the control is carried out after the fraction pulse is cleared to zero at start.
Page 95: 2-Axis Circular Interpolation Control With Sub Point Designation
2-axis circular interpolation control with sub point designation In "2-axis circular interpolation control" ("[Da.2] Control method" = ABS circular sub, INC circular sub), two motors are used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis directions set in each axis.
Page 96 ■Setting positioning data When using 2-axis circular interpolation control with sub point designation (ABS circular sub), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis...
Page 97 2-axis circular interpolation control with sub point designation (INC circular sub) ■Operation chart In the incremental system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/ movement amount"...
Page 98 ■Setting positioning data When using 2-axis circular interpolation control with sub point designation (INC circular sub), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis...
Page 99: 2-Axis Circular Interpolation Control With Center Point Designation
2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" ("[Da.2] Control method" = ABS circular right, INC circular right, ABS circular left, INC circular left), two motors are used to carry out position control in an arc path having an arc address as a center point, while carrying out interpolation for the axis directions set in each axis.
Page 100 2-axis circular interpolation control with center point designation (ABS circular) ■Operation chart In the absolute system, 2-axis circular interpolation control with center point designation positioning is carried out from the current stop position (start point address) to the address (end point address) set in "[Da.6] Positioning address/movement amount", in an arc path having as its center the address (arc address) of the center point set in "[Da.7] Arc address".
Page 101 ■Restrictions 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in "[Pr.1] Unit setting" • When the units set in "[Pr.1] Unit setting" are different for the reference axis and interpolation axis. ("mm" and "inch" combinations are possible.) •...
Page 102 2-axis circular interpolation control with center point designation (INC circular) ■Operation chart In the incremental system, 2-axis circular interpolation control with center point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/ movement amount", in an arc path having as its center the address (arc address) of the center point set in "[Da.7] Arc address".
Page 103 ■Restrictions 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in "[Pr.1] Unit setting" • When the units set in "[Pr.1] Unit setting" are different for the reference axis and interpolation axis. ("mm" and "inch" combinations are possible.) •...
Page 104: 3-Axis Helical Interpolation Control With Sub Point Designation
3-axis helical interpolation control with sub point designation In "3-axis helical interpolation control" ("[Da.2] Control method" = ABS helical sub, INC helical sub), three motors are used to carry out the circular interpolation control of 2 axes. The remaining axis is used for "helical control" or "tangent control and normal line control".
Page 105 • When the movement amount of the linear interpolation axis is more than the composite movement amount of the circular interpolation axis, the speed of the linear interpolation axis cannot be suppressed with "[Pr.8] Speed limit value". • When "0: Composite speed" is set in "[Pr.20] Interpolation speed designation method" or "1: Composite speed"...
Page 106 3-axis helical interpolation control with sub point designation (ABS helical sub) ■Operation chart In the absolute system and 3-axis helical interpolation control with sub point designation, the positioning is performed from the current stop position (X0, Y0, Z0) to the position indicated with the arc end point address (X1 and Y1) and the linear interpolation axis end point address (Z1) set in "[Da.6] Positioning address/movement amount".
Page 107 ■Positioning data to be set When using 3-axis helical interpolation control with sub point designation (ABS helical sub), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting requirement of Setting requirement of Setting requirement of reference axis...
Page 108 3-axis helical interpolation control with sub point designation (INC helical sub) ■Operation chart In the incremental system and 3-axis helical interpolation control with sub point designation, the positioning is performed from the current stop position (X0, Y0, Z0) to the position (X1, Y1, Z1) for the movement amount set in "[Da.6] Positioning address/ movement amount".
Page 109 ■Positioning data to be set When using the 3-axis helical interpolation control with sub point designation (INC helical sub), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting requirement of Setting requirement of Setting requirement of...
Page 110: 3-Axis Helical Interpolation Control With Center Point Designation
3-axis helical interpolation control with center point designation In "3-axis helical interpolation control" ("[Da.2] Control method" = ABS helical right, INC helical right, ABS helical left, INC helical left), three motors are used to carry out the circular interpolation control of 2 axes. The remaining axis is used for "helical control"...
Page 111 • When the movement amount of the linear interpolation axis is more than the composite movement amount of the circular interpolation axis, the speed of the linear interpolation axis cannot be suppressed with "[Pr.8] Speed limit value". • When "0: Composite speed" is set in "[Pr.20] Interpolation speed designation method" or "1: Composite speed"...
Page 112 Error compensation of the circular interpolation axis In the 3-axis helical interpolation control with center point designation, as well as the 2-axis circular interpolation control, "[Pr.41] Allowable circular interpolation error width" is enabled. When a circular interpolation error occurs, the path of the 2- axis circular interpolation control (X axisY axis) becomes spiral as shown below.
Page 113 ABS helical right, ABS helical left ■Operation chart In the absolute system and 3-axis helical interpolation control with center point designation, the positioning is performed from the current stop position (X0, Y0, Z0) to the position indicated with the arc end point address (X1 and Y1) and the linear interpolation axis end point address (Z1) set in "[Da.6] Positioning address/movement amount".
Page 114 ■Positioning data to be set When using the 3-axis helical interpolation control with center point designation (ABS helical right, ABS helical left), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting requirement of Setting requirement of...
Page 115 INC helical right, INC helical left ■Operation chart In the incremental system and 3-axis helical interpolation control with center point designation, the positioning is performed from the current stop position (X0, Y0, Z0) to the position (X1, Y1, Z1) for the movement amount set in "[Da.6] Positioning address/movement amount".
Page 116 ■Positioning data to be set When using the 3-axis helical interpolation control with center point designation (INC helical right, INC helical left), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting requirement of Setting requirement of...
Page 117: Speed Control
Speed control In "speed control" ("[Da.2] Control method" = Forward run: speed 1 to 4, Reverse run: speed 1 to 4), control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed"...
Page 118 ■2-axis speed control Interpolation axis (axis 2) [Da.8] Command speed Reference axis (axis 1) [Da.8] Command speed Positioning start signal [Y10] BUSY signal [X10, X11] Does not turn ON even when control is stopped by stop command. Positioning complete signal ([Md.31] Status: b15) [Cd.180] Axis stop In speed control flag...
Page 119 Restrictions • Set "Positioning complete" in "[Da.1] Operation pattern". The error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". ("Continuous positioning control" and "continuous path control" cannot be set in speed control.) •...
Page 120: Speed-Position Switching Control (Inc Mode)
Speed-position switching control (INC mode) In "speed-position switching control (INC mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output on the axial direction set to the positioning data.
Page 121 Operation chart The following chart shows the operation timing for speed-position switching control (INC mode). The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (INC mode). ■Operation example [Da.8] Command speed Movement amount set in "[Da.6] Positioning address/movement amount"...
Page 122 Operation timing and processing time ■Operation example Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] M code ON signal (WITH mode) ([Md.31] Status: b12) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) Position [Md.26] Axis operation status Standby...
Page 123 [RD77GF] Operation cycle 0.50 0.329 to 0.824 0.000 to 0.500 0.000 to 0.500 1.167 to 1.666 0.000 to 0.500 0.500 Follows parameters 1.00 0.258 to 1.202 0.000 to 1.000 0.000 to 1.000 2.735 to 2.903 0.000 to 1.000 1.000 Follows parameters 2.00 0.347 to 2.195 0.000 to 2.000...
Page 124 Speed-position switching signal setting • The following table shows the items that must be set to use the external command signals [DI] as speed-position switching signals. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting Setting details...
Page 125 Changing the position control movement amount In "speed-position switching control (INC mode)", the position control movement amount can be changed during the speed control section. • The position control movement amount can be changed during the speed control section of speed-position switching control (INC mode).
Page 126 Restrictions • The error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". • "Speed-position switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
Page 127 Setting positioning data When using speed-position switching control (INC mode), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required [Da.1] Operation pattern  [Da.2] Control method  (Set "Forward run: speed/position" or "Reverse run: speed/position".) [Da.3] Acceleration time No.
Page 128: Speed-Position Switching Control (Abs Mode)
Speed-position switching control (ABS mode) In case of "speed-position switching control (ABS mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output in the axial direction set to the positioning data.
Page 129 • "[Cd.24] Speed-position switching enable flag" must be turned ON to switch over from speed control to position control. (If the "[Cd.24] Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control will continue as speed control without switching over to position control. The control will be switched over from speed control to position control when the speed-position switching signal turns from OFF to ON again.
Page 130 Operation chart The following chart shows the operation timing for speed-position switching control (ABS mode). The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (ABS mode). ■Operation example [Da.8] Command speed Address set in "[Da.6] Positioning address/movement amount"...
Page 131 Operation timing and processing time ■Operation example Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] M code ON signal ([Md.31] Status: b12) (WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) [Md.26] Axis operation status Standby Speed control...
Page 132 Command position value The following table shows the "[Md.20] Command position value" during speed-position switching control (ABS mode) corresponding to the "[Pr.21] Command position value during speed control" settings. "[Pr.21] Command position value during speed control" setting [Md.20] Command position value 1: Update command position value The command position value is updated during speed control and position control.
Page 133 Speed-position switching signal setting • The following table shows the items that must be set to use the external command signals [DI] as speed-position switching signals. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting Setting details...
Page 134 Restrictions • The error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". • "Speed-position switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
Page 135 Setting positioning data When using speed-position switching control (ABS mode), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required [Da.1] Operation pattern  [Da.2] Control method  (Set "Forward run: speed/position" or "Reverse run: speed/position".) [Da.3] Acceleration time No.
Page 136: Position-Speed Switching Control
Position-speed switching control In "position-speed switching control" ("[Da.2] Control method" = Forward run: position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in "[Da.6] Positioning address/movement amount" in the axis direction in which the positioning data has been set. When the position- speed switching signal is input, the position control is carried out by continuously outputting the pulses for the speed set in "[Da.8] Command speed"...
Page 137 Operation chart The following chart shows the operation timing for position-speed switching control. The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control of position-speed switching control. ■Operation example [Da.8] Command speed Position Speed control control Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal...
Page 138 Operation timing and processing time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] M code ON signal ([Md.31] Status: b12)(WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) Standby Position control Speed control Stopped [Md.26] Axis operation status...
Page 139 Command position value The following table shows the "[Md.20] Command position value" during position-speed switching control corresponding to the "[Pr.21] Command position value during speed control" settings. "[Pr.21] Command position value during speed control" [Md.20] Command position value setting 0: Do not update command position value The command position value is updated during position control, and the command position value at the time of switching is maintained as soon as position control is switched to speed control.
Page 140 Position-speed switching signal setting • The following table shows the items that must be set to use the external command signals [DI] as position-speed switching signals. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting Setting details...
Page 141 Changing the speed control command speed In "position-speed switching control", the speed control command speed can be changed during the position control. • The speed control command speed can be changed during the position control of position-speed switching control. A command speed change request will be ignored unless issued during the position control of the position-speed switching control.
Page 142 Restrictions • The error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". • "Position-speed switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
Page 143: Current Value Changing
Current value changing When the current value is changed to a new value, control is carried out in which the "[Md.20] Command position value" of the stopped axis is changed to a random address set by the user. (The "[Md.21] Machine feed value" is not changed when the current value is changed.) The two methods for changing the current value are shown below.
Page 144 ■Setting positioning data When using current value changing, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required [Da.1] Operation pattern  [Da.2] Control method  (Set the current value changing.) [Da.3] Acceleration time No.
Page 145 ■Restrictions • The error "Outside new current value range" (error code: 1997H) will occur if the designated value is outside the setting range when "degree" is set in "Unit setting". • The error "Software stroke limit +" (error code: 1994H) or "Software stroke limit -" (error code: 1996H) will occur if the designated value is outside the software stroke limit range.
Page 146 ■Operation example Start of data No.9003 Positioning start signal [Y10] PLC READY signal [Y0] READY signal [X0] Start complete signal ([Md.31] Status: b14) BUSY signal [X10] Positioning complete signal ([Md.31] Status: b15) Error detection signal ([Md.31] Status: b13) Address during 50000 [Md.20] Command position value positioning execution...
Page 147 Program example • Add the following program to the control program, and write it to the CPU module. Classification Label name Description Module label RD77_1.bnPositioningStart[0] Axis 1 Positioning start signal RD77_1.stnAxMntr_D[0].uStatus_D.E Axis 1 Start complete RD77_1.stnAxCtrl1_D[0].dNewPosition_D Axis 1 New position value RD77_1.stnAxCtrl1_D[0].uPositioningStartNo_D Axis 1 Positioning start No.
Page 148: Nop Instruction
NOP instruction The NOP instruction is used for the nonexecutable control method. Operation The positioning data No. to which the NOP instruction is set transfers, without any processing, to the operation for the next positioning data No. Setting positioning data When using the NOP instruction, set the following positioning data.
Page 149: Jump Instruction
JUMP instruction The JUMP instruction is used to control the operation, so it jumps to a positioning data No. set in the positioning data during "continuous positioning control" or "continuous path control". JUMP instruction includes the following two types of JUMP. JUMP instruction Description Unconditional JUMP...
Page 150 Setting positioning data When using the JUMP instruction, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required [Da.1] Operation pattern  [Da.2] Control method  (Set the JUMP instruction.) [Da.3] Acceleration time No.
Page 151: Loop
LOOP The LOOP is used for loop control by the repetition of LOOP to LEND. Operation The LOOP to LEND loop is repeated by set repeat cycles. Setting positioning data When using the LOOP, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required [Da.1]...
Page 152: Lend
LEND The LEND is used to return the operation to the top of the repeat (LOOP to LEND) loop. Operation When the repeat cycle designated by the LOOP becomes 0, the loop is terminated, and the next positioning data No. processing is started.
Page 153: Chapter 4 High-Level Positioning Control
HIGH-LEVEL POSITIONING CONTROL The details and usage of high-level positioning control (control functions using the "block start data") are explained in this chapter. High-level positioning control is used to carry out applied control using the "positioning data". Examples of applied control are using conditional judgment to control "positioning data"...
Page 154: Data Required For High-Level Positioning Control
Data required for high-level positioning control "High-level positioning control" is executed by setting the required items in the "block start data" and "condition data", then starting that "block start data". Judgment about whether execution is possible, etc., is carried out at execution using the "condition data"...
Page 155: Block Start Data" And "Condition Data" Configuration
"Block start data" and "condition data" configuration The "block start data" and "condition data" corresponding to "block No.7000" can be stored in the buffer memory. 50th point Buffer memory Setting item address 2nd point 1st point Setting item Buffer memory 22049+400n address Buffer memory...
Page 156: High-Level Positioning Control Execution Procedure
High-level Positioning Control Execution Procedure High-level positioning control is carried out using the following procedure. "High-level positioning control" executes Preparation STEP 1 each control ("major positioning control") set Carry out the "major positioning control" setting. in the positioning data with the designated conditions, so first carry out preparations so that "major positioning control"...
Page 157: Setting The Block Start Data
Setting the Block Start Data Relation between various controls and block start data The "block start data" must be set to carry out "high-level positioning control". The setting requirements and details of each "block start data" item to be set differ according to the "[Da.13] Special start instruction"...
Page 158: Block Start
Block start In a "block start (normal start)", the positioning data groups of a block are continuously executed in a set PLC starting from the positioning data set in "[Da.12] Start data No." by one start. The control examples are shown when the "block start data" and "positioning data" are set as shown in the setting examples. Setting examples ■Block start data setting example Axis 1 block start data...
Page 159 Control examples The following shows the control being executed when the "block start data" of the 1st point of axis 1 is set as shown in the setting examples and started. • The positioning data is executed in the following order before stopping. Axis 1 positioning data No.1  2  3  4  5  6 ...
Page 160: Condition Start
Condition start In a "condition start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the "block start data" set in "1: condition start"...
Page 161: Wait Start
Wait start In a "wait start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the "block start data" is executed. If the conditions have not been established, the control stops (waits) until the conditions are established.
Page 162: Simultaneous Start
Simultaneous start In a "simultaneous start", the positioning data set in the "[Da.12] Start data No." and positioning data of other axes set in the "condition data" are simultaneously executed (commands are output with the same timing). (The "condition data" is designated with "[Da.14] Parameter".) The control examples are shown when the "block start data"...
Page 163: Repeated Start (For Loop)
Repeated start (FOR loop) In a "repeated start (FOR loop)", the data between the "block start data" in which "4: FOR loop" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT start" is set in "[Da.13] Special start instruction " is repeatedly executed for the number of times set in "[Da.14] Parameter".
Page 164: Repeated Start (For Condition)
Repeated start (FOR condition) In a "repeated start (FOR condition)", the data between the "block start data" in which "5: FOR condition" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT start" is set in "[Da.13] Special start instruction" is repeatedly executed until the establishment of the conditions set in the "condition data".
Page 165: Restrictions When Using The Next Start
Restrictions when using the NEXT start The "NEXT start" is an instruction indicating the end of the repetitions when executing the repeated start (FOR loop) and the repeated start (FOR condition). (Page 161 Repeated start (FOR loop), Page 162 Repeated start (FOR condition)) The following shows the restrictions when setting "6: NEXT start"...
Page 166: Setting The Condition Data
Setting the Condition Data Relation between various controls and the condition data "Condition data" is set in the following cases. • When setting conditions during execution of JUMP instruction (major positioning control) • When setting conditions during execution of "high-level positioning control" The "condition data"...
Page 167 The setting requirements and details of the following "condition data" [Da.16] to [Da.19] and [Da.23] setting items differ according to the "[Da.15] Condition target" setting. The following shows the [Da.16] to [Da.19] and [Da.23] setting items corresponding to the "[Da.15] Condition target". : Setting not required (Set the initial value or a value within the setting range.) **: Value stored in buffer memory designated in [Da.17] [RD77MS]...
Page 168 [RD77GF] [Da.15] [Da.16] [Da.23] [Da.17] [Da.18] [Da.19] Condition target Condition operator Number of Address Parameter 1 Parameter 2 simultaneous starting axes 01H: Device X 07H: DEV = ON X: 0H, 1H, 10H to 3FH    08H: DEV = OFF Y: 0H, 1H, 10H to 3FH RWr (1 bit), RWw (1 02H: Device Y...
Page 169: Condition Data Setting Examples
Condition data setting examples The following shows the setting examples for "condition data". Setting the device ON/OFF as a condition [Condition] Device "X10" (Axis 1 BUSY signal) is OFF [Da.15] [Da.16] [Da.17] [Da.18] [Da.19] [Da.23] [Da.24] [Da.25] [Da.26] Condition Condition Address Parameter Parameter...
Page 170: Start Program For High-Level Positioning Control
Start Program for High-level Positioning Control Starting high-level positioning control To execute high-level positioning control, a program must be created to start the control in the same method as for major positioning control. The following shows the procedure for starting the "1st point block start data" (regarded as block No.7000) set in axis 1. Simple Motion module Buffer memory Servo amplifier...
Page 171: Example Of A Start Program For High-Level Positioning Control
Example of a start program for high-level positioning control The following shows an example of a start program for high-level positioning control in which the 1st point "block start data" of axis 1 is started. (The block No. is regarded as "7000".) Control data that require setting The following control data must be set to execute high-level positioning control.
Page 172 Start time chart The following chart shows a time chart in which the positioning data No.1, 2, 10, 11, and 12 of the axis 1 are continuously executed as an example. ■Block start data setting example Axis 1 block start data [Da.11] Shape [Da.12] Start data No.
Page 173 Program example Classification Label name Description Module label RD77_1.bnBusy[0] Axis 1 BUSY signal RD77_1.stnAxMntr[0].uStatus.E Axis 1 Start complete RD77_1.stnAxCtrl1_D[0].uPositioningStartNo_D Axis 1 Positioning start No. RD77_1.stnAxCtrl1_D[0].uPositioningStartingPointNo_D Axis 1 Positioning starting point No. RD77_1.bnPositioningStart[0] Axis 1 Positioning start signal Global label, local Defines the global label or the local label as follows.
Page 174: Chapter 5 Manual Control
MANUAL CONTROL The details and usage of manual control are explained in this chapter. In manual control, commands are issued during a JOG operation and an inching operation executed by the turning ON of the JOG start signal, or from a manual pulse generator connected to the Simple Motion module or the CC-Link IE Field Network device.
Page 175 [Manual pulse generator operation] "Manual pulse generator operation" is a control method in which positioning is carried out in response to the number of pulses input from a manual pulse generator (the number of input command is output). This operation is used for manual fine adjustment, etc., when carrying out accurate positioning to obtain the positioning address.
Page 176: Jog Operation
JOG Operation Outline of JOG operation Operation In JOG operation, the forward run JOG start signal [Cd.181] or reverse run JOG start signal [Cd.182] turns ON, causing pulses to be output to the servo amplifier from the Simple Motion module while the signal is ON. The workpiece is then moved in the designated direction.
Page 177 Precautions during operation The following details must be understood before carrying out JOG operation. • For safety, set a small value to "[Cd.17] JOG speed" at first and check the movement. Then gradually increase the value. • The error "Outside JOG speed range" (error code: 1980H) will occur and the operation will not start if the "JOG speed" is outside the setting range at the JOG start.
Page 178 Normal timing time (Unit: [ms]) [RD77MS] Operation cycle 0.444 0.267 to 2.584 0.000 to 0.444 1.128 to 1.699 0.000 to 0.444 0.888 0.267 to 2.584 0.000 to 0.888 2.328 to 3.036 0.000 to 0.888 1.777 0.267 to 2.584 0.000 to 1.777 4.520 to 4.590 0.000 to 1.777 3.555...
Page 179: Jog Operation Execution Procedure
JOG operation execution procedure The JOG operation is carried out by the following procedure. One of the following two methods can be used. STEP 1 Set the parameters. Preparation ([Pr.1] to [Pr.39]) <Method 1> Directly set (write) the parameters in the Simple Motion module using the engineering tool.
Page 180: Setting The Required Parameters For Jog Operation
Setting the required parameters for JOG operation The "Positioning parameters" must be set to carry out JOG operation. The following table shows the setting items of the required parameters for carrying out JOG operation. Parameters not shown below are not required to be set for carrying out only JOG operation. (Set the initial value or a value within the setting range.) : Setting always required.
Page 181: Creating Start Programs For Jog Operation
Creating start programs for JOG operation A program must be created to execute a JOG operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a JOG operation is started for axis 1. ("[Cd.17] JOG speed" is set to "100.00 mm/min" in the example shown.) Required control data setting The control data shown below must be set to execute a JOG operation.
Page 182 Start time chart ■Operation example Forward JOG run Reverse JOG run [Cd.181] Forward run JOG start [Cd.182] Reverse run JOG start PLC READY signal [Y0] All axis servo ON [Y1] READY signal [X0] BUSY signal [X10] Error detection signal ([Md.31] Status: b13) Program example Refer to the following for the program example of the JOG operation.
Page 183: Jog Operation Example
JOG operation example Example 1 When the "stop signal" is turned ON during JOG operation, the JOG operation will stop by the "deceleration stop" method. If the JOG start signal is turned ON while the stop signal is ON, the error "Stop signal ON at start" (error code: 1908H) will occur.
Page 184 Example 2 When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis, the "forward run JOG start signal" is given priority. In this case, the "reverse run JOG start signal" is validated when the BUSY signal of Simple Motion module is turned OFF.
Page 185: Inching Operation
Inching Operation Outline of inching operation Operation In inching operation, pulses are output to the servo amplifier at operation cycle to move the workpiece by a designated movement amount after the forward run JOG start signal [Cd.181] or reverse JOG start signal [Cd.182] is turned ON. The following shows the example of inching operation.
Page 186 Precautions during operation The following details must be understood before inching operation is carried out. • Acceleration/deceleration processing is not carried out during inching operation. (Commands corresponding to the designated inching movement amount are output at operation cycle. When the movement direction of inching operation is reversed and backlash compensation is carried out, the backlash compensation amount and inching movement amount are output at the same operation cycle.) The "[Cd.17] JOG speed"...
Page 187 Operation timing and processing times The following drawing shows the details of the inching operation timing and processing time. ■Operation example [Cd.181] Forward run JOG start [Cd.182] Reverse run JOG start BUSY signal [X10, X11, X12, X13] [Md.26] Axis operation status Standby (0) JOG operation (3) Standby (0)
Page 188: Inching Operation Execution Procedure
Inching operation execution procedure The inching operation is carried out by the following procedure. Preparation One of the following two methods can be used. STEP 1 Set the parameters. ([Pr.1] to [Pr.31]) <Method 1> Directly set (write) the parameters in the Simple Motion module using the engineering tool.
Page 189: Setting The Required Parameters For Inching Operation
Setting the required parameters for inching operation The "Positioning parameters" must be set to carry out inching operation. The following table shows the setting items of the required parameters for carrying out inching operation. Parameters not shown below are not required to be set for carrying out only inching operation. (Set the initial value or a value within the setting range.) : Setting always required.
Page 190: Creating A Program To Start The Inching Operation
Creating a program to start the inching operation A program must be created to execute an inching operation. Consider the "required control data setting", "start conditions", and "start time chart" when creating the program. The following shows an example when an inching operation is started for axis 1. (The example shows the inching operation when a "10.0 m"...
Page 191 Start time chart ■Operation example Forward run inching operation Reverse run inching operation [Cd.181] Forward run JOG start [Cd.182] Reverse run JOG start PLC READY signal [Y0] All axis servo ON [Y1] READY signal [X0] BUSY signal [X10] Error detection signal ([Md.31] Status: b13) Positioning complete signal ([Md.31] Status: b15)
Page 192: Inching Operation Example
Inching operation example Example 1 If the JOG start signal is turned ON while the stop signal is ON, the error "Stop signal ON at start" (error code: 1908H) will occur. The inching operation can be re-started when the stop signal is turned OFF and the JOG start signal is turned ON from OFF. ■Operation example Ignores that the JOG start signal is turned ON from OFF while the stop signal is ON.
Page 193: Manual Pulse Generator Operation
Manual Pulse Generator Operation Outline of manual pulse generator operation Operation In manual pulse generator operations, pulses are input to the Simple Motion module or the CC-Link IE Field Network device from the manual pulse generator. This causes the same number of input command to be output from the Simple Motion module to the servo amplifier, and the workpiece is moved in the designated direction.
Page 194 Precautions during operation The following details must be understood before carrying out manual pulse generator operation. • If "[Pr.123] Manual pulse generator speed limit value" is set to a value larger than "[Pr.8] Speed limit value", the error "Manual pulse generator speed limit value error" (error code: 1ABBH) will occur and the operation will not start. •...
Page 195 Manual pulse generator speed limit mode In "[Pr.122] Manual pulse generator speed limit mode", the output operation which exceeds "[Pr.123] Manual pulse generator speed limit value" can be set during manual pulse generator operation. The setting value and operation for "[Pr.122] Manual pulse generator speed limit mode" are shown below. Setting Operation value...
Page 196 Operations when stroke limit error occurs When the hardware stroke limit error or the software stroke limit error is detected during operation, the operation will decelerate to a stop. However, in case of "[Md.26] Axis operation status", "Manual pulse generator operation" will continue After stopping, input pulses from a manual pulse generator to the outside direction of the limit range are not accepted, but operation can be executed within the range.
Page 197 Position control by manual pulse generator operation In manual pulse generator operation, the position is moved by a "manual pulse generator 1 pulse movement amount" per pulse. The command position value in the positioning control by manual pulse generator operation can be calculated using the expression shown below.
Page 198: Manual Pulse Generator Operation Execution Procedure
Manual pulse generator operation execution procedure The manual pulse generator operation is carried out by the following procedure. One of the following two methods can Preparation STEP 1 Set the parameters. be used. ([Pr.1] to [Pr.24], [Pr.89], [Pr.151]) <Method 1> Directly set (write) the parameters in the Simple Motion module using the engineering tool.
Page 199: Setting The Required Parameters For Manual Pulse Generator Operation
Setting the required parameters for manual pulse generator operation The "Positioning parameters", "Common parameters" and "Link device external signal assignment parameters" must be set to carry out manual pulse generator operation. The following table shows the setting items of the required parameters for carrying out manual pulse generator operation. Parameters not shown below are not required to be set for carrying out only manual pulse generator operation.
Page 200: Creating A Program To Enable/Disable The Manual Pulse Generator Operation
Creating a program to enable/disable the manual pulse generator operation A program must be created to execute a manual pulse generator operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a manual pulse generator operation is started for axis 1. Required control data setting The control data shown below must be set to execute a manual pulse generator operation.
Page 201 Start time chart ■Operation example Forward run Reverse run Pulse input A-phase Pulse input B-phase [Y0] PLC READY signal All axis servo ON [Y1] [X0] READY signal Start complete signal ([Md.31] Status: b14) [X10] BUSY signal Error detection signal ([Md.31] Status: b13) [Cd.21] Manual pulse generator enable flag [Cd.20] Manual pulse generator...
Page 202: Chapter 6 Inter-Module Synchronization Function
INTER-MODULE SYNCHRONIZATION FUNCTION This function can synchronize the control timings among multiple modules on the same base. Control details This function can synchronize the interrupt program execution cycle of the CPU module and the operation cycle of the Simple Motion module. Refresh which is synchronized with the operation cycle can be executed between some buffer memory addresses and the devices and labels of the CPU module.
Page 203 Simultaneous start using inter-module synchronization This function is used to synchronize the start timing between different modules. It can synchronize the start timing between modules by using with the pre-reading start function together. After starting, the Simple Motion module operates independently.
Page 204 Precautions • Turn "[Cd.183] Execution prohibition flag" OFF after "[Md.503] Pre-reading data analysis status" is set to "2: Completed". • Because each positioning module operates independently after starting, it operates as follows. (Even though an error occurs and the module stops, the module where an error has not occurred continues to operate. Even though the stop signal is input in the program at the same time, the detection timing of the stop signal may not be the same and the stop position may differ.) •...
Page 205: Chapter 7 Expansion Control
EXPANSION CONTROL The details and usage of expansion control are explained in this chapter. Expansion control includes the speed-torque control to execute the speed control and torque control not including position loop and the advanced synchronous control to synchronize with input axis using software with "advanced synchronous control parameter"...
Page 206 Use the servo amplifiers whose software versions are compatible with each control mode to execute the "Speed-torque control". Servo amplifier software versions that are compatible with each control mode are shown below. For the support information not listed in the table below, refer to the instruction manual or manual of the servo amplifier to be used. : There is no restriction by the version.
Page 207: Setting The Required Parameters For Speed-Torque Control
Setting the required parameters for speed-torque control The "Positioning parameters" must be set to carry out speed-torque control. The following table shows the setting items of the required parameters for carrying out speed-torque control. Parameters not shown below are not required to be set for carrying out only speed-torque control. (Set the initial value or a value within the setting range.) : Setting always required.
Page 208: Setting The Required Data For Speed-Torque Control
Setting the required data for speed-torque control Required control data setting for the control mode switching The control data shown below must be set to execute the control mode switching. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting Setting details...
Page 209 Required control data setting for the torque control mode The control data shown below must be set to execute the torque control. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting Setting details Buffer memory address...
Page 210: Operation Of Speed-Torque Control
Operation of speed-torque control Switching of control mode (Speed control/Torque control) ■Switching method of control mode To switch the control mode to the speed control or the torque control, set "1" in "[Cd.138] Control mode switching request" after setting the control mode in "[Cd.139] Control mode setting". When the mode is switched to the speed control mode or the torque control mode, the control data used in each control mode must be set before setting "1"...
Page 211 ■Precautions at control mode switching • The start complete signal and the positioning complete signal do not turn ON at control mode switching. • When "30: Control mode switch", "31: Speed control", or "32: Torque control" is set in "[Md.26] Axis operation status", the BUSY signal turns ON.
Page 212 ■Operation for "Position control mode  Torque control mode switching" When the position control mode is switched to the torque control mode, the command torque immediately after the switching is the torque set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque control mode". Torque initial value selection ([Pr.90]: b4 to b7) Command torque to servo amplifier immediately after switching from position control mode to torque control mode 0: Command torque...
Page 213 ■Operation for "Speed control mode  Torque control mode switching" When the speed control mode is switched to the torque control mode, the command torque immediately after the switching is the torque set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque control mode". Torque initial value selection ([Pr.90]: b4 to b7) Command torque to servo amplifier immediately after switching from speed control mode to torque control mode...
Page 214 Switching of control mode (Continuous operation to torque control) [RD77MS] ■Switching method of control mode To switch the control mode to the continuous operation to torque control mode, set "1" in "[Cd.138] Control mode switching request" after setting the control mode to switch to "[Cd.139] Control mode setting" (30: Continuous operation to torque control mode) from position control mode or speed control mode.
Page 215 • When the mode is switched from position control mode to continuous operation to torque control mode, only the switching from continuous operation to torque control mode to position control mode is possible. If the mode is switched to other control modes, the warning "Control mode switching not possible" (warning code: 09EBH) will occur, and the control mode is not switched.
Page 216 The following chart shows the operation timing for axis 1. Continuous operation Position control mode Position control mode to torque control mode Contact with target 1000 Torque 30.0% 6 to 11 ms 6 to 11 ms [Cd.138] Control mode switching request [Cd.139] Control mode setting BUSY signal [X10] [Md.26] Axis operation status...
Page 217 ■Operation for "Speed control mode  Continuous operation to torque control mode switching" To switch to the continuous operation to torque control mode, set the control data used in the control mode before setting "1" in "[Cd.138] Control mode switching request". When the switching condition is satisfied at control mode switching request, "1: Position control mode - continuous operation to torque control mode, speed control mode - continuous operation to torque control mode switching"...
Page 218 The following chart shows the operation timing for axis 1. Continuous operation to Speed control mode torque control mode Speed control mode 10000 Contact with target 1000 -10000 Torque 30.0% 6 to 11 ms 6 to 11 ms [Cd.138] Control mode switching request [Cd.139] Control mode setting BUSY signal [X10] [Md.26] Axis operation status...
Page 219 ■Operation for switching from "Position control mode" to "Continuous operation to torque control mode" automatically To switch to the continuous operation to torque control mode automatically when the conditions set in "[Cd.153] Control mode auto-shift selection" and "[Cd.154] Control mode auto-shift parameter" are satisfied, set the control data necessary in the continuous operation to torque control mode, "[Cd.153] Control mode auto-shift selection"...
Page 220 The following chart shows the operation when "1: Command position value pass" is set in "[Cd.153] Control mode auto-shift selection". Position control mode Continuous operation to torque control mode Contact with target 1000 Command position value passes the address "adr" set in "[Cd.154] Control mode auto-shift parameter".
Page 221 Speed control mode ■Operation for speed control mode The speed control is executed at the speed set in "[Cd.140] Command speed at speed control mode" in the speed control mode. Set a positive value for forward rotation and a negative value for reverse rotation. "[Cd.140]" can be changed any time during the speed control mode.
Page 222 ■Stop cause during speed control mode The operation for stop cause during speed control mode is shown below. Item Operation during speed control mode "[Cd.180] Axis stop" turned ON. The motor decelerates to speed "0" according to the setting value of "[Cd.142] Deceleration time at speed control mode".
Page 223 Set time for the command torque to increase from 0% to "[Pr.17] Torque limit setting value" in "[Cd.144] Torque time constant at torque control mode (Forward direction)" and for the command torque to decrease from "[Pr.17] Torque limit setting value" to 0% in "[Cd.145] Torque time constant at torque control mode (Negative direction)".
Page 224 ■Stop cause during torque control mode The operation for stop cause during torque control mode is shown below. Item Operation during torque control mode "[Cd.180] Axis stop" turned ON. The speed limit value commanded to servo amplifier is "0" regardless of the setting value of "[Cd.146] Speed limit value at torque control mode".
Page 225 Regardless of the setting in "Rotation direction selection/travel direction selection (PA14)", set a positive value when torque command is in CCW direction of servo motor and a negative value when torque command is in CW direction of servo motor in "[Cd.150] Target torque at continuous operation to torque control mode". If the setting is incorrect, the motor may rotate in an opposite direction.
Page 226 ■Speed limit value setting method Acceleration/deceleration is performed based on a trapezoidal acceleration/deceleration processing. Set acceleration/deceleration time toward "[Pr.8] Speed limit value" in "[Cd.148] Acceleration time at continuous operation to torque control mode" and "[Cd.149] Deceleration time at continuous operation to torque control mode". The value at continuous operation to torque control mode switching is valid for "[Cd.148]"...
Page 227 ■Speed during continuous operation to torque control mode The speed during the continuous operation to torque control mode is controlled with an absolute value of the value set in "[Cd.147] Speed limit value at continuous operation to torque control mode" as command speed. When the speed reaches the absolute value of "[Cd.147] Speed limit value at continuous operation to torque control mode", "Speed limit"...
Page 228: Advanced Synchronous Control
Advanced synchronous control "Advanced synchronous control" can be achieved using software instead of controlling mechanically with gear, shaft, speed change gear or cam, etc. "Advanced synchronous control" synchronizes movement with the input axis (servo input axis or synchronous encoder axis), by setting "advanced synchronous control parameters"...
Page 229: Chapter 8 Control Sub Functions
CONTROL SUB FUNCTIONS The details and usage of the "sub functions" added and used in combination with the main functions are explained in this chapter. A variety of sub functions are available, including functions specifically for machine home position return and generally related functions such as control compensation, etc.
Page 230 Sub function Details Functions related to Stop command processing This function selects a deceleration curve when a stop cause occurs during deceleration stop positioning stop for deceleration stop processing to speed 0. function Continuous operation This function interrupts continuous operation. When this request is accepted, the operation stops interrupt function when the execution of the current positioning data is completed.
Page 231: Sub Functions Specifically For Machine Home Position Return
Sub Functions Specifically for Machine Home Position Return The sub functions specifically for machine home position return include the "home position return retry function" and "home position shift function". Each function is executed by parameter setting. Home position return retry function [RD77MS] When the workpiece goes past the home position without stopping during positioning control, it may not move back in the direction of the home position although a machine home position return is commanded, depending on the workpiece position.
Page 232 ■Home position return retry operation when the workpiece is outside the range between the upper and lower limits. • When the direction from the workpiece to the home position is the same as the "[Pr.44] Home position return direction", a normal machine home position return is carried out.
Page 233 ■Setting the dwell time during a home position return retry The home position return retry function can perform such function as the dwell time using "[Pr.57] Dwell time during home position return retry" when the reverse run operation is carried out due to detection by the limit signal for upper and lower limits and when the machine home position return is executed after the proximity dog is turned OFF to stop the operation.
Page 234 Setting method To use the "home position return retry function", set the required details in the parameters shown in the following table, and write them to the Simple Motion module. When the parameters are set, the home position return retry function will be added to the machine home position return control.
Page 235: Home Position Shift Function [Rd77Ms]
Home position shift function [RD77MS] When a machine home position return is carried out, the home position is normally established using the proximity dog and zero signal. However, by using the home position shift function, the machine can be moved a designated movement amount from the position where the zero signal was detected.
Page 236 Movement speed during home position shift When using the home position shift function, the movement speed during the home position shift is set in "[Pr.56] Speed designation during home position shift". The movement speed during the home position shift is selected from either the "[Pr.46] Home position return speed"...
Page 237 Precautions during control • The following data are set after the home position shift amount is complete. • Home position return complete flag ([Md.31] Status: b4) • [Md.20] Command position value • [Md.21] Machine feed value • [Md.26] Axis operation status Home position return request flag ([Md.31] Status: b3) is reset after completion of the home position shift.
Page 238: Functions For Compensating The Control
Functions for Compensating the Control The sub functions for compensating the control include the "backlash compensation function", "electronic gear function", and "near pass function". Each function is executed by parameter setting or program creation and writing. Backlash compensation function The "backlash compensation function" compensates the backlash amount in the mechanical system. Control details When the backlash compensation amount is set, an extra amount of command equivalent to the set backlash amount is output every time the movement direction changes.
Page 239 Setting method To use the "backlash compensation function", set the "backlash compensation amount" in the parameter shown in the following table, and write it to the Simple Motion module. The set details are validated at the rising edge (OFF  ON) of the PLC READY signal [Y0]. Setting item Setting Setting details...
Page 240: Electronic Gear Function
Electronic gear function The "electronic gear function" adjusts the actual machine movement amount and number of pulse output to servo amplifier according to the parameters set in the Simple Motion module. The "electronic gear function" has the following three functions ([A] to [C]). [A] During machine movement, the function increments in the Simple Motion module values less than one pulse that could not be output, and outputs the incremented amount when the total incremented value reached one pulse or more.
Page 241 ■For "Ball screw" + "Reduction gear" When the ball screw pitch is 10 mm, the motor is the HG-KR (4194304 pulses/rev) and the reduction ratio is 9/44. Reduction ratio 9/44 First, find how many millimeters the load (machine) will travel (S) when the motor turns one revolution (AP). AP (Number of pulses per rotation) = 4194304 [pulse] ΔS (Movement amount per rotation)
Page 242 Thus, AP, AL and AM to be set are as follows. These two examples of settings are only examples. There are settings other than these examples. Setting value Setting item AP = 23068672 [Pr.2] AL = 11250.0 [Pr.3] AM = 1 [Pr.4] Setting value Setting item...
Page 243 ■When "degree" is set as the control unit for a rotary axis When the rotary axis is used, the motor is HG-KR (4194304 pulses/rev) and the reduction ratio is 3/11. Reduction ratio 3/11 First, find how many degrees the load (machine) will travel (S) when the motor turns one revolution (AP). AP (Number of pulses per rotation) = 4194304 [pulse] S (Movement amount per rotation) = 360.00000 [degree] ...
Page 244 ■When "mm" is set as the control unit for conveyor drive (calculation including ) When the belt conveyor drive is used, the conveyor diameter is 135 mm, the pulley ratio is 1/3, the motor is HG-KR (4194304 pulses/rev) and the reduction ratio is 7/53. φ135 mm Belt conveyor Reduction ratio 7/53...
Page 245 This setting will produce an error for the true machine value, but it cannot be helped. This error is as follows. 7422012/166723584 × 100 = -8.69 × 10 2362500π/166723584 AP (Number of pulses per rotation) = 4194304 [pulse] S (Movement amount per rotation) = 135000.0 [m] ...
Page 246 The method for compensating the error When the position control is carried out using the "Electronic gear" set in a parameter, this may produce an error between the command movement amount (L) and the actual movement amount (L'). With Simple Motion module, this error is compensated by adjusting the electronic gear.
Page 247: Near Pass Function
Near pass function When continuous pass control is carried out using interpolation control, the near pass function is carried out. The "near pass function" is a function to suppress the mechanical vibration occurring at the time of switching the positioning data when continuous pass control is carried out using interpolation control.
Page 248 Precautions during control • If the movement amount designated by the positioning data is small when the continuous path control is executed, the output speed may not reach the designated speed. • The movement direction is not checked during interpolation operation. Therefore, a deceleration stops are not carried out even if the movement direction changes.
Page 249: Functions To Limit The Control
Functions to Limit the Control Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit function", "hardware stroke limit function", and "forced stop function". Each function is executed by parameter setting or program creation and writing. Speed limit function The speed limit function limits the command speed to a value within the "speed limit value"...
Page 250 Precautions during control • If any axis exceeds "[Pr.8] Speed limit value" during 2- to 4-axis speed control, the axis exceeding the speed limit value is controlled with the speed limit value. The speeds of the other axes being interpolated are suppressed by the command speed ratio.
Page 251: Torque Limit Function
Torque limit function The "torque limit function" limits the generated torque to a value within the "torque limit value" setting range when the torque generated in the servo motor exceeds the "torque limit value". The "torque limit function" protects the deceleration function, limits the power of the operation pressing against the stopper, etc.
Page 252 Control details The following drawing shows the operation of the torque limit function. ■Operation example Each operation PLC READY signal [Y0] All axis servo ON [Y1] Positioning start signal [Y10] [Pr.17] Torque limit setting value [Cd.101] Torque output setting value [Cd.112] Torque change function 0 (Forward/reverse torque limit value same setting) switching request...
Page 253 Setting method • To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them to the Simple Motion module. The set details are validated at the rising edge (OFF  ON) of the PLC READY signal [Y0]. Setting item Setting value Setting details Factory-set initial value...
Page 254 • Parameters are set for each axis. • It is recommended that the parameters be set whenever possible with the engineering tool. Execution by a program uses many programs and devices. The execution becomes complicated, and the scan times will increase.
Page 255: Software Stroke Limit Function
Software stroke limit function In the "software stroke limit function" the address established by a machine home position return is used to set the upper and lower limits of the moveable range of the workpiece. Movement commands issued to addresses outside that setting range will not be executed.
Page 256 ■Current value changing When the current value is changed by a new current value command from 2000 to 1000, the command position value will change to 1000, but the machine feed value will stay the same at 2000. • When the machine feed value is set at the limit The machine feed value of 5000 (command position value: 4000) becomes the upper stroke limit.
Page 257 Relation between the software stroke limit function and various controls : Check valid : Check is not made when the command position value is not updated (Page 520 [Pr.21] Command position value during speed control) at the setting of "command position value" in "[Pr.14] Software stroke limit selection" during speed control.
Page 258 Axis 1 Deceleration stop is not carried out. Axis 1 stroke limit Arc address ([Da.7]) End point address ([Da.6]) Starting address Axis 2 The software stroke limit check is carried out for the following addresses during 2-axis circular interpolation control. (Note that "[Da.7] Arc address"...
Page 259 Setting method To use the "software stroke limit function", set the required values in the parameters shown in the following table, and write them to the Simple Motion module. The set details are validated at the rising edge (OFF  ON) of the PLC READY signal [Y0]. Setting item Setting Setting details...
Page 260 Setting when the control unit is "degree" ■Current value address The "[Md.20] Command position value" address is a ring address between 0 and 359.99999. 359.99999° 359.99999° 0° 0° 0° ■Setting the software stroke limit The upper limit value/lower limit value of the software stroke limit is a value between 0 and 359.99999. •...
Page 261: Hardware Stroke Limit Function
Hardware stroke limit function WARNING • When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic using b-contact. If it is set in positive logic using a-contact, a serious accident may occur. In the "hardware stroke limit function", limit switches are set at the upper/lower limit of the physical moveable range, and the control is stopped (by deceleration stop) by the input of a signal from the limit switch.
Page 262 • [RD77GF] For the operation when the servo amplifier stroke limit is detected, confirm the specifications of the servo amplifier to be used. The following shows the case of MR-J4-GF use. Lower limit Upper limit Control range of Simple Motion module Mechanical Mechanical stopper...
Page 263 ■Link device [RD77GF] Lower limit Upper limit Control range of Simple Motion module Mechanical Mechanical stopper stopper Movement Movement Start Start direction direction Simple Motion Deceleration stop Deceleration stop module at lower limit switch at upper limit switch Remote I/O RD77GF4 detection detection...
Page 264 ■External input signal via CPU (buffer memory of the Simple Motion module) For the wiring, refer to the manual of the module into which the external input signal is to be input. At MR-JE-B(F) use, refer to the following. Page 769 Connection with MR-JE-B(F) ■Link device [RD77GF] For the wiring, refer to the manual of the remote input module to be used.
Page 265 Servo parameter setting [RD77GF] Set the servo parameter shown below appropriately at MR-J4-GF use. Otherwise, the stroke limit signal cannot be released. The following table shows the relation between the control details and the stop process with each setting of the Simple Motion module and the servo amplifier, at the stroke limit detection.
Page 266 The consistency between "[Pr.116] FLS signal selection", "[Pr.117] RLS signal selection" and "[Pr.118] DOG signal selection" in controller setting and the servo parameter "Function selection D-4 (PD41)" is checked at the start of connection with the servo amplifier. When the software version of the Simple Motion module is "Ver.01": •...
Page 267 Precautions during control • If the machine is stopped outside the Simple Motion module control range (outside the upper/lower limit switches), or if stopped by hardware stroke limit detection, the starting for the "home position return control", "major positioning control", and "high-level positioning control"...
Page 268 When "0: Stroke limit always enabled" is set to the servo parameter "Function selection D-4 (PD41)" [RD77GF] Position [Md.20] Command position value [Md.21] Machine feed value [Md.101] Actual position value [Md.22] Speed command [Md.28] Axis speed command [Md.103] Motor rotation speed LSP/FLS or LSN/RLS signal [Md.117] Statusword...
Page 269: Forced Stop Function
Forced stop function WARNING • When the forced stop is required to be wired, ensure to wire it in the negative logic using b-contact. • Provided safety circuit outside the Simple Motion module so that the entire system will operate safety even when the "[Pr.82] Forced stop valid/invalid selection"...
Page 270 Wiring the forced stop [RD77MS] When using the forced stop function with the external input signal, wire the terminals of the Simple Motion module forced stop input as shown in the following drawing. As for the 24 V DC power supply, the direction of current can be switched. Simple Motion module 24 V DC EMI.COM...
Page 271 Precautions during control • After the "Forced stop input" is released, the servo ON/OFF is valid for the status of all axis servo ON [Y1]. • If the setting value of "[Pr.82] Forced stop valid/invalid selection" is outside the range, the error "Forced stop valid/invalid setting error"...
Page 272: Functions To Change The Control Details
Functions to Change the Control Details Functions to change the control details include the "speed change function", "override function", "acceleration/deceleration time change function", "torque change function" and "target position change function". Each function is executed by parameter setting or program creation and writing. Refer to "Combination of Main Functions and Sub Functions"...
Page 273 Precautions during control • At the speed change during continuous path control, when no speed designation (current speed) is provided in the next positioning data, the next positioning data is controlled at the "[Cd.14] New speed value". Also, when a speed designation is provided in the next positioning data, the next positioning data is controlled at its "[Da.8] Command speed".
Page 274 • When carrying out consecutive speed changes, be sure there is an interval between the speed changes of 10 ms or more. (If the interval between speed changes is short, the Simple Motion module will not be able to track, and it may become impossible to carry out commands correctly.) •...
Page 275 Setting method using an external command signal The speed can also be changed using an "external command signal". The following shows the data settings and program example for changing the control speed of axis 1 using an "external command signal". (In this example, the control speed is changed to "10000.00 mm/min".) •...
Page 276 Program example • Add the following program to the control program, and write it to the CPU module. [RD77MS example] Classification Label name Description Module label RD77_1.stnAxPrm_D[0].uExternalCommandFunctionMode_D Axis 1 External command function selection RD77_1.stnAxCtrl1_D[0].uExternalCommandValid_D Axis 1 External command valid RD77_1.stnAxCtrl1_D[0].udNewSpeed_D Axis 1 New speed value Global label, local label Defines the global label or the local label as follows.
Page 277: Override Function
Override function The override function changes the command speed by a designated percentage (0 to 300%) for all control to be executed. The speed can be changed by setting the percentage (%) by which the speed is changed in "[Cd.13] Positioning operation speed override".
Page 278 • When deceleration is started by the override function, the deceleration start flag does not turn ON. • The override function cannot be used during speed control mode, torque control mode or continuous operation to torque control mode. • The override function cannot be used during driver home position return. Setting method The following shows the data settings and program example for setting the override value of axis 1 to "200%".
Page 279: Acceleration/Deceleration Time Change Function
Acceleration/deceleration time change function The "acceleration/deceleration time change function" is used to change the acceleration/deceleration time during a speed change to a random value when carrying out the speed change by the "speed change function" and "override function". In a normal speed change (when the acceleration/deceleration time is not changed), the acceleration/deceleration time previously set in the parameters ([Pr.9], [Pr.10], and [Pr.25] to [Pr.30] values) is set in the positioning parameter data items [Da.3] and [Da.4], and control is carried out with that acceleration/deceleration time.
Page 280 Precautions during control • When "0" is set in "[Cd.10] New acceleration time value" and "[Cd.11] New deceleration time value", the acceleration/ deceleration time will not be changed even if the speed is changed. In this case, the operation will be controlled at the acceleration/deceleration time previously set in the parameters.
Page 281 If the speed is changed when an acceleration/deceleration change is enabled, the "new acceleration/ deceleration time" will become the acceleration/deceleration time of the positioning data being executed. The "new acceleration/deceleration time" remains valid until the changeover to the next positioning data. (The automatic deceleration processing at the completion of the positioning will also be controlled by the "new acceleration/deceleration time".) Setting method...
Page 282: Torque Change Function
Torque change function The "torque change function" is used to change the torque limit value during torque limiting. The torque limit value at the control start is the value set in the "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value".
Page 283 Control details The torque value (forward new torque value/new reverse torque value) of the axis control data can be changed at all times. The torque can be limited with a new torque value from the time the new torque value has been written to the Simple Motion module.
Page 284 ■Operation example 2 Each operation PLC READY signal [Y0] All axis servo ON [Y1] Positioning start signal [Y10] [Pr.17] Torque limit setting value [Cd.101] Torque output setting value [Cd.112] Torque change function switching request [Cd.22] New torque value/forward new torque value [Md.35] Torque limit stored value/forward torque limit stored value...
Page 285 Setting method To use the "torque change function", write the data shown in the following table to the Simple Motion module using the program. The set details are validated when written to the Simple Motion module. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting value Setting details...
Page 286: Target Position Change Function
Target position change function The "target position change function" is a function to change a target position to a newly designated target position at any timing during the position control (1-axis linear control). A command speed can also be changed simultaneously. The target position and command speed changed are set directly in the buffer memory, and the target position change is executed by "[Cd.29] Target position change request flag".
Page 287 Precautions during operation • If the positioning movement direction from the stop position to a new target position is reversed, stop the operation once and then position to the new target position. (Page 284 When the direction of the operation is changed:) •...
Page 288 Setting method from the CPU module The following shows the data settings and program example for changing the target position of axis 1 by the command from the CPU module. (In this example, the target position value is changed to "300.0 m" and the command speed is changed to "10000.00 mm/min".) •...
Page 289: Functions Related To Start
Functions Related to Start A function related to start includes the "pre-reading start function". This function is executed by parameter setting or program creation and writing. Pre-reading start function The "pre-reading start function" does not start servo while the execution prohibition flag is ON if a positioning start request is given with the execution prohibition flag ON, and starts servo within operation cycle after OFF of the execution prohibition flag is detected.
Page 290 Precautions during control • After positioning data analysis, the system is put in an execution prohibition flag OFF waiting status. Any change made to the positioning data in the execution prohibition flag OFF waiting status is not reflected on the positioning data. Change the positioning data before turning ON the positioning start signal.
Page 291: Absolute Position System
Absolute Position System The Simple Motion module can construct an absolute position system by installing the absolute position system and connecting it through SSCNET/H. The following describes precautions when constructing the absolute position system. The configuration of the absolute position system is shown below. Battery Servo motor •...
Page 292 Home position return In the absolute position system, a home position can be determined through home position return. In the "Data set method" home position return method, the location to which the location of the home position is moved by manual operation (JOG operation/manual pulse generator operation) is treated as the home position.
Page 293: Functions Related To Stop
Functions Related to Stop Functions related to stop include the "stop command processing for deceleration stop function", "Continuous operation interrupt function" and "step function". Each function is executed by parameter setting or program creation and writing. Stop command processing for deceleration stop function The "stop command processing for deceleration stop function"...
Page 294 Precautions for control • In manual control (JOG operation, inching operation, manual pulse generator operation) and speed-torque control, the stop command processing for deceleration stop function is invalid. • The stop command processing for deceleration stop function is valid when "0: Normal deceleration stop" is set in "[Pr.37] Stop group 1 rapid stop selection"...
Page 295: Continuous Operation Interrupt Function
Continuous operation interrupt function During positioning control, the control can be interrupted during continuous positioning control and continuous path control (continuous operation interrupt function). When "continuous operation interruption" is execution, the control will stop when the operation of the positioning data being executed ends. To execute continuous operation interruption, set "1: Interrupts continuous operation control or continuous path control"...
Page 296 Restrictions • When the "continuous operation interrupt request" is executed, the positioning will end. Thus, after stopping, the operation cannot be "restarted". When "[Cd.6] Restart command" is issued, the warning "Restart not possible" (warning code: 0902H) will occur. • Even if the stop command is turned ON after executing the "continuous operation interrupt request", the "continuous operation interrupt request"...
Page 297: Step Function
Step function The "step function" is used to confirm each operation of the positioning control one by one. It is used in debugging work for major positioning control, etc. A positioning operation in which a "step function" is used is called a "step operation". In step operations, the timing for stopping the control can be set.
Page 298 Step start request Control stopped by a step operation can be continued by setting "step continues" (to continue the control) in the "step start information". (The "step start information" is set in the control data "[Cd.36] Step start information".) The following table shows the results of starts using the "step start information" during step operation. Stop status in the step operation [Md.26] Axis operation [Cd.36] Step start information Step start results...
Page 299 Using the step operation The following shows the procedure for checking positioning data using the step operation. Start Turn ON the step valid flag. Write "1" (carry out step operation) in "[Cd.35] Step valid flag". Set in "[Cd.34] Step mode". Set the step mode.
Page 300 Control details • The following drawing shows a step operation example during a "deceleration unit step". [Cd.35] Step valid flag Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] Positioning complete signal ([Md.31] Status: b15) Positioning No.10 No.11 Positioning data No.
Page 301 Step function settings To use the "step function", write the data shown in the following table to the Simple Motion module using the program. Refer to the following for the timing of the settings. Page 297 Using the step operation The set details are validated after they are written to the Simple Motion module.
Page 302: Other Functions
Other Functions Other functions include the "skip function", "M code output function", "teaching function", "command in-position function", "acceleration/deceleration processing function", "deceleration start flag function", "speed control 10  multiplier setting for degree axis function" and "operation setting for incompletion of home position return function". Each function is executed by parameter setting or program creation and writing.
Page 303 Precautions during control • If the skip signal is turned ON at the last of an operation, a deceleration stop will occur and the operation will be terminated. • When a control is skipped (when the skip signal is turned ON during a control), the positioning complete signals will not turn •...
Page 304 Setting method using an external command signal The skip function can also be executed using an "external command signal". The following shows the settings and program example for skipping the control being executed in axis 1 using an "external command signal". •...
Page 305: M Code Output Function
M code output function The "M code output function" is used to command sub work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal ([Md.31] Status: b12) is turned ON during positioning execution, a No. called the M code is stored in "[Md.25] Valid M code".
Page 306 M code ON signal OFF request When the M code ON signal is ON, it must be turned OFF by the program. To turn OFF the M code ON signal, set "1" (turn OFF the M code signal) in "[Cd.7] M code OFF request". n: Axis No.
Page 307 Precautions during control • During interpolation control, the reference axis M code ON signal is turned ON. • The M code ON signal will not turn ON if "0" is set in "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/Number of pitches".
Page 308 Reading M codes "M codes" are stored in the following buffer memory when the M code ON signal turns ON. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Monitor item Monitor Storage details Buffer memory address value Axis 1 to axis 16...
Page 309: Teaching Function
Teaching function The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation manual pulse generator operation) in the positioning data addresses ("[Da.6] Positioning address/movement amount", "[Da.7] Arc address"). Control details ■Teaching timing Teaching is executed using the program when the BUSY signal is OFF. (During manual control, teaching can be carried out as long as the axis is not BUSY, even when an error or warning has occurred.) ■Addresses for which teaching is possible The addresses for which teaching is possible are "command position values"...
Page 310 Teaching procedure The following shows the procedure for a teaching operation. • When teaching to the "[Da.6] Positioning address/movement amount" (Teaching example on axis 1) Start Perform machine home position return on axis 1. Move the workpiece to the target Using a JOG operation, inching operation, or manual pulse generator operation.
Page 311 • When teaching to the "[Da.7] Arc address", then teaching to the "[Da.6] Positioning address/movement amount" (Teaching example for 2-axis circular interpolation control with sub point designation on axis 1 and axis 2) Start Perform a machine home position return on axis 1 and axis 2. Move the workpiece to the circular Using a JOG operation, inching operation, interpolation sub point using a...
Page 312 Teaching arc end point address Entering teaching data using "[Cd.38] Teaching data selection" on axis 2. and "[Cd.39] Teaching positioning data No." for axis 2 in the same fashion as for axis 1. End teaching? Turn OFF the PLC READY signal [Y0].
Page 313 Teaching program example The following shows a program example for setting (writing) the positioning data obtained with the teaching function to the Simple Motion module. ■Setting conditions When setting the command position value as the positioning address, write it when the BUSY signal is OFF. ■Operation example The following example shows a program carrying out the teaching of axis 1.
Page 314: Command In-Position Function
Command in-position function The "command in-position function" checks the remaining distance to the stop position during the automatic deceleration of positioning control, and sets "1". This flag is called the "command in-position flag". The command in-position flag is used as a front-loading signal indicating beforehand the completion of the position control.
Page 315 Setting method To use the "command in-position function", set the required value in the parameter shown in the following table, and write it to the Simple Motion module. The set details are validated at the rising edge (OFF  ON) of the PLC READY signal [Y0]. Setting item Setting Setting details...
Page 316: Acceleration/Deceleration Processing Function
Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration of each control to the acceleration/ deceleration curve suitable for device. Setting the acceleration/deceleration time changes the slope of the acceleration/deceleration curve. The following two methods can be selected for the acceleration/deceleration curve: •...
Page 317 ■S-curve acceleration/deceleration processing method In this method, the motor burden is reduced during starting and stopping. This is a method in which acceleration/deceleration is carried out gradually, based on the acceleration time, deceleration time, speed limit value, and "[Pr.35] S-curve ratio" (1 to 100%) set by the user. When a speed change request or override request is given during S-curve acceleration/deceleration processing, S-curve acceleration/deceleration processing begins at a speed change request or override request start.
Page 318: Deceleration Start Flag Function
Deceleration start flag function The "deceleration start flag function" turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete". This function can be used as a signal to start the operation to be performed by other equipment at each end of position control or to perform preparatory operation, etc.
Page 319 Precautions during control • The deceleration start flag function is valid for the control method of "1-axis linear control", "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "speed-position switching control" or "position-speed switching control". In the case of linear interpolation control, the function is valid for only the reference axis. For details, refer to "Combination of Main Functions and Sub Functions"...
Page 320 Checking of deceleration start flag The "deceleration start flag" is stored into the following buffer memory addresses. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Monitor item Monitor Storage details Buffer memory address value Axis 1 to axis 16 Axis 17 to axis 32...
Page 321: Speed Control 10 X Multiplier Setting For Degree Axis Function
Speed control 10 x multiplier setting for degree axis function The "Speed control 10  multiplier setting for degree axis function" is provided to execute the positioning control by 10  speed of the setting value in the command speed and the speed limit value when the setting unit is "degree". Control details When "Speed control 10 multiplier specifying function for degree axis"...
Page 322 Setting method Set "Valid/Invalid" by "[Pr.83] Speed control 10  multiplier setting for degree axis". Normally, the speed specification range is 0.001 to 2000000.000 [degree/min], but it will be decupled and become 0.01 to 20000000.00 [degree/min] by setting "[Pr.83] Speed control 10  multiplier setting for degree axis" to valid. To use the "Speed control 10 ...
Page 323: Operation Setting For Incompletion Of Home Position Return Function
Operation setting for incompletion of home position return function The "Operation setting for incompletion of home position return function" is provided to select whether positioning control is operated or not when the home position return request flag is ON. Control details When "[Pr.55] Operation setting for incompletion of home position return"...
Page 324 Setting method To use the "Operation setting for incompletion of home position return", set the following parameters using a program. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting Setting details Buffer memory address value Axis 1 to axis 16...
Page 325: Servo On/Off
8.10 Servo ON/OFF Servo ON/OFF This function executes servo ON/OFF of the servo amplifiers connected to the Simple Motion module. By establishing the servo ON status with the servo ON command, servo motor operation is enabled. The following two signals can be used to execute servo ON/OFF. •...
Page 326 • When the software version of the Simple Motion module is "Ver.02" or later After the initial communication with the servo amplifier is completed, the servo ON status is not established if the status is one of the following conditions. •...
Page 327: Follow Up Function
Follow up function Follow up function The follow up function monitors the number of motor rotations (actual position value) with the servo OFF and reflects the value in the command position value. If the servo motor rotates during the servo OFF, the servo motor will not just rotate for the amount of droop pulses at switching the servo ON next time, so that the positioning can be performed from the stop position.
Page 328: Chapter 9 Common Functions
COMMON FUNCTIONS The details and usage of the "common functions" executed according to the user's requirements are explained in this chapter. Common functions include functions required when using the Simple Motion module, such as parameter initialization and execution data backup. Read the setting and execution procedures for each common function indicated in this chapter thoroughly, and execute the appropriate function where required.
Page 329 Common function Details Means Program Engineering tool Online module change [RD77MS] Allows to replace a module without stopping the system. For procedures for the online module change, refer to the following. MELSEC iQ-R Online Module Change Manual Test mode This mode executes the test operation and adjustment of axes using an engineering ...
Page 330: Parameter Initialization Function
Parameter Initialization Function The "parameter initialization function" is used to return the setting data set in the buffer memory/internal memory and flash ROM/internal memory (nonvolatile) of Simple Motion module to the default values. Parameter initialization means • Initialization is executed with a program. •...
Page 331 The writing time to the flash ROM and the time for parameter initialization are shown below. • The writing time to the flash ROM: up to 5 seconds [RD77MS], up to 4 seconds [RD77GF] • The time for parameter initialization: approximately 5 seconds [RD77MS], up to 30 seconds [RD77GF] Do not turn the power ON/OFF or reset the CPU module during parameter initialization.
Page 332: Execution Data Backup Function
Execution Data Backup Function When the buffer memory data of Simple Motion module is rewritten from the CPU module, "the data backed up in the flash ROM/internal memory (nonvolatile)" of Simple Motion module may differ from "the execution data being used for control (buffer memory data)".
Page 333 Precautions during control • Data can only be written to the flash ROM when the positioning control is not carried out (when the PLC READY signal [Y0] is OFF). The warning "In PLC READY" (warning code: 0905H) will occur if executed when the PLC READY signal [Y0] is •...
Page 334: External Input Signal Select Function
[Pr.119] STOP signal 0002H The setting value can be set until "0AH" at RD77MS2 use. selection The setting is not required when the value other than "0" is set. (The setting is ignored.) *1 The setting is not available in "[Pr.119] STOP signal selection". If it is set, the error "STOP signal selection error" (error code: 1AD3H) occurs and the PLC READY signal [Y0] is not turned ON.
Page 335 Simple Motion module", the external input connection connector terminal of the Simple Motion module is used in duplicate with the external command signal (DI). The available range is shown below. RD77MS2: 1A1 to 1A5, 1B1 to 1B5 RD77MS4/RD77MS8/RD77MS16: 1A1 to 1A5, 1B1 to 1B5, 2A1 to 2A5, 2B1 to 2B5 [RD77GF] •...
Page 336 ■When "1: Servo amplifier" is set to the input type The following table shows the pin No. of the external input signal of the servo amplifier to be used. (Note): At MR-JE-B(F) use, refer to the following. Page 769 Connection with MR-JE-B(F) Pin No.
Page 337 (When the current is flowed through the input signal terminal: OFF, When the current is not flowed through the input signal terminal: ON) [Input terminal range] RD77MS2: b0 to b9 RD77MS4/RD77MS8/RD77MS16: b0 to b19 Refer to the following for the setting details.
Page 338 ■External input signals when the MR-J4-GF is connected [RD77GF] The data exchanging of the external input signal when the Simple Motion module is connected with the MR-J4-GF is shown below. • When the external input signal of the servo amplifier is used [The process of upper/lower limit switch (FLS/RLS) signal] MR-J4-GF Simple Motion module...
Page 339 [The process of proximity dog (DOG) signal] MR-J4-GF Simple Motion module DOG signal Logic filter DOG signal (PT29) processing [Pr.22] DOG signal Input signal CC-Link IE Field Network processing logic selection cyclic transmission   Proximity dog MR-J4-GF Data in CC-Link IE Simple Motion module signal input Field Network...
Page 340 • When other than the external input signal of the servo amplifier is used [The process of upper/lower limit switch (FLS/RLS) signal] Simple Motion module [Pr.22] Hardware Input signal logic Lower limit Upper limit stroke limit selection processing MR-J4-GF [Pr.913] Link device logic setting and Hardware...
Page 341 [The process of proximity dog (DOG) signal] Simple Motion module DOG signal [Pr.22] DOG signal Input signal logic processing MR-J4-GF selection [Pr.933] CC-Link DOG signal Logic filter Signal switching Link device logic IE Field Network processing (PT29) (ON: DOG ON) setting cyclic transmission ...
Page 342 ■External input signals and external command signals via link device [RD77GF] Use the following parameters to switch the logic for inputting various external input signals and external command signals from link devices of the CC-Link IE Field Network. [RD77GF] Signal type Setting item Initial value Setting details...
Page 343 Input filter setting method for external input signals The input filter is used to suppress chattering when the external input signal is chattering by noise, etc. The setting area of the input filter varies by the input type of "[Pr.116] FLS signal selection" to "[Pr.119] STOP signal selection". Input type of "[Pr.116] FLS signal selection"...
Page 344 ■External input signals from the servo amplifier (upper/lower stroke limit signal (FLS/RLS) and proximity dog signal (DOG)) Use the following parameter to set the input filter of the external input signals from the servo amplifier (upper/lower stroke limit signal (FLS/RLS) and proximity dog signal (DOG)). Setting item Initial value Setting details...
Page 345 ■List of labels to be used In the program examples, the labels to be used are assigned as follows. Classification Label name Description Module label RD77_1.stSysCtrl_D.uExternalInputOperationDevice1_D.0 Axis 1 FLS RD77_1.stSysCtrl_D.uExternalInputOperationDevice1_D.1 Axis 1 RLS RD77_1.stSysCtrl_D.uExternalInputOperationDevice1_D.2 Axis 1 DOG RD77_1.stSysCtrl_D.uExternalInputOperationDevice1_D.3 Axis 1 STOP RD77_1.stSysCtrl_D.uExternalInputOperationDevice1_D.C Axis 4 FLS RD77_1.stSysCtrl_D.uExternalInputOperationDevice1_D.D...
Page 346 Program example 9 COMMON FUNCTIONS 9.4 External Input Signal Select Function...
Page 347 9 COMMON FUNCTIONS 9.4 External Input Signal Select Function...
Page 348: Link Device External Signal Assignment Function [Rd77Gf]
Link Device External Signal Assignment Function [RD77GF] This function assigns link devices to the external signals of the Simple Motion module. Signals such as the upper/lower limit signal and proximity dog signal can be assigned to link devices. Signals that can be assigned The following signals used in the Simple Motion module can be assigned to the link devices of the CC-Link IE Field Network.
Page 349 • External command signal : Setting possible : Setting not possible External signal Settable points 1 bit 1 bit 1 bit 1 bit word words word words word words word words External positioning 1 point/1      ...
Page 350 Operation when a data link error occurs during communication ■Bit device Signals turn OFF regardless of the logic setting. ■Word device Manual pulse generator operation: When manual pulse generator operation start is in operation, the operation stops. Synchronous encoder axis: When the axis is on counter enabling status, it is changed to counter disabling status. Setting method Set this function with link device external signal assignment parameters.
Page 351 Related buffer memory areas Each external signal can be assigned by setting the following buffer memory areas. Assigning the forced stop signal (EMI) is valid only for the setting value of the axis 1. ■For bit device setting • Link device type n: Axis No.
Page 352 • Link device bit specification n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details/setting Initial Buffer memory address value value Axis 1 to axis 16 Axis 17 to axis 32 [Pr.902] Forced stop signal (EMI): Link device bit specification Set the bit No.
Page 353 • Link device logic setting n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details/setting Initial Buffer memory address value value Axis 1 to axis 16 Axis 17 to axis 32 [Pr.903] Forced stop signal (EMI): Link device logic setting Set the logic for assignment...
Page 354 ■For word device setting n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details/setting value Initial Buffer memory address value Axis 1 to axis 16 Axis 17 to axis 32 [Pr.700] Manual pulse Set link device type for use.
Page 355 Restrictions • When using the link device, the fetch timing of the signal disperses in one link scan cycle. • Set the movement amount per link scan so that the following formula is satisfied. If not, the actual movement amount of the synchronous encoder and the movement amount counted by the Simple Motion module may not be matched.
Page 356: History Monitor Function
History Monitor Function This function monitors start history and current value history stored in the buffer memory of the Simple Motion module on the operation monitor of an engineering tool. Start history The start history logs of operations such as positioning operation, JOG operation, and manual pulse generator operation can be monitored.
Page 357 Current value history The current value history data of each axis can be monitored. The following shows about the current value history data of each axis. Monitor details Monitor item Latest backup data Command position value The number of backup: Once Servo command value Encoder position within one revolution Encoder multiple revolution counter...
Page 358 ■Latest backup data The latest backup data outputs the following data saved in the fixed cycle to the buffer memory. • Command position value • Servo command value • Encoder position within one revolution • Encoder multiple revolution counter • Time 1 (Year: month) data •...
Page 359 ■Home position return data The following data saved at home position return completion to the buffer memory. • Command position value at home position return completion • Servo command value at home position return completion • Encoder position within one revolution of absolute position reference point data •...
Page 360: Amplifier-Less Operation Function
Amplifier-less Operation Function The positioning control of Simple Motion module without servo amplifiers connection can be executed in the amplifier-less function. This function is used to debug of user program or simulate of positioning operation at the start. Amplifier-less operation of the RD77MS Control details Switch the mode from the normal operation mode (with servo amplifier connection) to the amplifier-less operation mode (without servo amplifier connection) to use the amplifier-less operation function.
Page 361 Restrictions • Some monitor data differ from the actual servo amplifier during amplifier-less operation mode. n: Axis No. - 1 Item Description Buffer memory address [Md.102] Deviation counter value Always "0". 2452+100n 2453+100n [Md.105] Connected device As the following connected devices artificially. 58660+32n •...
Page 362 • The operation of the following monitor data differs from the normal operation mode during amplifier-less operation mode. n: Axis No. - 1 Item Description Buffer memory address [Md.30] External input signal When "1: Servo amplifier" is set in "[Pr.116] FLS signal selection", "[Pr.117] RLS signal 2416+100n selection", and "[Pr.118] DOG signal selection", the external input signal status can be operated by turning ON/OFF the "b0: Lower limit signal", "b1: Upper limit signal"...
Page 363 • Switch from the amplifier-less operation mode to the normal operation mode Stop all operating axes, and then confirm that the BUSY signal for all axes turned OFF. Turn OFF the PLC READY signal [Y0]. Confirm that the READY signal [X0] turned OFF. Set "0000H"...
Page 364: Amplifier-Less Operation Of The Rd77Gf
Amplifier-less operation of the RD77GF Control details Switch the mode from the normal operation mode (with servo amplifier connection) to the amplifier-less operation mode (without servo amplifier connection) to use the amplifier-less operation function. Operation for each axis without servo amplifier connection as the normal operation mode can be executed by connecting a virtual servo amplifier during amplifier-less operation mode.
Page 365 • The operation of the following function differs from the normal operation mode during amplifier-less operation mode. Function Operation External signal selection function When "1: Servo amplifier" is set in "[Pr.116] FLS signal selection", "[Pr.117] RLS signal selection", and "[Pr.118] DOG signal selection", the status of external signal at the amplifier-less operation mode start is shown below.
Page 366 • Changing the setting of "[Cd.137] Amplifier-less operation mode switching request" from "0000H" to "ABCDH" is equivalent to setting "FFFFH" in "[Cd.701] Virtual servo amplifier operation station specification" and setting "0001H" in "[Cd.700] Virtual servo amplifier operation command". • Changing the setting of "[Cd.137] Amplifier-less operation mode switching request" from "ABCDH" to "0000H"...
Page 367: Virtual Servo Amplifier Function
Virtual Servo Amplifier Function This function executes the operation virtually without connecting servo amplifiers (regarded as connected). The synchronous control with virtually input command is possible by using the virtual servo amplifier axis as servo input axis of synchronous control. Also, it can be used as simulation operation for axes without servo amplifiers. Virtual servo amplifier function of the RD77MS Control details •...
Page 368 Item Description Buffer memory address [Md.107] Parameter error No. Always "0". 2470+100n [Md.108] Servo status1 • READY ON (b0), Servo ON (b1): Changed depending on the all 2477+100n axis servo ON [Y1] and "[Cd.100] Servo OFF command" • Control mode (b2, b3): Indicates control mode. •...
Page 369: Virtual Servo Amplifier Function Of The Rd77Gf
Virtual servo amplifier function of the RD77GF Control details • The operation that actual servo amplifiers and virtual servo amplifiers are connected is possible following the classification shown in the table below. Module operation mode Switching between actual servo amplifiers and virtual servo Only virtual servo amplifiers setting amplifiers...
Page 370 Restrictions • The following monitor data of virtual servo amplifier differs from the actual servo amplifier. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Description Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Md.102] Deviation counter value...
Page 371 • The following monitor data of virtual servo amplifier differ from the actual servo amplifiers. The writing operation is possible in the virtual servo amplifier. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Description Buffer memory address...
Page 372 Setting method Set "[Pr.101] Virtual servo amplifier setting" as follows. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details/setting value Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Pr.101] Virtual servo amplifier Set if use as virtual servo amplifier axis.
Page 373: Driver Communication Function [Rd77Ms]
Module Combination of number of settable Remark axes Master axis Slave axis SSCNET MR-J3-_B_ RD77MS2 1 axis 1 axis or more per master The axes other than the MR-J3-_BS_ axis master axis and slave axis RD77MS4 1 axis to 2 axes...
Page 374 Control details Set the master axis and slave axis in the servo parameter. Execute each control of Simple Motion module for the master axis. (However, be sure to execute the servo ON/OFF of slave axis and error reset at servo alarm occurrence in the slave axis.) The servo amplifier set as master axis receives command (positioning command, speed command, torque command) from the Simple Motion module, and send the control data to the servo amplifier set as slave axis by driver communication between servo amplifiers.
Page 375 ■Servo amplifier • Use the servo amplifiers compatible with the driver communication for the axis to execute the driver communication. • The combination of the master axis and slave axis is set in the servo parameters. The setting is valid by turning ON or resetting the system's power supply after writing the servo parameters to the Simple Motion module.
Page 376 ■I/O signals of slave axis • Input signal: All signals cannot be used. The error detection signal turns ON "Error detection" ([Md.31] Status: b13). • Output signal: All signals cannot be used. ■Data used for positioning control of slave axis •...
Page 377 Servo parameter Set the following parameters for the axis to execute the driver communication. (Refer to each servo amplifier instruction manual or manual for details.) [MR-J3-_B_/MR-J3-_BS_/MR-J3-_B_-RJ006 use] n: Axis No. - 1 Setting item Setting details Buffer memory address Input/output PA04 Forced stop deceleration function Disable deceleration stop function at the master axis and...
Page 378 [MR-J4-_B_/MR-J4-_B_-RJ/MR-J5-_B_/MR-J5-_B_-RJ use] n: Axis No. - 1 Setting item Setting details Buffer memory address Input/output PA04 Forced stop deceleration function selection Disable deceleration stop function at the master 28404+100n setting axis and slave axis. PD15 Driver communication setting Set the master axis and slave axis. 65534+340n PD16 Driver communication setting...
Page 379: Mark Detection Function
9.10 Mark Detection Function Any data can be latched at the input timing of the mark detection signal (DI). Also, only data within a specific range can be latched by specifying the data detection range. The following three modes are available for execution of mark detection. Continuous detection mode The latched data is always stored to the first of mark detection data storage area at mark detection.
Page 380 Performance specifications [RD77MS] Item Performance specifications RD77MS2 RD77MS4 RD77MS8 RD77MS16 Number of mark detection Up to 16 settings Input signal External input signal (DI1 to External input signal (DI1 to DI20) DI10) Input signal detection Selectable for leading edge or trailing edge in logic setting of external input signal...
Page 381 Operation for mark detection function Operations done at mark detection are shown below. • Calculations for the mark detection data are estimated at leading edge/trailing edge of the mark detection signal. However, when the specified number of detections mode is set, the current number of mark detection is checked, and then it is judged whether to execute the mark detection.
Page 382 How to use mark detection function An example for mark detection using the following signal or link device is shown below. • The external command signal (DI2) of axis 2 [RD77MS] • RX100 [RD77GF] The mark detection target is axis 1 actual position value, and the all range is detected in continuous detection mode. •...
Page 383 List of parameters and data The following shows the configuration of parameters and data for mark detection function. Buffer memory address Item Mark detection setting No. 54000 to 54019 Mark detection setting parameter Mark detection setting 1 [Pr.800] to [Pr.811] 54020 to 54039 Mark detection setting 2 54040 to 54059...
Page 384 Mark detection setting parameters k: Mark detection setting No. - 1 Setting item Setting details/setting value Default Buffer memory value address [Pr.800] Mark detection signal Set the external input signal (high speed input request) for mark detection. 54000+20k setting [RD77MS] 0: Invalid 1 to 2: External command signal of axis 1 to axis 2 (2-axis module) 1 to 4: External command signal of axis 1 to axis 4 (4-axis module)
Page 385 Setting item Setting details/setting value Default Buffer memory value address [Pr.811] Mark detection signal Set the signal detection direction. Only the setting of b0 is effective. 54014+20k detection direction setting 0: Rising detection [RD77GF] 1: Falling detection Fetch cycle: At power supply ON The above parameters are valid with the value set in the flash ROM of the Simple Motion module when the power ON or the CPU module reset.
Page 386 [Pr.803] Mark detection data axis No. Set the axis No. of data that latched at mark detection. [Pr.802] Mark detection data type [Pr.803] Mark detection data axis No. Setting Data name Unit 2-axis 4-axis 8-axis 16-axis 32-axis value module module module module module...
Page 387 [Pr.807] Mark detection mode setting Set the data storage method of mark detection. Mode Setting value Operation for mark detection Mark detection data storage method Continuous detection Always The data is updated in the mark detection mode data storage area 1. Specified number of 1 to 32 Number of detections...
Page 388 Mark detection control data k: Mark detection setting No. - 1 Setting item Setting details/setting value Default value Buffer memory address [Cd.800] Number of mark Set "1" to execute "0" clear of number of mark detections. 54640+10k detection clear "0" is automatically set after completion by "0" clear of number of request mark detections.
Page 389 Mark detection monitor data k: Mark detection setting No. - 1 Storage item Storage details/storage value Buffer memory address [Md.800] Number of mark detection The number of mark detections is stored. 54960+80k "0" clear is executed at power supply ON. Continuous detection mode: 0 to 65535 (Ring counter) Specified number of detection mode: 0 to 32 Ring buffer mode: 0 to (number of buffers - 1)
Page 390: Optional Data Monitor Function [Rd77Ms]
9.11 Optional Data Monitor Function [RD77MS] Registered monitor The data of the registered monitor is refreshed every operation cycle. This function is used to store the data (refer to following table) up to four points per axis to the buffer memory and monitor them.
Page 391 ■List of parameters and data The parameters and data used in the registered monitor of the optional data monitor function is shown below. • Extended parameter n: Axis No. - 1 Setting item Setting details/setting value Buffer memory address [Pr.91] Optional data monitor: Data type setting 1 •...
Page 392 • Axis monitor data n: Axis No. - 1 Storage item Storage details/storage value Buffer memory address [Md.109] Regenerative load ratio/Optional data • The content set in "[Pr.91] Optional data monitor: Data type setting 1" is stored at 2478+100n monitor output 1 optional data monitor data type setting.
Page 393: Event History Function
9.12 Event History Function The "event history function" is used to save the error information and the operation for the module as an event in the data memory or an SD memory card of the CPU module. The saved event information can be displayed with an engineering tool and the occurrence history can be checked in chronological order.
Page 394 Detailed information of error/warning event The items displayed in the detailed information, which vary depending on each error category, are configured by the items shown in the table below. Error category Detailed information 1 Detailed information 2 Detailed information 3 H/W error ...
Page 395 Error category Detailed information 1 Detailed information 2 Detailed information 3 SLMP communication Axis information   [RD77GF] • Axis in which an event occurred • Request object Index • Request object SubIndex • SDO Abort Code Servo amplifier connection Axis information ...
Page 396 Details of start Start No. Occurred data No. Point No. at block start No. at block start (Positioning start No.) occurrence JOG operation At start 9010 Not displayed Not displayed (Analyzing) Operating Manual pulse At start 9011 generator (Analyzing) operation Operating Speed-torque Mode...
Page 397: Connect/Disconnect Function Of Sscnet Communication [Rd77Ms]
9.13 Connect/Disconnect Function of SSCNET Communication [RD77MS] Temporarily connect/disconnect of SSCNET communication is executed during system's power supply ON. This function is used to exchange the servo amplifiers or SSCNET cables. Control details Set the connect/disconnect request of SSCNET communication in "[Cd.102] SSCNET control command", and the status for the command accept waiting or execute waiting is stored in "[Md.53] SSCNET control status".
Page 398 ■System monitor data Monitor item Monitor value Storage details Buffer memory address [Md.53] SSCNET control status  The connect/disconnect status of SSCNET communication is 4233 stored. 1: Disconnected axis existing 0: Command accept waiting -1: Execute waiting -2: Executing Procedure to connect/disconnect Procedure to connect/disconnect at the exchange of servo amplifiers or SSCNET...
Page 399 Program The following shows the program example to connect/disconnect the servo amplifiers connected after Axis 5. Disconnect procedure Connect procedure Turn OFF the servo amplifier's power supply after checking the LED display Resume operation of servo amplifier after checking the "[Md.26] Axis "AA"...
Page 400 ■Connect operation Classification Label name Description Module label RD77_1.stSysMntr1_D.wSSCNET_ControlStatus_D Axis 1 SSCNET control status RD77_1.stSysCtrl_D.wSSCNET_ControlCommand_D Axis 1 SSCNET control command Global label, local label Defines the global label or the local label as follows. The settings of Assign (Device/Label) are not required for the label that the assignment device is not set because the unused internal relay and data device are automatically assigned.
Page 401: Servo Cyclic Transmission Function [Rd77Gf]
9.14 Servo Cyclic Transmission Function [RD77GF] The "servo cyclic transmission function" reads and writes objects of a slave device with cyclic transmission. The cyclic transmission is appropriate for communication of fixed cycle data. For the objects that can be read and written with the cyclic transmission, refer to the manual of the slave device. With the servo cyclic transmission, up to four points can be set per axis.
Page 402 ■Axis control data n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details/setting value Initial Buffer memory address value Axis 1 to axis 16 Axis 17 to axis 32 [Cd.170] Optional send •...
Page 403: Servo Transient Transmission Function [Rd77Gf]
9.15 Servo Transient Transmission Function [RD77GF] The "servo transient transmission function" reads and writes objects of a slave device with transient transmission. The transient transmission is appropriate for communication of the data that does not need to be read or written at a fixed cycle and the large data.
Page 404 ■Control data for slave device operation n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details/setting value Initial Buffer memory address value Axis 1 to axis 16 Axis 17 to axis 32 [Cd.160] Optional SDO Requests the servo transient transmission.
Page 405 ■Sending/receiving timing The following shows sending/receiving timing of the servo transient transmission. • Sending/receiving timing of self read/write (Normal operation) [Cd.160] Optional SDO transfer request 1 No Request Write/read request (self) No Request [Md.160] Optional SDO transfer result 1 [Cd.164] Optional SDO transfer data 1 Read data (at reading) (at writing)
Page 406 • Sending/receiving timing of continuous read/write (Operation failure) [Cd.160] Optional SDO transfer request 1 No Request Write/read request (continuous) [Md.160] Optional SDO transfer result 1 Other than 0 [Cd.164] Optional SDO transfer data 1 Read data Not updated (at reading) (at writing) Write data Data valid bit...
Page 407: Online Module Change [Rd77Ms]
9.16 Online Module Change [RD77MS] Allows to replace a module without stopping the system. For procedures for the online module change, refer to the following. MELSEC iQ-R Online Module Change Manual 9 COMMON FUNCTIONS 9.16 Online Module Change [RD77MS]...
Page 408: Test Mode
9.17 Test Mode The "test mode" is used to execute the test operation and adjustment of axes using an engineering tool. This mode can execute the test operation and adjustment for multiple axes simultaneously. Therefore, a system such as a tandem configuration can be started up smoothly.
Page 409 Differences from normal operation The following shows differences between the normal operation and the operation during the test mode. Item During test mode During normal operation JOG operation JOG operation is executed based on the JOG operation is executed based on the setting ...
Page 410 ■List of the parameters to be used during positioning operation Parameter item During test mode During normal operation Movement amount The setting values on the The value set in the positioning data positioning operation display Command speed The value set in the positioning parameters Acceleration time constant Deceleration time constant Rapid stop deceleration time constant...
Page 411 Stop operation of the test mode operation axes When the following stop causes occur for the test mode operation axes, the stop process is performed for the all axes in which the test mode is in operation. When the test operation is executed for multiple axes, the stop process is performed for the test mode operation axes in which a stop command or stop cause does not occur even if a stop command or stop cause occurs for each test mode operation axis.
Page 412: Servo Parameter Change Function [Rd77Gf]
9.18 Servo Parameter Change Function [RD77GF] This function transfers servo parameters. Servo parameters, which are controlled by servo amplifiers, can be changed with a Simple Motion module. Control details The following shows the storage destination and the transfer timing of servo parameters. Engineering tool RD77GF Buffer memory...
Page 413 ■(2) [Open area  Servo amplifier] Self write Specify the object index of a parameter to be read for "[Cd.131] Parameter No.". Set the data to be written for "[Cd.132] Change data". • For the size of the object to be written, refer to the servo amplifier instruction manual. Set "1"...
Page 414 ■(4) [Open area  Servo amplifier] Write with specified size Specify the number of parameters to be written and the size (number of bytes) per object for "[Cd.121] Parameter size". Specify the start object of the parameters to be written for "[Cd.122] Parameter offset". Set the data to be written for "[Cd.125] Request data".
Page 415 Restrictions ■When "[Cd.130] Servo parameter read/write request" is used • When a request is sent in the following status, "3: Error" is stored in "[Cd.130] Servo parameter read/write request". • Communication with the servo amplifier is not established or a communication error occurs. •...
Page 416 Data list n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Setting item Setting details/setting value Initial Buffer memory address value Axis 1 to axis 16 Axis 17 to axis 32 [Cd.130] Servo parameter Set the read request or the write request of a servo parameter.
Page 417: Positioning Data, Start Block Data Write/Read Functions [Rd77Ms]
9.19 Positioning Data, Start Block Data Write/Read Functions [RD77MS] This function is used to write/read optional positioning data and block start data by using the following control data for positioning data and block start data. This function allows the positioning data No.101 to 600 and the start block data No.2 to 4, which are not stored in the buffer memory, to be written/read by operating the control data without using the engineering tool.
Page 418: Positioning Data Write Function
Positioning data write function This function is used to write/read optional positioning data by using the following control data. Setting item Setting value [Cd.220] Positioning data control request For details of the setting values, refer to the following. Page 654 Control data for positioning data, block start data [Cd.221] Positioning data No.
Page 419 Rewriting method for positioning data Specify the positioning data No. in "[Cd.221] Positioning data No. setting". Specify the setting value in "[Cd.226] Positioning data/block start data setting value". Set "_ _01H: Write request" in "[Cd.220] Positioning data control request". It is possible to specify necessity of writing for each data by operating bit 8 to bit 15 of "[Cd.220] Positioning data control request".
Page 420 Reading method for positioning data Specify the positioning data No. to "[Cd.221] Positioning data No. setting". Set "0002H: Read request" in "[Cd.220] Positioning data control request". The positioning data specified in "[Cd.221] Positioning data No. setting" is read to "[Cd.226] Positioning data/block start data setting value".
Page 421: Block Start Data Write Function
Block start data write function This function is used to write/read optional block start data or condition data by using the following control data. When specifying "0: Block start data" in "[Cd.224] Block start data type setting", it is possible to write/read block start data. When specifying "1: Condition data", it is possible to write/read condition data.
Page 422 • When "1: Condition data" is set in "[Cd.224] Block start data type setting" Setting item Setting value [Cd.222] Block start data control request 0000H: No control request (Control end) _ _01H: Write request 0002H: Read request 00FFH: Write/read error [Cd.223] Block No.
Page 423 Block No.0 to 1 for each axis (Buffer memory) No.10 Buffer memory Setting item address ●Up to 10 condition data items can be set No.2 (stored) for each block No. in the buffer No.1 Buffer memory Setting item memory addresses shown on the left. 22190+400n address Buffer memory...
Page 424 Rewriting method for block start data Specify the block No. in "[Cd.223] Block No. setting". Specify "0: Block start data" in "[Cd.224] Block start data type setting". Specify the block start data No. in "[Cd.225] Block start data No. setting". Specify the setting value in "[Cd.226] Positioning data/block start data setting value".
Page 425 Reading method for block start data Specify the block No. in "[Cd.223] Block No. setting". Specify "0: Block start data" in "[Cd.224] Block start data type setting". Specify the block start data No. in "[Cd.225] Block start data No. setting". Set "0002H: Read request"...
Page 426 Rewriting method for condition data Specify the block No. in "[Cd.223] Block No. setting". Specify "1: Condition data" in "[Cd.224] Block start data type setting". Specify the condition data No. in "[Cd.225] Block start data No. setting". Specify the setting value in "[Cd.226] Positioning data/block start data setting value". Set "_ _01H: Write request"...
Page 427 Reading method for condition data Specify the block No. in "[Cd.223] Block No. setting". Specify "1: Condition data" in "[Cd.224] Block start data type setting". Specify the condition data No. in "[Cd.225] Block start data No. setting". Set "0002H: Read request" in "[Cd.222] Block start data control request". The condition data of the condition data No.
Page 428: Hot Line Forced Stop Function [Rd77Ms]
9.20 Hot Line Forced Stop Function [RD77MS] This function is used to execute deceleration stop safety for other axes when the servo alarm occurs in the servo amplifier MR-JE-B. Control details The hot line forced stop function is set in the servo parameter. This function can execute deceleration stop for other axes without via Simple Motion module by notifying the servo alarm occurrence.
Page 429 • The following shows the timing chart at the servo alarm occurrence. Positioning control Axis in which the servo alarm occurred (axis 2) [Md.108] Servo status1 (b7: Servo alarm) Positioning control Axis in which the servo alarm does not occur (axis 1) [Md.108] Servo status1 (b15: Servo warning) [Cd.5] Axis error reset...
Page 430: Chapter 10 Parameter Setting
PARAMETER SETTING This chapter describes the parameter setting of the Simple Motion module. By setting parameters, the parameter setting by program is not needed. The parameter setting has two types including the module parameter and Simple Motion module setting (Module extended parameter [RD77GF]).
Page 431: Module Parameters
10.2 Module Parameters Set the module parameter. The module parameter has the following settings. [RD77MS] • Refresh settings [RD77GF] Module parameter (Motion) • Module operation setting (Module extended parameter storage location setting) • Refresh settings Module parameter (Network) • Required settings •...
Page 432 Setting item The refresh setting has the following items. Item Reference Refresh at the set Transfer to the Command position value Page 585 [Md.20] Command position value timing. CPU. Machine feed value Page 586 [Md.21] Machine feed value Speed command Page 587 [Md.22] Speed command Axis error No.
Page 433 Item Reference Refresh at the set Transfer to the Special start repetition counter Page 597 [Md.41] Special start repetition counter timing. CPU. Control system repetition counter Page 597 [Md.42] Control system repetition counter Start data pointer being executed Page 598 [Md.43] Start data pointer being executed Positioning data No.
Page 434 ■Refresh group Set the refresh timing of the specified refresh destination. Setting value Description At the Execution Time of END Instruction Performs refresh at END processing of the CPU module. At the Execution Time of Specified Program Performs refresh at the execution of the program specified with "Group [n] (n: 1-64)". Refresh processing time A refresh processing time [s] is a constituent of the scan time of the CPU module.
Page 435 ■When "Target" is a specified device Calculate the refresh read time according to the number of items and the number of their transfer data (word) that are set to be refreshed. For the calculation method, refer to the following.  MELSEC iQ-R CPU Module User's Manual (Application) In addition, substitute the following values in the calculation formula to calculate the refresh read time.
Page 436: Module Extended Parameter Storage Location Setting [Rd77Gf]
Module extended parameter storage location setting [RD77GF] Set the module extended parameter storage location. The setting is common for all axes. Module extended Description parameter storage location setting CPU module The module extended parameter is stored in the CPU module or SD memory card. At power ON, the module extended parameter stored in the CPU module is reflected to the buffer memory.
Page 437: Simple Motion Module Setting (Module Extended Parameter [Rd77Gf])
10.3 Simple Motion Module Setting (Module Extended Parameter [RD77GF]) Set the required setting for the Simple Motion module. Refer to "Help" in the "Simple Motion Module Setting Function" of the engineering tool for details. Select the Simple Motion module setting (module extended parameter [RD77GF]) from the tree on the following window. [RD77MS] Navigation window ...
Page 438: Chapter 11 Specifications Of I/O Signals With Cpu Modules
SPECIFICATIONS OF I/O SIGNALS WITH CPU MODULES 11.1 List of Input/Output Signals with CPU Modules The Simple Motion module uses following input/output points for exchanging data with the CPU module. • 2-axis module/4-axis module/8-axis module/16-axis module…32 points • 32-axis module…64 points [RD77GF] The input/output signals of the Simple Motion module are shown below.
Page 439 Signal direction: Simple Motion module  CPU module Device No. Signal name READY Synchronization flag Use prohibited  Axis 1 BUSY Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14...
Page 440 Signal direction: CPU module  Simple Motion module Device No. Signal name PLC READY All axis servo ON Use prohibited  Axis 1 Positioning start Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12...
Page 441: Details Of Input Signals
11.2 Details of Input Signals The ON/OFF timing and conditions of the input signals are shown below. Device Signal name Details READY ON: READY • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting range is OFF: Not READY/Watch dog checked.
Page 442: Details Of Output Signals
11.3 Details of Output Signals The ON/OFF timing and conditions of the output signals are shown below. Device Signal name Details PLC READY OFF: PLC READY OFF (a) This signal notifies the Simple Motion module that the CPU module is normal. ON: PLC READY ON •...
Page 443: Chapter 12 Data Used For Positioning Control
DATA USED FOR POSITIONING CONTROL The parameters and data used to carry out positioning control with the Simple Motion module are explained in this chapter. With the positioning system using the Simple Motion module, the various parameters and data explained in this chapter are used for control.
Page 444 The setting data is classified as follows. Classification Item Description [RD77MS] Parameters Servo network composition parameters Parameters for the network. Simple Motion Set the device to be used and the network according to the module setting system configuration. [RD77GF] Common parameters Parameters that are independent of axes and related to the Simple Motion overall system.
Page 445 • The following methods are available for data setting. In this manual, the method using the engineering tool will be explained. (Refer to the next "Point".) • Set using the engineering tool. • Create the program for data setting and execute it. •...
Page 446: Setting Items For Servo Network Composition Parameters
Monitor data The data indicates the control status. The data is stored in the buffer memory. Monitor the data as necessary. The monitor data is classified as follows. Item Description System monitor data Monitors the specifications and the operation history of Simple Motion module. Axis monitor data Monitors the data related to the operating axis, such as the current position and speed.
Page 447: Setting Items For Common Parameters
Setting items for common parameters The setting items for the "common parameters" are shown below. The "common parameters" are independent of axes and related to the overall system. : Set as required ("" when not required) : Setting not required (When the value is the default value or within the setting range, there is no problem.) Common parameter Home Major positioning control...
Page 448 : Always set : Set as required ("" when not required) : Setting not required (When the value is the default value or within the setting range, there is no problem.) Common parameter Manual control Expansion Related sub control function Manual pulse Inching JOG operation...
Page 449: Setting Items For Positioning Parameters
Setting items for positioning parameters The setting items for the "positioning parameters" are shown below. The "positioning parameters" are set for each axis for all controls achieved by the Simple Motion module. Home position return control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Home position return control...
Page 450 Positioning parameter Home position return control Detailed parameters 2 [Pr.25] Acceleration time 1  [Pr.26] Acceleration time 2  [Pr.27] Acceleration time 3  [Pr.28] Deceleration time 1  [Pr.29] Deceleration time 2  [Pr.30] Deceleration time 3  [Pr.31] JOG speed limit value ...
Page 451 Major positioning control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Major positioning control Position control 1 to 4 Speed-...
Page 452 Positioning parameter Major positioning control Position control 1 to 4 Speed- Other control axis position 1-axis linear 1/2/3/4- 2-axis 3-axis Current JUMP speed control axis circular helical value instruction, control position- 2/3/4-axis fixed- interpolation interpolation changing speed linear feed control control instruction, control...
Page 453 Positioning parameter Major positioning control Position control 1 to 4 Speed- Other control axis position 1-axis linear 1/2/3/4- 2-axis 3-axis Current JUMP speed control axis circular helical value instruction, control position- 2/3/4-axis fixed- interpolation interpolation changing speed linear feed control control instruction, control...
Page 454 Positioning parameter Major positioning control Position control 1 to 4 Speed- Other control axis position 1-axis linear 1/2/3/4- 2-axis 3-axis Current JUMP speed control axis circular helical value instruction, control position- 2/3/4-axis fixed- interpolation interpolation changing speed linear feed control control instruction, control...
Page 455 Manual control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Manual control Manual pulse Inching operation JOG operation...
Page 456 Positioning parameter Manual control Manual pulse Inching operation JOG operation generator operation Detailed parameters 2 [Pr.25] Acceleration time 1    [Pr.26] Acceleration time 2    [Pr.27] Acceleration time 3    [Pr.28] Deceleration time 1 ...
Page 457 Expansion control : Always set, : Set as required ("" when not required), : Setting not possible, : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Expansion control Speed-torque control Basic parameters 1 [Pr.1] Unit setting...
Page 458 Positioning parameter Expansion control Speed-torque control Detailed parameters 2 [Pr.25] Acceleration time 1  [Pr.26] Acceleration time 2  [Pr.27] Acceleration time 3  [Pr.28] Deceleration time 1  [Pr.29] Deceleration time 2  [Pr.30] Deceleration time 3  [Pr.31] JOG speed limit value ...
Page 459: Setting Items For Home Position Return Parameters
Setting items for home position return parameters When carrying out "home position return control", the "home position return parameters" must be set. The setting items for the "home position return parameters" are shown below. The "home position return parameters" are set for each axis. : Always set : Set as required : Setting not required (When the value is the default value or within the setting range, there is no problem.)
Page 460: Setting Items For Extended Parameters [Rd77Ms]
Checking the home position return parameters [Pr.43] to [Pr.57] are checked with the following timing. • When the "PLC READY signal [Y0]" output from the CPU module to the Simple Motion module changes from OFF to ON Setting items for extended parameters [RD77MS] The setting items for the "extended parameters"...
Page 461: Setting Items For Positioning Data
Setting items for positioning data Positioning data must be set for carrying out any "major positioning control". The table below lists the items to be set for producing the positioning data. One to 600 positioning data items can be set for each axis. : Always set : Set as required (""...
Page 462 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur at start.) : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning data Speed-position switching control Position-speed switching control...
Page 463 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur at start.) : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning data Other control Current value...
Page 464: Setting Items For Block Start Data
Setting items for block start data The "block start data" must be set when carrying out "high-level positioning control". The setting items for the "block start data" are shown below. Up to 50 points of "block start data" can be set for each axis. : Set as required (""...
Page 465: Types And Roles Of Monitor Data
Types and roles of monitor data The monitor data area in the buffer memory stores data relating to the operating state of the positioning system, which are monitored as required while the positioning system is operating. The following data are available for monitoring. Item Description System monitoring...
Page 466 ■Monitoring the speed Monitor details Corresponding item Monitor the During independent axis control Indicates the speed of [Md.22] Speed command current each axis speed During When "0: Composite speed" is set for "[Pr.20] Indicates the interpolation Interpolation speed designation method" composite speed control When "1: Reference axis speed"...
Page 467 ■Monitoring the state Monitor details Corresponding item Monitor the latest error code that occurred with the axis [Md.23] Axis error No. Monitor the latest warning code that occurred with the axis [Md.24] Axis warning No. Monitor the valid M codes [Md.25] Valid M code Monitor the axis operation state [Md.26] Axis operation status...
Page 468: Types And Roles Of Control Data
Types and roles of control data Operation of the positioning system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the program.) Items that can be controlled are described below.
Page 469 ■Controlling the speed Control details Corresponding item When changing acceleration time during speed change, set new acceleration time. [Cd.10] New acceleration time value When changing deceleration time during speed change, set new deceleration time. [Cd.11] New deceleration time value Set acceleration/deceleration time validity during speed change. [Cd.12] Acceleration/deceleration time change value during speed change, enable/disable Change positioning operation speed between 0 and 300% range.
Page 470 Control details Corresponding item Set the PI-PID switching to servo amplifier. [Cd.136] PI-PID switching request Speed-torque Switch the control mode. [Cd.138] Control mode switching request control Set the control mode to switch. [Cd.139] Control mode setting Set the command speed during speed control mode. [Cd.140] Command speed at speed control mode Set the acceleration time during speed control mode.
Page 471: List Of Buffer Memory Addresses
12.2 List of Buffer Memory Addresses The following shows the relation between the buffer memory addresses and the various items. Do not use the buffer memory address that not been described here for a "Maker setting". References for the list of buffer memory addresses in this section are shown below. Buffer memory address Reference Buffer memory addresses for positioning data...
Page 472 ■Positioning parameters: Basic parameters 2 n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Fetch cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Pr.8] Speed limit value When the next each 10+150n 1000010+150n...
Page 473 ■Positioning parameters: Detailed parameters 2 n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Fetch cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Pr.25] Acceleration time 1 When the next each 36+150n 1000036+150n...
Page 474 ■Home position return parameters: Home position return detailed parameters n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Fetch cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Pr.50] Setting for the movement amount after proximity dog ON [RD77MS] PLC READY signal...
Page 475 Item Refresh cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Md.132] Operation cycle setting At power supply ON 4238 [Md.133] Operation cycle over flag Immediate 4239 [Md.134] Operation time Operation cycle 4008 [Md.135] Maximum operation time Immediate 4009 [Md.700]...
Page 476 Item Refresh cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Md.46] Last executed positioning data No. Immediate 2437+100n 1002437+100n [Md.47] Positioning data being executed Positioning identifier 2438+100n 1002438+100n M code 2439+100n 1002439+100n Dwell time 2440+100n 1002440+100n Positioning option...
Page 477 Item Refresh cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Md.124] Control mode switching status [RD77MS] Operation cycle 2495+100n  (Only at the continuous operation to torque control mode) [Md.125] Servo status3 [RD77MS] Operation cycle 2458+100n ...
Page 478 Item Fetch cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Cd.8] External command valid At request 4305+100n 1004305+100n [Cd.9] New position value 4306+100n 1004306+100n 4307+100n 1004307+100n [Cd.10] New acceleration time value 4308+100n 1004308+100n 4309+100n 1004309+100n [Cd.11] New deceleration time value...
Page 479 Item Fetch cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Cd.46] Speed-position switching command Vary with operation 4367+100n 1004367+100n cycle [RD77MS] Inter-module synchronization cycle [RD77GF] [Cd.100] Servo OFF command Operation cycle 4351+100n 1004351+100n [Cd.101] Torque output setting value At start 4352+100n...
Page 480 Item Fetch cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Cd.183] Execution prohibition flag At start 30103+10n 1030103+10n *1 When the operation cycle is 0.444 ms: 0.444 When the operation cycle is other than 0.444 ms: 0.888 ■Control data for positioning data or block start data n: Axis No.
Page 481 Memory area Item Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 No.2 [Da.1] Operation pattern 6010+1000n 1006010+1000n [Da.2] Control method   [Da.3] Acceleration time No. 6019+1000n 1006019+1000n [Da.4] Deceleration time No. 71010+1000n 1071010+1000n 71011+1000n 1071011+1000n [Da.6] Positioning address/movement amount [Da.7] Arc address...
Page 482 [Block start data] ■Positioning data (Block start data) n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Memory area Item Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 Start block 0 Block start data 1st [Da.11]...
Page 483 Memory area Item Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [RD77MS] Start block 2 Block start data Set with the  engineering tool. Condition data Start block 3 Block start data Condition data Start block 4 Block start data Condition data [RD77GF]...
Page 484 Servo parameters The following shows the relation between the buffer memory addresses of servo parameters and the various items. Since the servo parameters of MR-J5(W)-B are not in the buffer memory, use GX Works3 or axis control data to set them. Refer to the following for details.
Page 485 Item Servo amplifier parameter No. Buffer memory address  PB02 28420+100n PB03 28421+100n   PB04 28422+100n PB05 28423+100n  PB06 28424+100n  PB07 28425+100n  PB08 28426+100n  PB09 28427+100n  PB10 28428+100n  PB11 28429+100n  PB12 28430+100n ...
Page 486 Item Servo amplifier parameter No. Buffer memory address PB55 64422+70n  PB56 64423+70n  PB57 64424+70n  PB58 64425+70n  PB59 64426+70n  PB60 64427+70n  PB61 64428+70n  PB62 64429+70n  PB63 64430+70n  PB64 64431+70n  PC01 28464+100n ...
Page 487 Item Servo amplifier parameter No. Buffer memory address  PC44 64443+70n PC45 64444+70n   PC46 64445+70n PC47 64446+70n  PC48 64447+70n  PC49 64448+70n  PC50 64449+70n  PC51 64450+70n  PC52 64451+70n  PC53 64452+70n  PC54 64453+70n ...
Page 488 Item Servo amplifier parameter No. Buffer memory address PD33 65552+340n  PD34 65553+340n  PD35 65554+340n  PD36 65555+340n  PD37 65556+340n  PD38 65557+340n  PD39 65558+340n  PD40 65559+340n  PD41 65560+340n  PD42 65561+340n  PD43 65562+340n ...
Page 489 Item Servo amplifier parameter No. Buffer memory address  PE38 65605+340n PE39 65606+340n   PE40 65607+340n PE41 65608+340n  PE42 65609+340n  PE43 65610+340n  PE44 65611+340n  PE45 65612+340n  PE46 65613+340n  PE47 65614+340n  PE48 65615+340n ...
Page 490 Item Servo amplifier parameter No. Buffer memory address PS27 65738+340n  PS28 65739+340n  PS29 65740+340n  PS30 65741+340n  PS31 65742+340n  PS32 65743+340n  PF01 65632+340n  PF02 65633+340n  PF03 65634+340n  PF04 65635+340n  PF05 65636+340n ...
Page 491 Item Servo amplifier parameter No. Buffer memory address  PF48 65679+340n Po01 65680+340n   Po02 65681+340n Po03 65682+340n  Po04 65683+340n  Po05 65684+340n  Po06 65685+340n  Po07 65686+340n  Po08 65687+340n  Po09 65688+340n  Po10 65689+340n ...
Page 492 Item Servo amplifier parameter No. Buffer memory address PL21 65764+340n  PL22 65765+340n  PL23 65766+340n  PL24 65767+340n  PL25 65768+340n  PL26 65769+340n  PL27 65770+340n  PL28 65771+340n  PL29 65772+340n  PL30 65773+340n  PL31 65774+340n ...
Page 493 ■Mark detection control data k: Mark detection setting No. - 1 Item Fetch cycle Buffer memory address [Cd.800] Number of mark detection clear request Operation cycle 54640+10k [Cd.801] Mark detection invalid flag 54641+10k [Cd.802] Latch data range change request Operation cycle/at 54642+10k conditions established (DI...
Page 494 Item Fetch cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Pr.952] External positioning start request: Link device bit specification PLC READY signal 440052+320n 1440052+320n [Y0] OFF to ON [Pr.953] External positioning start request: Link device logic setting 440053+320n 1440053+320n [Pr.960]...
Page 495 ■Link device external signal assignment parameters (word device) [RD77GF] n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Fetch cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Pr.700] Manual pulse generator input: Link device type PLC READY signal...
Page 496 Item Fetch cycle Buffer memory address Axis 1 to axis 16 Axis 17 to axis 32 [Cd.170] Optional send PDO data 1 At request 534768+2048n 1534768+2048n (Command request) 534769+2048n 1534769+2048n 534770+2048n 1534770+2048n 534771+2048n 1534771+2048n [Cd.171] Optional send PDO data 2 534772+2048n 1534772+2048n 534773+2048n...
Page 497 Servo object specification area The following shows the relation between the buffer memory addresses for servo object specification area and the various items. ■Servo object specification area [RD77GF] n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Fetch cycle Buffer memory address...
Page 498: Basic Setting
193EH) occurs. When connecting with the connected device with the setting value other than above, the warning "Incompatible device" (warning code: 0C81H) occurs. ■Identification code Set with a hexadecimal. 58021 58020 (High-order) (Low-order) Vendor ID Identification code Mitsubishi electric (Vendor ID: 0000) Identification Model Remark Network code 0100 MR-J3-_B_, MR-J3W-_B (2-axis type) SSCNET 0101 MR-J3-_B_-RJ006 (For fully closed loop control) SSCNET...
Page 499 CKD NIKKI DENSO (Vendor ID: 0008) Identification Model Remark Network code 0102 VC (Manufactured by CKD NIKKI DENSO CO., LTD.) (For linear SSCNET stage) 0107 VC (Manufactured by CKD NIKKI DENSO CO., LTD.) (For direct SSCNET drive motor) 0302 VPH (Manufactured by CKD NIKKI DENSO CO., LTD.) (For linear SSCNET...
Page 500: Servo Network Composition Parameters Of The Rd77Gf
Servo network composition parameters of the RD77GF n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Setting details Default Buffer memory address value Axis 1 to axis 16 Axis 17 to axis 32 [Pr.100] Connected Used to set the slave device supporting the motion mode for...
Page 501: Common Parameters
Common parameters Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.24] 0: A-phase/B-phase multiplied by 4 Manual pulse generator/ 1: A-phase/B-phase multiplied by 2 Incremental synchronous 2: A-phase/B-phase multiplied by 1 encoder input selection [RD77MS] 3: pulse/SIGN...
Page 502 [Pr.24] Manual pulse generator/Incremental synchronous encoder input selection [RD77MS] Set the manual pulse generator/incremental synchronous encoder input pulse mode. Manual pulse generator/Incremental synchronous encoder input selection Setting value A-phase/B-phase multiplied by 4 A-phase/B-phase multiplied by 2 A-phase/B-phase multiplied by 1 pulse/SIGN Set the positive logic or negative logic in "[Pr.151] Manual pulse generator/Incremental synchronous encoder input logic selection".
Page 503 ■pulse/SIGN [Pr.151] Manual pulse generator/Incremental synchronous encoder input logic selection Positive logic Negative logic Forward run and reverse run are controlled with the ON/OFF of the direction Forward run and reverse run are controlled with the ON/OFF of the direction sign (SIGN).
Page 504 [Pr.89] Manual pulse generator/Incremental synchronous encoder input type selection [RD77MS] Set the input type from the manual pulse generator/incremental synchronous encoder. Manual pulse generator/Incremental synchronous encoder input type selection Setting value Differential output type Voltage output/open collector type Refer to "External Input Connection Connector of the RD77MS" in the following manual for details of the input type. MELSEC iQ-R Simple Motion Module User's Manual (Startup) The "Manual pulse generator/Incremental synchronous encoder input type selection"...
Page 505 [RD77MS] When "FFFFH: Automatic setting" is set, the optimum operation cycle is set according to "[Pr.152] Maximum number of control axes". Confirm the set operation cycle in "[Md.132] Operation cycle setting". "[Md.133] Operation cycle over flag" may turn ON depending on the positioning content. In this case, confirm "[Md.135] Maximum operation time"...
Page 506 ON, When the current is not flowed through the input signal terminal: OFF) ON at trailing edge (When the current is flowed through the input signal terminal: OFF, When the current is not flowed through the input signal terminal: ON) ■RD77MS2 Input terminal Input terminal...
Page 507 [Pr.152] Maximum number of control axes Set the maximum number of control axes. Maximum number of control axes Setting value [RD77MS] No setting (Controls with the maximum number of control axes for each module.) [RD77GF] Automatic setting (The maximum value of the axis No., whose setting of "[Pr.100] Connected device"...
Page 508 [Pr.153] External input signal digital filter setting [RD77MS] Set the digital filter for each input signal (SIN1 to SIN20). • This parameter is used to suppress chattering when the external input signal is chattering by noise, etc. • When lengthening the filter setting time, the signal detection timing will be slow. F i l t e r s e t t i n g 1 SIN4 SIN3...
Page 509: Basic Parameters1
Basic parameters1 This section describes the details on the basic parameter 1. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Setting value, setting range Default Buffer memory address value Value set with the Value set with a Axis 1 to axis 16 Axis 17 to axis 32...
Page 510 [Pr.2] to [Pr.4] Electronic gear (Movement amount per pulse) Mechanical system value used when the Simple Motion module performs positioning control. The settings are made using [Pr.2] to [Pr.4]. The electronic gear is expressed by the following equation. [Pr.2] Number of pulses per rotation (AP) Electronic [Pr.3] Movement amount per rotation (AL) ×...
Page 511 [Pr.3] Movement amount per rotation (AL), [Pr.4] Unit magnification (AM) The amount how the workpiece moves with one motor rotation is determined by the mechanical structure. If the worm gear lead (m/rev) is PB and the deceleration rate is 1/n, then Movement amount per rotation (AL) = PB ...
Page 512 [Pr.7] Bias speed at start Set the bias speed (minimum speed) upon starting. When using a stepping motor, etc., set it to start the motor smoothly. (If the motor speed at start is low, the stepping motor does not start smoothly.) The specified "bias speed at start"...
Page 513 ■Precautionary notes • "[Pr.7] Bias speed at start" is valid regardless of motor type. Set "0" when using the motor other than the stepping motor. Otherwise, it may cause vibration or impact even though an error does not occur. • Set "[Pr.7] Bias speed at start" according to the specification of stepping motor driver. If the setting is outside the range, it may cause the following troubles by rapid speed change or overload.
Page 514: Basic Parameters2
Basic parameters2 This section describes the details on the basic parameter 2. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Setting value, setting range Default Buffer memory address value Value set with the Value set with a program Axis 1 to axis 16 Axis 17 to axis 32...
Page 515: Detailed Parameters1
Detailed parameters1 n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Setting value, setting range Default Buffer memory address value Value set with the engineering tool Value set with a Axis 1 to Axis 17 to program axis 16...
Page 516 Item Setting value, setting range Default Buffer memory address value Value set with the engineering tool Value set with a Axis 1 to Axis 17 to program axis 16 axis 32 [Pr.116] b0 to b3: Input type 0001H 116+150n 1000116+150n b15 to b12 b11 to b8 b7 to b4 b3 to b0 FLS signal selection 0 (0000H): Simple Motion module [RD77MS]...
Page 517 [Pr.11] Backlash compensation amount The error that occurs due to backlash when moving the machine via gears can be compensated. (When the backlash compensation amount is set, commands equivalent to the compensation amount will be output each time the direction changes during positioning.) [Pr.44] Home position return direction Workpiece (moving body)
Page 518 [Pr.12] Software stroke limit upper limit value Set the upper limit for the machine's movement range during positioning control. [Pr.1] setting value Value set with the engineering tool (unit) Value set with a program (unit) 0: mm -214748364.8 to 214748364.7 (m) -2147483648 to 2147483647 ( ...
Page 519 [Pr.16] Command in-position width Set the remaining distance that turns the command in-position flag ON. When the remaining distance to the stop position during the automatic deceleration of positioning control becomes equal to or less than the value set in the command in- position width, the command in-position flag turns ON.
Page 520 [Pr.18] M code ON signal output timing This parameter sets the M code ON signal output timing. Choose either WITH mode or AFTER mode as the M code ON signal output timing. ■Operation example WITH mode: An M code is output and the M code ON signal AFTER mode : An M code is output and the M code ON signal is turned ON when a positioning operation starts.
Page 521 [Pr.19] Speed switching mode Set whether to switch the speed switching mode with the standard switching or front-loading switching mode. • Speed of positioning data No.n > Speed of positioning data No.n + 1. The speed decelerates by deceleration time No. of positioning data No.n + 1. •...
Page 522 ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 470 Positioning parameters: Detailed parameters 1 [Pr.21] Command position value during speed control Specify whether you wish to enable or disable the update of "[Md.20] Command position value" while operations are performed under the speed control (including the speed control in speed-position and position-speed switching control).
Page 523 When the input type is set with "0: Simple Motion module", set the input terminal. The setting is not required when the value other than "0" is set. 00H: No setting (The control by the external input signal is disabled.) • [RD77MS2] 01H to 0AH: Set the input terminal. • [RD77MS4/RD77MS8/RD77MS16] 01H to 14H: Set the input terminal.
Page 524: Detailed Parameters2
Detailed parameters2 n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Setting value, setting range Default Buffer memory address value Value set with the engineering tool Value set with a program Axis 1 to Axis 17 to axis 16 axis 32...
Page 525 Item Setting value, setting range Default Buffer memory address value Value set with the engineering tool Value set with a program Axis 1 to Axis 17 to axis 16 axis 32 [Pr.83] 0: Invalid 63+150n 1000063+150n Speed control 10  multiplier setting for 1: Valid degree axis...
Page 526 [Pr.28] Deceleration time 1 to [Pr.30] Deceleration time 3 These parameters set the time for the speed to decrease from the "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control) to zero during a positioning operation. ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 527 [Pr.34] Acceleration/deceleration process selection Set whether to use trapezoid acceleration/deceleration or S-curve acceleration/deceleration for the acceleration/deceleration process. Refer to the following for details. Page 314 Acceleration/deceleration processing function Velocity Velocity The acceleration and deceleration The acceleration and deceleration are linear. follow a Sin curve.
Page 528 [Pr.36] Rapid stop deceleration time Set the time to reach speed 0 from "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control) during the rapid stop. The illustration below shows the relationships with other parameters. 1) Positioning start 2) Rapid stop cause occurrence 3) Positioning stop •...
Page 529 [Pr.40] Positioning complete signal output time Set the output time of the positioning complete signal output from the Simple Motion module. A positioning completes when the specified dwell time has passed after the Simple Motion module had terminated the command output. For the interpolation control, the positioning completed signal of interpolation axis is output only during the time set to the reference axis.
Page 530 [Pr.41] Allowable circular interpolation error width The allowable error range of the calculated arc path and end point address is set. If the error of the calculated arc path and end point address is within the set range, circular interpolation will be carried out to the set end point address while compensating the error with spiral interpolation.
Page 531 [Pr.42] External command function selection [RD77MS] Select a command with which the external command signal should be associated. Setting value Details 0: External positioning start The external command signal input is used to start a positioning operation. 1: External speed change request The external command signal input is used to change the speed in the current positioning operation.
Page 532 [Pr.84] Restart allowable range when servo OFF to ON ■Restart function at switching servo OFF to ON The restart function at switching servo OFF to ON performs continuous positioning operation (positioning start, restart) when switching servo OFF to ON while the Simple Motion module is stopped (including forced stop, servo forced stop). Restart at switching servo OFF to ON can be performed when the difference between the last command position of Simple Motion module at stop and the current value at switching servo OFF to ON is equal to or less than the value set in the buffer memory for the restart allowable range setting.
Page 533 • The difference between the last command position at servo OFF and the current value at servo ON is output at once at the first restart. If the restart allowable range is large at this time, an overload may occur on the servo side.
Page 534 [Pr.90] Operation setting for speed-torque control mode Operation setting of the speed control mode, torque control mode or continuous operation to torque control mode at the speed-torque control is executed. ■Torque initial value selection Set the torque initial value at switching to torque control mode or to continuous operation to torque control mode. Setting value Details 0: Command torque...
Page 535 [Pr.95] External command signal selection [RD77MS] Set the external command signal. ■RD77MS2 Setting value Details 0: Not used External command signal is not used. 1: DI1 DI1 is used as external command signal.   10: DI10 DI10 is used as external command signal.
Page 536 [Pr.123] Manual pulse generator speed limit value Set the maximum speed during manual pulse generator operation. • The "Manual pulse generator speed limit value" is included in detailed parameters 2. However, it will be valid at the leading edge (OFF to ON) of the PLC READY signal [Y0]. •...
Page 537: Home Position Return Basic Parameters
Home position return basic parameters n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Setting value, setting range Default Buffer memory address value Value set with the engineering tool Value set with Axis 1 to Axis 17 to a program...
Page 538 [Pr.44] Home position return direction Set the direction to start movement when starting machine home position return. Setting value Details 0: Positive direction (address increment direction) Moves in the direction that the address increments. (Arrow 2)) 1: Negative direction (address decrement direction) Moves in the direction that the address decrements.
Page 539 [Pr.46] Home position return speed Set the speed for home position return. Fast home position return is carried out at the home position return speed. [RD77GF] [Pr.1] setting value Value set with the engineering tool (unit) Value set with a program (unit) 0: mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 ( ...
Page 540 [Pr.1] setting value Value set with the engineering tool (unit) Value set with a program (unit) 0: mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 (  10 mm/min) 1: inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 (  10 inch/min) 2: degree 0.001 to 2000000.000 (degree/min)
Page 541: Home Position Return Detailed Parameters
Home position return detailed parameters n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Setting value, setting range Default Buffer memory address value Value set with the engineering tool Value set with a program Axis 1 to Axis 17 to axis 16...
Page 542 [Pr.50] Setting for the movement amount after proximity dog ON [RD77MS] When using the count method 1 or 2, set the movement amount to the home position after the proximity dog signal turns ON. (The movement amount after proximity dog ON should be equal to or greater than the sum of the "distance covered by the deceleration from the home position return speed to the creep speed"...
Page 543 [Pr.52] Home position return deceleration time selection Set which of "deceleration time 0 to 3" to use for the deceleration time during home position return. 0: Use the value set in "[Pr.10] Deceleration time 0". 1: Use the value set in "[Pr.28] Deceleration time 1". 2: Use the value set in "[Pr.29] Deceleration time 2".
Page 544 [Pr.54] Home position return torque limit value [RD77MS] Set the value to limit the servo motor torque after reaching the creep speed during machine home position return. Refer to the following for details on the torque limits. Page 249 Torque limit function ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 545 [Pr.57] Dwell time during home position return retry [RD77MS] When home position return retry is validated (when "1" is set for [Pr.48]), set the stop time after decelerating in 2) and 4) in the following drawing. Temporarily stop for Temporarily stop for the time set in [Pr.57].
Page 546: Extended Parameters
Extended parameters n: Axis No. - 1 Item Setting value, setting range Default Buffer memory value address Value set with the engineering tool Value set with a program [Pr.91] 0: No setting 100+150n Optional data monitor: Data type 1: Effective load ratio setting 1 [RD77MS] 2: Regenerative load ratio 3: Peak load ratio...
Page 547 [Pr.91] to [Pr.94] Optional data monitor: Data type setting [RD77MS] Set the data type monitored by the optional data monitor function. Setting value Data type Used point No setting 1 word Effective load ratio Regenerative load ratio Peak load ratio Load inertia moment ratio Model loop gain Bus voltage...
Page 548 • The monitor address of optional data monitor is registered to servo amplifier with initialized communication after power supply ON or CPU module reset. • Set the data type of "used point: 2 words" in "[Pr.91] Optional data monitor: Data type setting 1" or "[Pr.93] Optional data monitor: Data type setting 3".
Page 549: Servo Parameters
Servo parameters Parameters of MR-J5(W)-B For details of the setting items, refer to the manual of each servo amplifier. Since the servo parameters of MR-J5(W)-B are not in the buffer memory, use GX Works3 or axis control data to set them. Refer to the following for details.
Page 550: Positioning Data
12.4 Positioning Data Before explaining the positioning data setting items [Da.1] to [Da.10], [Da.20] to [Da.22], [Da.27] to [Da.29], the configuration of the positioning data is shown below. The positioning data stored in the buffer memory of the Simple Motion module is the following configuration. Up to 100 positioning data items can be set (stored) for each axis in the buffer memory address shown on the left.
Page 551 The following explains the positioning data setting items [Da.1] to [Da.10], [Da.20] to [Da.22] and [Da.27] to [Da.29]. (The buffer memory addresses shown are those of the "positioning data No.1".) n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Setting value Default...
Page 552 Item Setting value Default Buffer memory address value Value set with the Value set with a program Axis 1 to axis Axis 17 to engineering tool axis 32 Positioning [Da.2] 22H: Helical interpolation 0000H 6000+1000n 1006000+1000n [Da.2] identifier Control control with center point Setting value method specified (ABS, CW)
Page 553 Item Setting value Default Buffer memory address value Value set with the Value set with a program Axis 1 to axis Axis 17 to engineering tool axis 32 Axis to be [Da.20] 0: Axis 1 selected 0000H 71000+1000n 1071000+1000n interpolated Axis to be 1: Axis 2 selected 71001+1000n...
Page 554 [Da.1] Operation pattern The operation pattern designates whether positioning of a certain data No. is to be ended with just that data, or whether the positioning for the next data No. is to be carried out in succession. Operation pattern Setting value Details Positioning complete...
Page 555 [Da.6] Positioning address/movement amount Set the address to be used as the target value for positioning control. The setting value range differs according to the "[Da.2] Control method". ■Absolute (ABS) system, current value changing • The setting value (positioning address) for the ABS system and current value changing is set with an absolute address (address from home position).
Page 556 ■Position-speed switching control • Set the amount of movement before the switching from position control to speed control. ● When "[Pr.1] Unit setting" is "mm" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges.
Page 557 ● When "[Pr.1] Unit setting" is "degree" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) ( ...
Page 558 ● When "[Pr.1] Unit setting" is "pulse" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) [Da.2] setting value Value set with the engineering tool (pulse)
Page 559 ● When "[Pr.1] Unit setting" is "inch" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) ( ...
Page 560 [Da.7] Arc address The arc address is data required only when carrying out 2-axis circular interpolation control or 3-axis helical interpolation control. • When carrying out circular interpolation with sub point designation, set the sub point (passing point) address as the arc address.
Page 561 ■When "[Pr.1] Unit setting" is "pulse" The table below lists the control methods that require the setting of the arc address and shows the setting range. (With any control method excluded from the table below, the arc address does not need to be set.) [Da.2] setting value Value set with the engineering tool (pulse) Value set with a program (pulse)
Page 562 [Da.8] Command speed Set the command speed for positioning. • If the set command speed exceeds "[Pr.8] Speed limit value", positioning will be carried out at the speed limit value. • If "-1" is set for the command speed, the current speed (speed set for previous positioning data No.) will be used for positioning control.
Page 563 [Da.9] Dwell time/JUMP destination positioning data No. Set the "dwell time" or "positioning data No." corresponding to the "[Da.2] Control method". • When a method other than "JUMP instruction" is set for "[Da.2] Control method": Set the "dwell time". • When "JUMP instruction" is set for "[Da.2] Control method": Set the "positioning data No." for the JUMP destination. When the "dwell time"...
Page 564 [Da.10] M code/Condition data No./No. of LOOP to LEND repetitions/No. of pitches Set an "M code", a "condition data No.", the "Number of LOOP to LEND repetitions" or the "Number of pitches" depending on how the "[Da.2] Control method" is set. *1 The condition data specifies the condition for the JUMP instruction to be executed.
Page 565 [Da.20] Axis to be interpolated No.1 to [Da.22] Axis to be interpolated No.3 Set the axis to be interpolated to execute the 2 to 4-axis interpolation operation. Set the circular interpolation axis and the linear interpolation axis to execute the 3-axis helical interpolation control. 2-axis interpolation Set the target axis No.
Page 566 [Da.28] ABS direction in degrees Set "[Cd.40] ABS direction in degrees" to each positioning data. Refer to the following for setting details. Page 519 [Pr.20] Interpolation speed designation method 0: Uses the setting value of "[Cd.40] ABS direction in degrees". 1: ABS circular right 2: ABS circular left 3: Takes a shortcut.
Page 567: Block Start Data
12.5 Block Start Data Before explaining the block start data setting items [Da.11] to [Da.14], the configuration of the block start data is shown below. The block start data stored in the buffer memory of the Simple Motion module is the following configuration. 50th point Buffer memory Setting item...
Page 568 n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Setting value Default Buffer memory address value Value set with the engineering Value set with a program Axis 1 to Axis 17 to tool axis 16 axis 32...
Page 569 [Da.13] Special start instruction Set the "special start instruction" for using "high-level positioning control". (Set how to start the positioning data set in "[Da.12] Start data No.".) Setting value Setting details 00H: Block start (Normal start) Execute the random block positioning data in the set order with one start. 01H: Condition start Carry out the condition judgment set in "condition data"...
Page 570: Condition Data
12.6 Condition Data Before explaining the condition data setting items [Da.15] to [Da.19] and [Da.23] to [Da.26], the configuration of the condition data is shown below. The condition data stored in the buffer memory of the Simple Motion module is the following configuration. No.10 Buffer memory Setting item...
Page 571 The following explains the condition data setting items [Da.15] to [Da.19] and [Da.23] to [Da.26]. (The buffer memory addresses shown are those of the "condition data No.1 (block No.7000)".) • To perform a high-level positioning control using block start data, set a number between 7000 and 7004 to the "[Cd.3] Positioning start No."...
Page 572 n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) Item Setting value Default Buffer memory address value Value set with Value set with a program Axis 1 to Axis 17 to axis 16 axis 32 engineering tool...
Page 573 Item Setting value Default Buffer memory address value Value set with Value set with a program Axis 1 to Axis 17 to axis 16 axis 32 engineering tool [Da.19] Value 0000H 22106+400n 1022106+400n Example) Parameter 2 22107+400n 1022107+400n 22107 22106 (High-order) (Low-order) Value...
Page 574 [Da.15] Condition target Set the condition target as required for each control. Setting value Setting details 01H: Device X Set the state (ON/OFF) of an I/O signal as a condition. 02H: Device Y 03H: Buffer memory (1-word) Set the value stored in the buffer memory as a condition. 03H: The target buffer memory is "1-word (16 bits)"...
Page 575 [Da.17] Address Set the address as required for the "[Da.15] Condition target". [Da.15] Condition target Setting value Setting details 01H: Device X Not used. (There is no need to set.)  02H: Device Y 03H: Buffer memory (1-word) Value (Buffer memory Set the target "buffer memory address".
Page 576 ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 480 Positioning data (Block start data) [Da.19] Parameter 2 Set the parameters as required for the "[Da.16] Condition operator" and "[Da.23] Number of simultaneous starting axes". [Da.16] Condition [Da.23] Number of Setting value...
Page 577 [Da.24] Simultaneous starting axis No.1 to [Da.26] Simultaneous starting axis No.3 Set the simultaneous starting axis to execute the 2 to 4-axis simultaneous start. Simultaneous Details starting axis 2-axis interpolation Set the target axis No. in "[Da.24] Simultaneous starting axis No.1". 3-axis interpolation Set the target axis No.
Page 578: Monitor Data
12.7 Monitor Data The setting items of the monitor data are explained in this section. System monitor data Unless noted in particular, the monitor value is saved as binary data. [Md.1] In test mode flag Whether the mode is the test mode from the engineering tool or not is stored. Storage value In test mode flag When not in test mode...
Page 579 [Md.4] Start No. The start No. is stored. Storage value Start No. 001 to 600(0001H to 0258H) Positioning operation 7000 (1B58H) 7001 (1B59H) 7002 (1B5AH) 7003 (1B5BH) 7004 (1B5CH) 9010 (2332H) Jog operation 9011 (2333H) Manual pulse generator 9001 (2329H) Machine HPR 9002 (232AH) Fast HPR...
Page 580 [Md.54] Start (Year: month) The starting time (Year: month) is stored. Buffer memory configuration Stored contents Storage value Year (tens place) 0 to 9 Year (ones place) 0 to 9 Month (tens place) 0, 1 Month (ones place) 0 to 9 Refresh cycle: At start If a start signal is issued against an operating axis, a record relating to this event may be output before a record relating to an earlier start signal is output.
Page 581 [Md.60] Start (ms) The starting time (ms) is stored. 000 (ms) to 999 (ms) Buffer memory configuration Stored contents Storage value ms (hundreds place) 0 to 9 ms (tens place) 0 to 9 ms (ones place) 0 to 9 Refresh cycle: At start If a start signal is issued against an operating axis, a record relating to this event may be output before a record relating to an earlier start signal is output.
Page 582 [Md.8] Start history pointer Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing start history records. The storage value (Pointer No.) is 0 to 63. Refresh cycle: At start If a start signal is issued against an operating axis, a record relating to this event may be output before a record relating to an earlier start signal is output.
Page 583 ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 472 System monitor data [Md.59] Module information Stores the module information. Storage value Unit information 4000H RD77MS2 4001H RD77MS4 4002H RD77MS8 4003H RD77MS16 5001H...
Page 584 [Md.63] Optical hub unit installation information [RD77MS] Checks the connection status of the optical hub unit and stores the data as bit data. Buffer memory configuration Stored items Storage value Optical hub unit No.1 to 8 0: Not installed 1: Installed Not used *1 No.1 to 8 show the connection order from the Simple Motion module.
Page 585 [Md.132] Operation cycle setting Stores the current operation cycle. Storage value Operation cycle RD77MS 0000H 0.888 ms 0001H 1.777 ms 0002H 3.555 ms 0200H 0.444 ms RD77GF 0021H 0.500 ms 0022H 1.000 ms 0023H 2.000 ms 0024H 4.000 ms Refresh cycle: At power supply ON ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 586 [Md.135] Maximum operation time Stores the maximum value of operation time (unit: s) after each module's power supply ON. Refresh cycle: Immediate ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 472 System monitor data [Md.700] Virtual servo amplifier connected station monitor [RD77GF] Stores the station where a virtual servo amplifier is connected.
Page 587: Axis Monitor Data
Axis monitor data [Md.20] Command position value The currently commanded address is stored. (Different from the actual motor position during operation) The current position address is stored. If "degree" is selected as the unit, the addresses will have a ring structure for values between 0 and 359.99999. As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 588 [Md.21] Machine feed value The address of the current position according to the machine coordinates will be stored. (Different from the actual motor position during operation) Note that the current value changing function will not change the machine feed value. Under the speed control mode, the machine feed value is constantly updated always, irrespective of the parameter setting.
Page 589 [Md.22] Speed command The speed of the operating workpiece is stored. (May be different from the actual motor speed during operation) As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value. The decimal integer value can be converted into other units by multiplying said value by the following conversion values.
Page 590 [Md.23] Axis error No. When an axis error is detected, the error code corresponding to the error details is stored. • The latest error code is always stored. (When a new axis error occurs, the error code is overwritten.) • When "[Cd.5] Axis error reset" is set to "1", the axis error No. is cleared (set to 0). •...
Page 591 [Md.26] Axis operation status This area stores the axis operation status. Storage value Axis operation status Step standby Error Standby Stopped Interpolation JOG operation Manual pulse generator operation Analyzing Special start standby Home position return Position control Speed control Speed control in speed-position switching control Position control in speed-position switching control Position control in position-speed switching control Speed control in position-speed switching control...
Page 592 ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 473 Axis monitor data [Md.28] Axis speed command The speed which is actually output as a command at that time in each axis is stored. (May be different from the actual motor speed)"0"...
Page 593 [Md.29] Speed-position switching control positioning movement amount The movement amount for the position control to end after changing to position control with the speed-position switching control is stored. When the control method is "Reverse run: position/speed", the negative value is stored. As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 594 [Md.31] Status This area stores the states (ON/OFF) of various flags. Information on the following flags is stored. Flag Details In speed control flag This signal that comes ON under the speed control can be used to judge whether the operation is performed under the speed control or position control.
Page 595 Buffer memory configuration Stored items Storage value In speed control flag 0: OFF 1: ON Speed-position switching latch flag (12) (11) (10) Command in-position flag Not used Not used Home position return request flag Home position return complete flag Position-speed switching latch flag Axis warning detection Speed change 0 flag...
Page 596 [Md.33] Target speed • During operation with positioning data: The actual target speed, considering the override and speed limit value, etc., is stored. "0" is stored when positioning is completed. • During interpolation of position control: The composite speed or reference axis speed is stored in the reference axis address, and "0"...
Page 597 [Md.34] Movement amount after proximity dog ON [RD77MS] • "0" is stored when machine home position return starts. • After machine home position return starts, the movement amount from the proximity dog ON to the machine home position return completion is stored. (Movement amount: Movement amount to machine home position return completion using proximity dog ON as "0".) As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 598 ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 473 Axis monitor data [Md.36] Special start data instruction code setting value The "instruction code" used with special start and indicated by the start data pointer currently being executed is stored. Storage value Special start data instruction code setting value Block start...
Page 599 [Md.39] In speed limit flag Stores whether the in speed limit is in progress or not. Storage value In speed limit flag Not in speed limit (OFF) In speed limit (ON) • If the speed exceeds the "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control) due to a speed change or override, the speed limit functions, and the in speed limit flag turns ON.
Page 600 [Md.43] Start data pointer being executed • This area stores a point No. (1 to 50) attached to the start data currently being executed. • This area stores "0" after completion of a positioning operation. Refresh cycle: Immediate ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 601 [Md.47] Positioning data being executed • The details of the positioning data currently being executed (data given by "[Md.44] Positioning data No. being executed") are stored in the buffer memory addresses. • "04h" or "05h" is stored in the control method of the positioning identifier during the JOG operation from the test mode. For details, refer to ...
Page 602 [Md.62] Amount of the manual pulser driving carrying over movement When "2: Output over value of speed limit later" is set in "[Pr.122] Manual pulse generator speed limit mode", this area stores the carrying over movement amount which exceeds "[Pr.123] Manual pulse generator speed limit value". As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 603 [Md.100] Home position return re-travel value [RD77MS] This area stores the travel distance during the home position return travel to the zero point that was executed last time. "0" is stored at machine home position return start. (Depends on the setting unit.) As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 604 [Md.101] Actual position value This area stores the current value "command position value - (command pulse - feedback pulse)". (Depends on the setting unit.) As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value. The decimal integer value can be converted into other units by multiplying said value by the following conversion values.
Page 605 [Md.102] Deviation counter value This area stores the droop pulse. As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value. The decimal integer value can be converted into other units by multiplying said value by the following conversion values. Low-order buffer memory Monitor value High-order buffer memory...
Page 606 ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 473 Axis monitor data [Md.104] Motor current value This area stores the current value of the motor. The storage value converted into other units can be checked by multiplying said value by the following conversion values. Unit Conversion value ...
Page 607 [Md.107] Parameter error No. [RD77MS] • When a servo parameter error occurs, the area that corresponds to the parameter No. affected by the error comes ON. • When the "[Cd.5] Axis error reset" is set to "1" after remove the error factor of servo amplifier side, the servo alarm is cleared (set to "0").
Page 608 [Md.108] Servo status1 This area stores the servo status1. • READY ON: Indicates the ready ON/OFF. • Servo ON: Indicates the servo ON/OFF. • Control mode: Indicates the control mode of the servo amplifier. • Gain switching: Turns ON during the gain switching. •...
Page 609 [Md.109] Regenerative load ratio/Optional data monitor output 1 [RD77MS] • The rate of regenerative power to the allowable regenerative power is indicated as a percentage. • When the regenerative option is used, the rate to the allowable regenerative power of the option is indicated. (Buffer memory) % •...
Page 610 [Md.113] Semi/Fully closed loop status The switching status of semi closed loop control/fully closed loop control is indicated. Storage value Semi/Fully closed loop status In semi closed loop control In fully closed loop control Refresh cycle: Operation cycle ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 611 [Md.116] Encoder option information [RD77MS] The option information of encoder is indicated. Buffer memory configuration Stored items Storage value ABS/INC mode 0: INC mode distinction for magnetism 1: ABS mode type encoder Connecting to single- 0: Multi-revolution revolution ABS encoder ABS/INC 1: Single-revolution Connecting to magnetism...
Page 612 [Md.119] Servo status2 This area stores the servo status2. • Zero point pass: Turns ON if the zero point of the encoder has been passed even once. • Zero speed: Turns ON when the motor speed is lower than the servo parameter "zero speed." •...
Page 613 [Md.122] Speed during command • This area stores the command speed during speed control mode. • This area stores the command speed during continuous operation to torque control mode. • "0" is stored other than during speed control mode or continuous operation to torque control mode. The storage value converted into other units can be checked by multiplying said value by the following conversion values.
Page 614 [Md.125] Servo status3 [RD77MS] • This area stores the servo status3. • Continuous operation to torque control mode: Turn ON when the continuous operation to torque control mode. Buffer memory configuration Servo status3 Storage value Continuous operation to torque 0: OFF control mode 1: ON Refresh cycle: Operation cycle...
Page 615 [Md.500] Servo status7 [RD77MS] • This area stores the servo status7. Buffer memory configuration Stored items Storage value Driver operation alarm 0: OFF 1: ON Refresh cycle: Operation cycle ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 473 Axis monitor data [Md.502] Driver operation alarm No.
Page 616 [Md.514] Home position return operating status [RD77GF] This area stores the home position return operating status. Storage value HPR operating status FFFFH The servo amplifier is not set to the home position return mode 0000H Home position return is in progress 0001H Home position return is interrupted or not started 0002H...
Page 617: Servo Network Composition Status
This area stores the vendor ID and module code of each axis when the power of the connected device is turned ON. It is not cleared if the power of the connected device is turned OFF. Vender ID Model code 0000: Mitsubishi Electric 0100: MR-J3-_B, MR-J3W-_B (2-axis type) 0101: MR-J3-_B-RJ006 (for fully closed loop control) MR-J3-_BS_ (safety support)
Page 618: Control Data
12.8 Control Data The setting items of the control data are explained in this section. System control data [Cd.1] Flash ROM write request • Writes not only "positioning data (No.1 to 600)" and "block start data (No.7000 to 7004)" stored in the buffer memory/ internal memory area, but also "parameters"...
Page 619 ■Setting value • Set with a decimal. Setting value Details Parameter initialization request ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 475 System control data ■Default value Set to "0". [Cd.41] Deceleration start flag valid Sets whether "[Md.48] Deceleration start flag"...
Page 620 [Cd.44] External input signal operation device Operates the external input signal status (Upper/lower limit signal, proximity dog signal, stop signal) of the Simple Motion module when "2" is set in "[Pr.116] FLS signal selection", "[Pr.117] RLS signal selection", "[Pr.118] DOG signal selection", and "[Pr.119] STOP signal selection".
Page 621 [Cd.102] SSCNET control command [RD77MS] Sets the connect/disconnect command of SSCNET communication. ■Setting value • Set with a decimal. Setting value Details No command Axis No. Disconnect command of SSCNET communication (Axis No. to be disconnected) Execute command Connect command of SSCNET communication Except above setting Invalid *1 1 to the maximum control axes.
Page 622 [Cd.700] Virtual servo amplifier operation command [RD77GF] Set the operation request according to an operation. Fetch cycle: 16.0 [ms] ■Setting value • Set with a hexadecimal. After the processing is completed, "0" is stored. Setting value Details 0001H Virtual servo amplifier connection 0011H Virtual servo amplifier disconnection ■Buffer memory address...
Page 623 ■Setting value • Set with a hexadecimal. Setting item Details 1 station 17 station 0: Connection/disconnection not commanded 1: Connection/disconnection commanded 2 station 18 station 3 station 19 station 4 station 20 station 5 station 21 station 6 station 22 station 7 station 23 station 8 station...
Page 624: Axis Control Data
Axis control data [Cd.3] Positioning start No. Sets the positioning start No. (Only 1 to 600 for the Pre-reading start function. For details, refer to Page 287 Pre-reading start function.) Fetch cycle: At start ■Setting value • Set with a decimal. Setting value Details 1 to 600...
Page 625 [Cd.5] Axis error reset • Clears the axis error detection, axis error No., axis warning detection and axis warning No. • When the axis operation state of Simple Motion module is "in error occurrence", the error is cleared and the Simple Motion module is returned to the "waiting"...
Page 626 [Cd.7] M code OFF request • The M code ON signal turns OFF. • After the M code ON signal turns OFF, "0" is stored by the Simple Motion module automatically. (This indicates that the OFF request is completed.) Fetch cycle: Operation cycle ■Setting value •...
Page 627 [Cd.10] New acceleration time value When changing the acceleration time during a speed change, use this data item to specify a new acceleration time. Fetch cycle: At change request ■Setting range • Set with a decimal. Setting range of [Cd.10] (unit) 0 to 8388608 (ms) When the "[Cd.10] New acceleration time value"...
Page 628 [Cd.13] Positioning operation speed override • To use the positioning operation speed override function, use this data item to specify an "override" value. If the command speed is set to less than the minimum unit using the override function, the speed is raised to the minimum unit and the warning "Less than minimum speed"...
Page 629 [Cd.15] Speed change request • After setting the "[Cd.14] New speed value", set this data item to "1" to execute the speed change (through validating the new speed value). • The Simple Motion module resets the value to "0" automatically when the speed change request has been processed. (This indicates the completion of speed change request.) Fetch cycle: Operation cycle ■Setting value...
Page 630 [Cd.17] JOG speed Use this data item to set the JOG speed. Fetch cycle: At start ■Setting range • Set with a decimal. • The setting range differs according to the setting of "[Pr.1] Unit setting". Setting of "[Pr.1] Unit setting" Setting value depending on program (unit) 0: mm 1 to 2000000000 (...
Page 631 [Cd.19] Home position return request flag OFF request • The program can use this data item to forcibly turn the home position return request flag from ON to OFF. • The Simple Motion module resets the value to "0" automatically when the home position return request flag is turned OFF. (This indicates the completion of home position return request flag OFF request.) Fetch cycle: 14.2 [ms] [RD77MS] Fetch cycle: 16.0 [ms] [RD77GF]...
Page 632 [Cd.22] New torque value/forward new torque value • When "0" is set to "[Cd.112] Torque change function switching request", a new torque limit value is set. (This value is set to the forward torque limit value and reverse torque limit value.) When "1" is set to "[Cd.112] Torque change function switching request", a new forward torque limit value is set.
Page 633 [Cd.24] Speed-position switching enable flag Sets whether the switching signal set in "[Cd.45] Speed-position switching device selection" is enabled or not. Fetch cycle: At switching request ■Setting value • Set with a decimal. Setting value Details Speed control will not be taken over by position control even when the signal set in "[Cd.45] Speed-position switching device selection"...
Page 634 [Cd.26] Position-speed switching enable flag Sets whether the switching signal set in "[Cd.45] Speed-position switching device selection" is enabled or not. Fetch cycle: At switching request ■Setting value • Set with a decimal. Setting value Details Position control will not be taken over by speed control even when the signal set in "[Cd.45] Speed-position switching device selection"...
Page 635 [Cd.28] Target position change value (New speed) • When changing the target position during a positioning operation, use this data item to specify a new speed. • The speed will not change if "0" is set. Fetch cycle: At change request ■Setting range •...
Page 636 [Cd.30] Simultaneous starting own axis start data No. Use this data item to specify a start data No. of own axis at multiple axes simultaneous starting. Fetch cycle: At start ■Setting range • Set with a decimal. Setting range of [Cd.30] 1 to 600 ■Buffer memory address Refer to the following for the buffer memory address in this area.
Page 637 [Cd.33] Simultaneous starting axis start data No.3 Use this data item to specify a start data No.3 for each axis that starts simultaneously. For 2 axis simultaneous starting and 3 axis simultaneous starting, the axis setting is not required. (Setting value is ignored.) Fetch cycle: At start ■Setting range...
Page 638 [Cd.36] Step start information • To continue the step operation when the step function is used, set "1" in the data item. • The Simple Motion module resets the value to "0" automatically when processing of the step start request completes. Fetch cycle: 14.2 [ms] [RD77MS] Fetch cycle: 16.0 [ms] [RD77GF] ■Setting value...
Page 639 [Cd.39] Teaching positioning data No. • This data item specifies data to be produced by teaching. • If a value between 1 and 600 is set, a teaching operation is done. • The value is cleared to "0" when the Simple Motion module is initialized, when a teaching operation completes, and when an illegal value (601 or higher) is entered.
Page 640 ■Setting value • Set with a hexadecimal. Buffer memory address Details Setting value Low-order b0 to b7 Simultaneous starting axis No.1 00H to 1FH Axis 1 to Axis 32 b8 to b15 Simultaneous starting axis No.2 High-order b0 to b7 Simultaneous starting axis No.3 b8 to b15 Number of simultaneous starting axes...
Page 641 [Cd.46] Speed-position switching command Speed-position control switching is performed when "2" is set in "[Cd.45] Speed-position switching device selection". Other than setting value is ignored. This parameter is made valid only when "2" is set in "[Cd.45] Speed-position switching device selection" at start.
Page 642 [Cd.101] Torque output setting value Sets the torque output value. Set a ratio against the rated torque in 0.1% unit. Fetch cycle: At start • If the "[Cd.101] Torque output setting value" is "0", the "[Pr.17] Torque limit setting value" will be its value. •...
Page 643 ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 475 Axis control data ■Default value Set to "0". [Cd.112] Torque change function switching request Sets "same setting/individual setting" of the forward torque limit value or reverse torque limit value in the torque change function.
Page 644 [Cd.130] Servo parameter read/write request [RD77MS] • To change the servo parameter after it is transferred, set the write request of the servo parameter. Set "0001H" or "0002H" after setting "[Cd.131] Parameter No." and "[Cd.132] Change data". • To change the servo parameter stored in the internal memory of the Simple Motion module, set the read/write request of the servo parameter.
Page 645 ■Default value Set to "0000H". [RD77MS] Set to "0". [RD77GF] [Cd.131] Parameter No. (Setting for servo parameters to be changed) [RD77MS] Set the servo parameter to be changed. Fetch cycle: At change request ■Setting value • Set with a hexadecimal. Buffer memory Details Setting value...
Page 646 [Cd.132] Change data Set the change value of servo parameter set in "[Cd.131] Parameter No. (Setting for servo parameters to be changed)" or "[Cd.131] Parameter No. (Object index for servo parameters to be changed)". Fetch cycle: At change request ■Setting value •...
Page 647 [Cd.136] PI-PID switching request Set the PI-PID switching to servo amplifier. Fetch cycle: Operation cycle ■Setting value • Set with a decimal. Setting value Details PID control switching request Other than 1 Not request ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 475 Axis control data ■Default value Set to "0".
Page 648 [Cd.140] Command speed at speed control mode Set the command speed at speed control mode. Fetch cycle: Operation cycle (At speed control mode) ■Setting range • Set with a decimal. • The setting value range differs according to the "[Pr.1] Unit setting". Setting of "[Pr.1] Unit setting"...
Page 649 [Cd.143] Command torque at torque control mode Set the command torque at torque control mode. Set a ratio against the rated torque in 0.1% unit. -10000 to 10000 ( 0.1%) Fetch cycle: Operation cycle (At torque control mode) ■Setting range •...
Page 650 [Cd.146] Speed limit value at torque control mode Set the speed limit value at torque control mode. Fetch cycle: Operation cycle (At torque control mode) ■Setting range • Set with a decimal. • The setting value range differs according to the "[Pr.1] Unit setting". Setting of "[Pr.1] Unit setting"...
Page 651 [Cd.148] Acceleration time at continuous operation to torque control mode [RD77MS] Set the acceleration time at continuous operation to torque control mode. (Set the time for the speed to increase from "0" to "[Pr.8] Speed limit value".) Fetch cycle: At request (Mode switching) ■Setting range Setting range of [Cd.148] 0 to 65535 (ms)
Page 652 [Cd.151] Torque time constant at continuous operation to torque control mode (Forward direction) [RD77MS] Set the time constant at driving during continuous operation to torque control mode. (Set the time for the torque to increase from "0" to "[Pr.17] Torque limit setting value".) Fetch cycle: At request (Mode switching) ■Setting range Setting range of [Cd.151]...
Page 653 [Cd.153] Control mode auto-shift selection [RD77MS] Set the switching condition when switching to continuous operation to torque control mode. Fetch cycle: At request (Mode switching) ■Setting value • Set with a decimal. Setting Details value No switching condition Switching is executed at switching request to continuous operation to torque control mode. Command position value Switching is executed when "[Md.20] Command position value"...
Page 654 [Cd.180] Axis stop • When the axis stop signal turns ON, the home position return control, positioning control, JOG operation, inching operation, manual pulse generator operation, speed-torque control, etc. will stop. • By turning the axis stop signal ON during positioning operation, the positioning operation will be "stopped". •...
Page 655 [Cd.183] Execution prohibition flag If the execution prohibition flag is ON when the positioning start signal turns ON, positioning control does not start until the execution prohibition flag turns OFF. Used with the "Pre-reading start function". (Page 287 Pre-reading start function) Fetch cycle: At start ■Setting value •...
Page 656: Control Data For Positioning Data, Block Start Data
Control data for positioning data, block start data [Cd.220] Positioning data control request [RD77MS] Set when reading/writing positioning data. Fetch cycle: Main cycle ■Setting value • Set with a hexadecimal. Setting value Details 0000H No control request (Control end) _ _01H Write request 0002H Read request...
Page 657 [Cd.222] Block start data control request [RD77MS] Set when writing or reading block start data or condition data. Fetch cycle: Main cycle ■Setting value • Set with a hexadecimal. Setting value Details 0000H No control request (Control end) _ _01H Write request 0002H Read request...
Page 658 [Cd.224] Block start data type setting [RD77MS] Specify the block type where write/read is to be executed. Fetch cycle: At request ■Setting value • Set with a decimal. Setting value Details Block start data Condition data ■Buffer memory address Refer to the following for the buffer memory address in this area. Page 478 Control data for positioning data or block start data ■Default value Set to "0".
Page 659 [Cd.226] Positioning data/block start data setting value [RD77MS] Set the setting value of positioning data/block start data. Fetch cycle: At request ■Setting value • Set with a hexadecimal. • The setting value range differs according to the "[Cd.220] Positioning data control request", "[Cd.224] Block start data type setting"...
Page 660: Memory Configuration And Data Process
12.9 Memory Configuration and Data Process The memory configuration and data transmission of Simple Motion module are explained in this section. The Simple Motion module is configured of four memories. By understanding the configuration and roles of two memories, the internal data transmission process of Simple Motion module, such as "when the power is turned ON"...
Page 661 Details of areas Area name Description Parameter area Area where parameters, such as positioning parameters and home position return parameters, required for positioning control are set and stored. Monitor data area Area where the operation status of positioning system is stored. Control data area Area where data for operating and controlling positioning system is set and stored.
Page 662 ■RD77GF area Data is backed up here. User accesses here. Buffer memory/Internal memory Flash ROM Parameter area (a) Parameter area (a) Parameter area (b) Parameter area (b) Parameter area (c) Parameter area (c) Positioning data area Positioning data area (No.1 to 600) (No.1 to 600) Block start data area Block start data area...
Page 663: Buffer Memory Area Configuration
Buffer memory area configuration The buffer memory of Simple Motion module is configured of the following types of areas. n: Axis No. - 1 (n: Axis No. - 17 for axis 17 to axis 32) k: Mark detection setting No. - 1 j: Synchronous encoder axis No.
Page 664 Buffer memory area configuration Buffer memory address Writing possibility Axis 1 to axis 16 Axis 17 to axis 32 Positioning data Positioning data 6000+1000n to 6999+1000n 1006000+1000n to 1006999+1000n Possible area (No.1 to 100) 71000+1000n, 71001+1000n 1071000+1000n, 1071001+1000n Positioning data [RD77MS] [RD77GF] 1200000+5000n to 1204999+5000n...
Page 665 Buffer memory area configuration Buffer memory address Writing possibility Axis 1 to axis 16 Axis 17 to axis 32 CC-Link IE Field Link device (RX) 100000 to 101023 Not possible Network area Link device (RY) 101024 to 102047 Possible [RD77GF] Link device (RWw) 102048 to 110239 Possible...
Page 666: Data Transmission Timing
Data transmission timing The parameters of the Simple Motion module are classified as the module parameter or Simple Motion module setting (module extended parameter [RD77GF]). Each parameter is reflected in the buffer memory of the Simple Motion module at the following reflection timing. Parameter Operation Parameter setting value reflected in the buffer memory...
Page 667: Data Transmission Process
Data transmission process The data is transmitted between the memories of Simple Motion module with steps (1) to (10) shown below. The data transmission patterns correspond to the numbers (1) to (10) in the following referential drawings. The data transmission pattern Referential drawing RD77MS RD77GF...
Page 668 (2) Transmitting data with TO command from CPU module The parameters or data is written from the CPU module to the buffer memory using the TO command At this time, when the "parameter area (b) ", "positioning data", "block start data", and "control data" are written into the buffer memory with the TO command, it is simultaneously valid.
Page 669 (7) Writing the flash ROM by a request from the engineering tool The following transmission processes are carried out with the [flash ROM write request] from the engineering tool. This transmission process is the same as (6) above. • The "parameters", "positioning data (No.1 to 600)", "block start data (No.7000 to 7004)" and "servo parameter "...
Page 670 (10) Transmitting servo parameter [RD77MS] The servo parameter in the buffer memory/internal memory area is transmitted to the servo amplifier by the following timing. • The servo parameter is transmitted to the servo amplifier when communications with servo amplifier start. The "servo parameter"...
Page 671 ■How to transfer the servo parameter which wrote it in the internal memory (nonvolatile) to servo amplifier Flash ROM writing carried out after the servo parameter is set up in the buffer memory/internal memory. After that, when the power is turned ON or the CPU module is reset, the servo parameters stored in the internal memory (nonvolatile) is transmitted to the buffer memory/internal memory.
Page 672 • When the servo amplifier's power supply is turned ON before the system's power supply ON and the servo network composition parameter "[Pr.100] Connected device" = "0" is stored in the internal memory (nonvolatile) Communication start timing with the servo The PLC READY signal [Y0] is turned ON from OFF.
Page 673 ■How to change individually the servo parameter after transfer of servo parameter The servo parameters can be individually changed from Simple Motion module with the following axis control data. n: Axis No. - 1 Setting item Setting details Buffer memory address [Cd.130] Servo parameter read/...
Page 674 Data transmission patterns [RD77MS] ■Pattern (1) to (5) CPU module (4) FROM command (2) TO command Simple Motion module (1) Valid at power supply ON/ Buffer memory/Internal memory CPU module reset Parameter area (c) Parameter area (a) Parameter area (b) (2) Valid upon execution of the Parameter area (c) TO command...
Page 675 ■Pattern (6) and (7) Engineering tool (7) Flash ROM write request CPU module (7) Flash ROM write request (6) Flash ROM write request (Set "1" in [Cd.1] with TO command) Simple Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600)
Page 676 ■Pattern (8) and (9) Engineering tool (8) Data read (9) Data write CPU module (8) Data read (9) Data write Simple Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area...
Page 677 ■Pattern (10) Simple Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area Monitor data area Control data area Flash ROM Parameter area (a) Parameter area (b) Parameter area (c)
Page 678 Data transmission patterns [RD77GF] ■Pattern (1) to (5) Module extended parameter CPU module Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) (4) FROM command (2) TO command Simple Motion module (1) Power supply (1) Valid at power supply ON/...
Page 679 ■Pattern (6) and (7) Engineering tool (7) Flash ROM write request CPU module (6) Flash ROM write request (7) Flash ROM write request (Set "1" in [Cd.1] with TO command) Simple Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600)
Page 680 ■Pattern (8) and (9) Engineering tool (8) Data read (9) Data write CPU module (8) Data read (9) Data write Simple Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Monitor data area...
Page 681: Chapter 13 Programming
PROGRAMMING This chapter describes the programs required to carry out positioning control with the Simple Motion module. The program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, block start data and condition data, etc., must be set in the Simple Motion module according to the control to be executed, and a setting program for the control data or a start program for the various controls must be created.) 13.1...
Page 682: List Of Labels Used
13.2 List of Labels Used In the program examples, the labels to be used are assigned as follows. Module label [RD77MS example] Classification Label name Description Start I/O No. RD77_1.uIO Start I/O No. Input signal RD77_1.bReady RD77 READY RD77_1.bSynchronizationFlag RD77 Synchronization flag RD77_1.bSynchronizationFlag_D RD77_1.bnBusy[0] Axis 1 BUSY signal...
Page 683 Classification Label name Description Axis control data 1 RD77_1.stnAxCtrl1_D[0].uStepMode_D Axis 1 Step mode RD77_1.stnAxCtrl1_D[0].uStepStartInformation_D Axis 1 Step start information RD77_1.stnAxCtrl1_D[0].uStepValid_D Axis 1 Step valid flag RD77_1.stnAxCtrl1_D[0].uTeachingDataSelection_D Axis 1 Teaching data selection RD77_1.stnAxCtrl1_D[0].uTeachingPositioningDataNo_D Axis 1 Teaching positioning data No. RD77_1.stnAxCtrl1_D[0].udNewSpeed_D Axis 1 New speed value RD77_1.stnAxCtrl1_D[0].udPV_NewSpeed_D Axis 1 Position-speed switching control speed change register...
Page 684 • Global label that the assignment device is not to be set (The unused internal relay and data device are automatically assigned when the assignment device is not set.) 13 PROGRAMMING 13.2 List of Labels Used...
Page 685 13 PROGRAMMING 13.2 List of Labels Used...
Page 686: Creating A Program
13.3 Creating a Program The "positioning control operation program" actually used is explained in this section. General configuration of program The general configuration of the positioning control operation program is shown below. Program name Remark Basic parameter setting • The program is not required when the parameter, positioning data, block start data, and servo parameter are set using an engineering tool.
Page 687: Positioning Program Examples
13.4 Positioning Program Examples For details of the module FB, refer to "Simple Motion Module FB" in the following manual. MELSEC iQ-R Simple Motion Module Function Block Reference Parameter setting program The program is not required when the parameter is set by "Module Parameter" using an engineering tool. ■Setting for basic parameter 1 (axis 1) ■Setting for home position return basic parameter (axis 1) [RD77MS example]...
Page 688 ■Unit "degree" setting (axis 1) program 13 PROGRAMMING 13.4 Positioning Program Examples...
Page 689 Positioning data setting program The program is not required when the data is set by "Positioning Data" using an engineering tool. [RD77MS example] 13 PROGRAMMING 13.4 Positioning Program Examples...
Page 690 13 PROGRAMMING 13.4 Positioning Program Examples...
Page 691 Block start data setting program The program is not required when the data is set by "Block Start Data" using an engineering tool. Servo parameter setting program The program is not required when the parameter is set by "Servo Parameter" using an engineering tool. [RD77MS example] 13 PROGRAMMING 13.4 Positioning Program Examples...
Page 692 Home position return request OFF program The program is not required when "1: Positioning control is executed." is set in "[Pr.55] Operation setting for incompletion of home position return" by "Home Position Return Detailed Parameters" using an engineering tool. External command function valid setting program PLC READY signal [Y0] ON program All axis servo ON [Y1] program 13 PROGRAMMING...
Page 693 Positioning start No. setting program ■Machine home position return ■Fast home position return ■Positioning with positioning data No.1 ■Speed-position switching operation (Positioning data No.2) In the ABS mode, new movement amount is not needed to be written. ■Position-speed switching operation (Positioning data No.3) ■High-level positioning control 13 PROGRAMMING 13.4 Positioning Program Examples...
Page 694 ■Fast home position return command and fast home position return command storage OFF Not required when fast home position return is not used. Positioning start program [RD77MS example] M code OFF program JOG operation setting program 13 PROGRAMMING 13.4 Positioning Program Examples...
Page 695 Inching operation setting program JOG operation/inching operation execution program [RD77MS example] 13 PROGRAMMING 13.4 Positioning Program Examples...
Page 696 Manual pulse generator operation program [RD77MS example] Speed change program [RD77MS example] Override program 13 PROGRAMMING 13.4 Positioning Program Examples...
Page 697 Acceleration/deceleration time change program [RD77MS example] Torque change program Step operation program 13 PROGRAMMING 13.4 Positioning Program Examples...
Page 698 Skip program Teaching program Continuous operation interrupt program 13 PROGRAMMING 13.4 Positioning Program Examples...
Page 699 Target position change program [RD77MS example] Restart program [RD77MS example] 13 PROGRAMMING 13.4 Positioning Program Examples...
Page 700 Parameter initialization program [RD77MS example] Flash ROM write program [RD77MS example] 13 PROGRAMMING 13.4 Positioning Program Examples...
Page 701 Error reset program [RD77MS example] Axis stop program 13 PROGRAMMING 13.4 Positioning Program Examples...
Page 702: Chapter 14 Troubleshooting
TROUBLESHOOTING This chapter describes details of error occurred by using the Simple Motion module and troubleshooting. 14.1 Troubleshooting Procedure When a trouble occurs, execute the troubleshooting in the order shown below. Check that each module is mounted correctly. (MELSEC iQ-R Module Configuration Manual) Check the LEDs of the power supply module and CPU module.
Page 703 RD77MS status LED display Description Remedy Online module change RUN ● AX1  Module remove selection in  ERR  AX2  operation AX3  AX4  AX1-8  AX1-16  RUN  AX1  Module change in operation  ERR ...
Page 704 : OFF, : ON, ●: Flashing Status LED display Description Remedy Indicates the data link D LINK  Data link (cyclic transmission being Refer to "Checking with LED" in the following. status. performed)  MELSEC iQ-R Simple Motion Module User's Manual (Network) D LINK ●...
Page 705: Troubleshooting Using The Module Status
Troubleshooting using the module status Error codes (warning codes) and error history occurred in the Simple Motion module can be checked on the module diagnostics display of an engineering tool. The error shown on the display may not correspond to "[Md.23] Axis error No.". Refer to "[Md.23] Axis error No."...
Page 706: Troubleshooting By Symptom
14.2 Troubleshooting by Symptom Troubleshooting when a motor does not rotate Check items and corrective actions for troubleshooting when a motor does not rotate are described below. Check item Action Is the PLC READY signal [Y0] turned ON? Review the program to turn ON the PLC READY signal [Y0]. Is the servo amplifier powered ON? Power on the servo amplifier.
Page 707 ■When the set position is not reached Check item Action Does the value in "[Md.20] Command position [When the position set in "[Md.20] Command position value" is reached] value" indicate the intended position when the • Check that the values in "[Pr.2] Number of pulses per rotation (AP)", "[Pr.3] Movement amount per motor stops? rotation (AL)", and "[Pr.4] Unit magnification (AM)"...
Page 708: Error And Warning Details
14.3 Error and Warning Details Error type Errors detected by the Simple Motion module include parameter setting range errors, errors at operation start or during operation and errors detected by servo amplifier. Simple Motion module detection parameter setting range errors The parameters are checked when the power is turned ON and at the rising edge (OFF ...
Page 709: Error Code Classification
Error code classification Item Error code Classification of errors Minor errors 1860H to 18BFH Dedicated instruction errors 18C0H to 18FFH Inter-module synchronization errors 1900H to 193FH Positioning control common errors 1940H to 197FH Home position return errors 1980H to 198FH JOG, inching and manual pulse generator operation errors 1990H to 19EFH Positioning operation errors...
Page 710: Warning Type
Warning type Warnings detected by the Simple Motion module include system warnings, axis warnings and warnings detected by servo amplifier. Simple Motion module detection system warnings • System control data setting warnings: An axis warning for axis 1 will occur. •...
Page 711: Clearing Errors And Warnings
Clearing errors and warnings Remove the cause of error or warning following the actions described in the sections below before canceling an error or warning state by resetting the error. Page 710 List of Warning Codes, Page 722 List of Error Codes How to clear errors or warnings An error or warning state is canceled after the following processing is carried out by setting "1"...
Page 712: List Of Warning Codes
14.4 List of Warning Codes Simple Motion module detection warning Warning code Warning name Error details and causes Remedy (Hexadecimal) 0900H Start during • The start request is issued while the axis is BUSY. • Normalize the start request ON timing. operation •...
Page 713 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0933H Optional data In the optional data monitor, 2-word data is not set Set the 2-word data to "[Pr.91] Optional data monitor: monitor data type correctly. Data type setting 1" or "[Pr.93] Optional data monitor: setting error [Operation status at warning occurrence] Data type setting 3"...
Page 714 Warning code Warning name Error details and causes Remedy (Hexadecimal) 093EH SSCNET Data received from servo amplifier is in error. • Check the SSCNET cable. communication error [Operation status at warning occurrence] • Check the servo motor and encoder cable. The operation continues.
Page 715 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0991H Speed limit value • Setting speeds exceed the speed limit value when Review each speed so that setting speeds do not over starting/restarting the positioning or when changing exceed the speed limit value. the speed at the positioning .
Page 716 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0999H Illegal teaching data The positioning data No. is set outside the setting range. Set the positioning data No. to within the setting range. [Operation status at warning occurrence] Teaching is not carried out when the setting value is 0 or 601 or more.
Page 717 Warning code Warning name Error details and causes Remedy (Hexadecimal) 09E7H Control mode Control mode was changed when "Zero speed" Switch the control mode after turning "Zero speed" switching during zero ([Md.119] Servo status2) was turned OFF. ([Md.119] Servo status2) ON. speed OFF [Operation status at warning occurrence] The control mode is not switched.
Page 718 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0B0FH Module extended • Module extended parameter in Simple Motion module Check the module extended parameter storage parameter storage was changed when module extended parameter location setting of module parameter (motion) and then location warning storage location setting is "CPU module".
Page 719 Warnings related to synchronous control are described below. Warning code Warning name Error details and causes Remedy (Hexadecimal) 0BD0H Input axis phase Phase compensation amount of input axis is equal or • Set a smaller phase compensation advance time. compensation lower than the minimum value (-2147483648), or •...
Page 720 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0C12H Cam axis length per Set the value of synchronous parameter "Cam axis Set a value within the range of 1 to 2147483647. cycle outside range length per cycle" ([Pr.439]) less than 0. [Operation status at warning occurrence] Synchronous control continues by the previous cam axis length per cycle.
Page 721 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0C43H Outside number of [RD77MS] [RD77MS] cam data operation • "[Cd.603] Number of cam data operation points" is • Set a value within the range of 1 to 4096 for the points range outside the range of 1 to 4096 for the stroke ratio data stroke ratio data format cam.
Page 722 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0C47H Cam storage area • The free area in the cam storage area is insufficient • Decrease the number of cam data (number of cams, capacity over during the cam data writing operation. cam resolution, and coordinate number).
Page 723: Servo Amplifier Detection Warning
Warning code Warning name Error details and causes Remedy (Hexadecimal) 0C53H Cam auto-generation • The free area in the cam open area is insufficient. • Decrease the number of cam data (number of cams, cam open area • The writable area is insufficient due to the decoupling cam resolution, and coordinate number).
Page 724: List Of Error Codes
14.5 List of Error Codes Simple Motion module detection error Error code Error name Error details and causes Remedy (Hexadecimal) 0000H Normal   1080H Flash ROM write Data is written to the flash ROM continuously 25 times Review the program so that data is not written number error or more from the program.
Page 725 Error code Error name Error details and causes Remedy (Hexadecimal) 18D1H Inter-module Cyclic transmission skip occurred. • Increase the "Inter-module synchronization cycle synchronization [Operation status at error occurrence] setting" in System Parameters so that the transmission skip The operation is continued. synchronization interrupt program's execution time occurrence does not exceed the inter-module synchronization...
Page 726 Error code Error name Error details and causes Remedy (Hexadecimal) 1906H Hardware stroke limit Start is requested when the hardware stroke limit (lower • Check the wiring of lower limit signal RLS. limit signal RLS) is turned OFF. • Check if the specification of the limit switch and the [Operation status at error occurrence] setting of the "[Pr.22] Input signal logic selection"...
Page 727 Error code Error name Error details and causes Remedy (Hexadecimal) 1926H Start not possible [RD77MS] [RD77MS] Start is requested when "[Cd.100] Servo OFF Set "0: Servo ON" in the "[Cd.100] Servo OFF command" is turned ON. command". [Operation status at error occurrence] The system does not start positioning.
Page 728 Error code Error name Error details and causes Remedy (Hexadecimal) 193EH Connected device [RD77MS] [RD77MS] setting error The setting value (vendor ID, identification code) of the Match the setting value of the "[Pr.100] Connected "[Pr.100] Connected device" and the actually connected device"...
Page 729 Error code Error name Error details and causes Remedy (Hexadecimal) 1946H Home position return The restart command is turned ON after the machine Start the machine home position return (positioning restart not possible home position return is stopped using a stop signal. start No.9001) again.
Page 730 Error code Error name Error details and causes Remedy (Hexadecimal) 1980H Outside JOG speed At the time of JOG starting, the JOG speed comes out Bring the JOG speed into the setting range. range of a specified range. [Operation status at error occurrence] The JOG operation is not carried out when the JOG speed is outside the setting range at the time of JOG start.
Page 731 Error code Error name Error details and causes Remedy (Hexadecimal) 1993H Software stroke limit The command position exceeds the upper limit of the At operation start: Set the command position value software stroke limit. within the software stroke limit by the manual control [Operation status at error occurrence] operation.
Page 732 Error code Error name Error details and causes Remedy (Hexadecimal) 1998H Interpolation while Interpolation is started during the operation of the Correct the control method. interpolation axis interpolation axis. BUSY [Operation status at error occurrence] At start: The system does not operate. During operation: The system stops with the setting (deceleration stop/rapid stop) of the detailed parameter 2 Rapid stop selection (stop group 3).
Page 733 Error code Error name Error details and causes Remedy (Hexadecimal) 199FH Circular interpolation Circular interpolation or helical interpolation is carried Correct the control method. not possible out on an axis in the unit of degree. [Operation status at error occurrence] The operation is terminated.
Page 734 Error code Error name Error details and causes Remedy (Hexadecimal) 19E7H Continuous Switching to the continuous operation to torque control Use a servo amplifier which supports the continuous operation to torque mode is requested to a servo amplifier which does not operation to torque control.
Page 735 Error code Error name Error details and causes Remedy (Hexadecimal) 1A0CH Condition data error The same axis No. is set in "[Da.24] Simultaneous Normalize the block start data. starting axis No.1", [Da.25] Simultaneous starting axis No.2" and [Da.26] Simultaneous starting axis No.3". [Operation status at error occurrence] The operation is terminated.
Page 736 Error code Error name Error details and causes Remedy (Hexadecimal) 1A17H Large arc error When an arc or a helical is interpolated by the • Correct the center point address (arc address) deviation designation of the center point, a difference between a •...
Page 737 Error code Error name Error details and causes Remedy (Hexadecimal) 1A1BH Software stroke limit In the circular interpolation or helical interpolation with At operation start, during operation: Correct the "[Da.6] sub points designated, the sub point exceeds "[Pr.13] Positioning address/movement amount" and the Software stroke limit lower limit value".
Page 738 Error code Error name Error details and causes Remedy (Hexadecimal) 1A23H Command speed The command speed is outside the setting range. Correct the command speed. setting error Linear interpolation, circular interpolation, helical interpolation: Reference axis is outside the setting range. Speed control interpolation: Either of reference axis and interpolation axis is outside the speed range.
Page 739 Error code Error name Error details and causes Remedy (Hexadecimal) 1A2BH End point setting Start point is equal to end point in the circular Correct the end address (positioning address). error interpolation or helical interpolation with sub points designated. [Operation status at error occurrence] At start: The system does not operate.
Page 740 Error code Error name Error details and causes Remedy (Hexadecimal) 1A34H M code ON timing The setting value of the positioning data "[Da.27] M Correct the setting range of the "[Da.27] M code ON error code ON signal output timing" is outside the setting signal output timing"...
Page 741 Error code Error name Error details and causes Remedy (Hexadecimal) 1A69H Outside speed limit The setting value of the basic parameter 2 "[Pr.8] Speed When the PLC READY signal [Y0] is not turned ON value range limit value" is outside the setting range. after the setting is set within the setting range, turn the [Operation status at error occurrence] PLC READY signal [Y0] from OFF to ON.
Page 742 Error code Error name Error details and causes Remedy (Hexadecimal) 1AA7H Command in- The setting value of the detailed parameter 1 Correct the setting value, turn the PLC READY signal position width "Command in-position width" is outside the setting [Y0] from OFF to ON. range.
Page 743 Error code Error name Error details and causes Remedy (Hexadecimal) 1AB3H Acceleration time 3 The setting value of the detailed parameter 2 Correct the setting value, turn the PLC READY signal setting error "Acceleration time 3" is outside the setting range. [Y0] from OFF to ON.
Page 744 Error code Error name Error details and causes Remedy (Hexadecimal) 1ABAH Manual pulse The setting value of the detailed parameter 2 "Manual Correct the setting value, turn the PLC READY signal generator speed limit pulse generator speed limit value" is outside the setting [Y0] from OFF to ON.
Page 745 Error code Error name Error details and causes Remedy (Hexadecimal) 1AC0H Illegal rapid stop The setting value of the detailed parameter 2 "Rapid Correct the setting value, turn the PLC READY signal deceleration time stop deceleration time" is outside the setting range. [Y0] from OFF to ON.
Page 746 Error code Error name Error details and causes Remedy (Hexadecimal) 1AC5H External command The setting value of the detailed parameter 2 "External Correct the setting value, turn the PLC READY signal function selection command function selection" is outside the setting [Y0] from OFF to ON.
Page 747 Error code Error name Error details and causes Remedy (Hexadecimal) 1AD3H STOP signal The setting value of the detailed parameter 1 "STOP Correct the setting value, turn the PLC READY signal selection error signal selection" is outside the setting range. [Y0] from OFF to ON.
Page 748 Error code Error name Error details and causes Remedy (Hexadecimal) 1B0BH Home position return The setting value of the home position return detailed Correct the setting value, turn the PLC READY signal acceleration time parameter "Home position return acceleration time [Y0] from OFF to ON.
Page 749 Error code Error name Error details and causes Remedy (Hexadecimal) 1C80H Driver error Errors occur in the driver. Confirm the alarm code by "[Md.114] Servo alarm" and [Operation status at error occurrence] refer to the driver instruction manual for details. The motor stops.
Page 750 Error code Error name Error details and causes Remedy (Hexadecimal) 1CBDH Connection servo The unsupported speed unit (SI unit velocity) is Please refer to the "Servo Amplifier Instruction Manual" amplifier speed unit connected to the set servo amplifier. to change the speed unit to (0.01 r/min) or (0.01 mm/ setting error [Operation status at error occurrence] [RD77GF]...
Page 751 Error code Error name Error details and causes Remedy (Hexadecimal) 24C3H Bus error [RD77GF] An error was detected on the system bus. • Take measures against noise. [Operation status at error occurrence] • After CPU module is reset, switch to RUN. If the The operation is carried out according to "CPU Module same error is displayed again, the hardware fault Operation Setting at Error Detection (Moderate)"...
Page 752 Error code Error name Error details and causes Remedy (Hexadecimal) 3004H Cyclic points error In "RWw/RWr Setting" of "Network Configuration In "RWw/RWr Setting" of "Network Configuration [RD77GF] Setting" in "Basic Setting", the points set in remote Setting" in "Basic Setting", set 16 points or more in the device station (Safety station) is less than 16 points.
Page 753 Error code Error name Error details and causes Remedy (Hexadecimal) 3062H Inter-module Inter-module synchronization cycle failure occurred • Check the network status and take corrective action synchronization between networks. using the CC-Link IE Field Network diagnostics of signal failure via [Operation status at error occurrence] the engineering tool.
Page 754 Error code Error name Error details and causes Remedy (Hexadecimal) 3E00H Network module An error was detected in the network module. Reset the CPU module, and run it again. If the error error [RD77GF] [Operation status at error occurrence] occurs again even after taking the above, the possible The system stops.
Page 755 Errors related to synchronous control are described below. Error code Error name Error details and causes Remedy (Hexadecimal) 1BA0H Outside input axis Setting values of input axis parameters "[Pr.300] Servo Set a value within the setting range. type setting range input axis type"...
Page 756 Error code Error name Error details and causes Remedy (Hexadecimal) 1BAAH Synchronous [RD77MS] [RD77MS] encoder via servo • The servo amplifier axis set as synchronous encoder With the setting brought into the setting range, switch amplifier invalid error via servo amplifier is not supported with scale the power on again or reset the PLC.
Page 757 Error code Error name Error details and causes Remedy (Hexadecimal) 1BE6H Outside main shaft Setting value of the synchronous parameter "[Pr.411] Set within the range. clutch smoothing Main shaft clutch smoothing method" is outside the method range setting range. [Operation status at error occurrence] Synchronous control does not start.
Page 758 Error code Error name Error details and causes Remedy (Hexadecimal) 1C02H Outside speed The synchronous parameter "[Pr.435] Speed change Set a value within the range of 0 to 5000. change gear gear smoothing time constant" is set other than 0 to smoothing time 5000.
Page 759: Servo Amplifier Detection Error
Error code Error name Error details and causes Remedy (Hexadecimal) 1C27H Outside cam axis The synchronous parameter "[Pr.468] Cam axis position Set within the range of 0 to (Cam axis length per cycle position value per value per cycle (Initial setting)" is set other than 0 to - 1).
Page 760: Appendices
APPENDICES Appendix 1 Module Label The functions of the Simple Motion module can be set by using module labels. Default module label The names of the default module labels are defined with the following configuration. ■Module label of I/O signals "Module name"_"[x]"."Label name"_"[ax]"...
Page 761: Appendix 2 How To Find Buffer Memory Addresses
Appendix 2 How to Find Buffer Memory Addresses This section describes how to find the buffer memory addresses of positioning data, block start data, and condition data. Positioning data Positioning data has the following structure. Up to 100 positioning data items can be set (stored) for each axis in the buffer memory address shown on the left.
Page 762 For each variable, substitute a number following the description below. Variable Description The axis No. of the buffer memory address to be determined. Substitute a number from 1 to 32. The positioning data No. of the buffer memory address to be determined. Substitute a number from 1 to 100. Substitute one of the following numbers according to the buffer memory address to be determined.
Page 763 When the buffer memory address that satisfies the following conditions is determined • Axis 3 • Start block No.2 • Block start data point: 40 22000 + (400  (3 - 1)) + (200  2) + (40 - 1) = 23239 ■[Da.13] Special start instruction, [Da.14] Parameter Use the following calculation formula.
Page 764 When setting block start data using a program, determine buffer memory addresses using the following calculation formula and set the addresses. • 22100 + (400  (Ax - 1)) + (200  M) + (10  (Q - 1)) + R For each variable, substitute a number following the description below.
Page 765: Appendix 3 Compatible Devices With Sscnetiii(/H) [Rd77Ms]
Appendix 3 Compatible Devices with SSCNETIII(/H) [RD77MS] Optical hub unit The SSCNET/H Compatible Optical Hub Unit MR-MV200 is a unit that enables the branching of SSCNET/H communication on 1 line (3 branches for 1 input). SSCNET/H communication can be branched by installing this unit in a SSCNET/H system.
Page 766 System configuration The system configuration using MR-MV200 is shown below. The transmission route that passes through the MR-MV200 IN connector (CN1A connector for servo amplifier) and OUT1connector (CN1B connector for servo amplifier) is called the "Main route", and the transmission routes that pass through OUT2 connector and OUT3 connectors are called the "Sub route".
Page 767 • A servo amplifier can be connected between the Simple Motion module and MR-MV200, and between MR- MV200 units. • When turning OFF the power supply of the equipment connected to MR-MV200, use the connect/ disconnect function of SSCNET communication. Refer to the following for the connect/disconnect function of SSCNET communication.
Page 768 ■Servo amplifier layout where driver communication is possible Simple Motion module RD77MS16 AX1-16 Axis 1 MR-MV200 Axis 2 Axis 3 MR-MV200 Axis 4 Axis 5 Axis 6 (Last) OUT1 OUT1 Main route OUT2 OUT3 OUT2 Axis 7 Axis 8 (Last) Sub route 3) Axis 9 Axis 10...
Page 769 ■Servo amplifier layout where driver communication is not possible Simple Motion module RD77MS16 AX1-16 Axis 1 MR-MV200 Axis 2 Axis 3 MR-MV200 Axis 4 Axis 5 Axis 6 (Last) OUT1 OUT1 Main route OUT2 OUT3 OUT2 No driver communication with all sub routes Axis 7 Axis 8 (Last) Sub route 3)
Page 770 Monitor data The dedicated signal related to MR-MV200 is shown below. ■[Md.63] Optical hub unit installation information Checks the installation status (0: Not installed/1: Installed) of MR-MV200 and stores as bit data. "1" is stored to the installation status of MR-MV200 connected with the slave equipment. Under the following conditions, "0"...
Page 771: Connection With Mr-Je-B(F)
Connection with MR-JE-B(F) The servo amplifier MR-JE-B(F) can be connected using SSCNET/H. Comparisons of specifications with MR-J5(W)-B/MR-J4(W)-B Item MR-JE-B(F) MR-J5(W)-B/MR-J4(W)-B [Pr.100] Connected device 00001200H: MR-JE-_B(F) 00001000H: MR-J4-_B_(-RJ), MR-J4W_-_B (2-, 3-axis type) 00001400H: MR-J5-_B_(-RJ), MR-J5W_-_B (2-, 3-axis type) Operation mode Standard Standard/Fully closed/Linear/Direct drive Detailed parameter 1 [Pr.116] FLS...
Page 772: Inverter Fr-A700 Series
SSCNET µ SSCNET cable MR-J3BUS_M(-A/-B) RD77MS2: Up to 2 axes RD77MS4: Up to 4 axes RD77MS8: Up to 8 axes RD77MS16: Up to 16 axes ■Parameter setting To connect FR-A700 series, execute flash ROM writing after setting the following parameters to buffer memory. The setting value is valid when the power supply is turned ON or the CPU module is reset.
Page 773 ■Reset selection/disconnected PU detection/PU stop selection When PU stop is executed in FR-A700 series, position error excessive, etc. occur because a command from Simple Motion module does not stop. Set "0 to 3" in the parameter of the inverter "[Pr.75] Reset selection/ disconnected PU detection/PU stop selection".
Page 774 ■Optional data monitor setting The following table shows data types that can be set. Data type Name at FR-A700 series use Effective load ratio Motor load factor Load inertia moment ratio Load inertia ratio Model loop gain Position loop gain Bus voltage Converter output voltage Encoder multiple revolution counter...
Page 775 Comparisons of specifications with MR-J3(W)-B Item FR-A700 series MR-J3(W)-B [Pr.100] Connected device 00004100H: FR-A700 (Inverter) 00000100H: MR-J3-_B, MR-J3W-_B (2-axis type) 00004101H: FR-A700-NA (Inverter) 00004102H: FR-A700-EC (Inverter) 00004103H: FR-A700-CHT (Inverter) Control of servo amplifier parameters Set directly by inverter. (Not controlled by Simple Controlled by Simple Motion module.
Page 776 Precautions during control ■Absolute position system (ABS)/Incremental system (INC) When using FR-A700 series, absolute position system (ABS) cannot be used. Even though "1: used in absolute position detection system" is set in the servo parameter "Absolute position detection system (PA03)", the servo amplifier operates as incremental system.
Page 777: Inverter Fr-A800 Series
SSCNET µ SSCNET cable MR-J3BUS_M(-A/-B) RD77MS2: Up to 2 axes RD77MS4: Up to 4 axes RD77MS8: Up to 8 axes RD77MS16: Up to 16 axes ■Parameter setting To connect FR-A800 series, execute flash ROM writing after setting the following parameters to buffer memory. The setting value is valid when the power supply is turned ON or the CPU module is reset.
Page 778 ■Optional data monitor setting The following table shows data types that can be set. Data type Name at FR-A800 series use Effective load ratio Motor load factor Load inertia moment ratio Load inertia ratio Model loop gain Position loop gain Bus voltage Converter output voltage Encoder multiple revolution counter...
Page 779 Comparisons of specifications with MR-J5(W)-B/MR-J4(W)-B Item FR-A800 series MR-J5(W)-B/MR-J4(W)-B [Pr.100] Connected device 00002000H: FR-A800-1 00001000H: MR-J4-_B_(-RJ), MR-J4W_-_B (2-, 00002001H: FR-A800-2 3-axis type) 00001400H: MR-J5-_B_(-RJ), MR-J5W_-_B (2-, 3-axis type) Control of servo amplifier parameters Set directly by inverter. (Not controlled by Simple Controlled by Simple Motion module.
Page 780 *1 Confirm the specifications of FR-A800 series for details. *2 Since the servo parameters of MR-J5(W)-B are not in the buffer memory, for the setting of the servo parameters, refer to the following. Page 796 Connection with MR-J5(W)-B *3 During the amplifier-less operation, the following types of servo amplifier and servo motor are pseudo-connected. - Servo amplifier type: MR-J4-10B - Motor type: HG-KR053 (Resolution per servo motor rotation: 4194304 pulses/rev) *4 Parameters set in FR-A800 series are not controlled by Simple Motion module.
Page 781: Alphastep/5-Phase Stepping Motor Driver Manufactured By Oriental Motor Co., Ltd
µ SSCNET µ SSCNET cable MR-J3BUS_M(-A/-B) RD77MS2: Up to 2 axes RD77MS4: Up to 4 axes RD77MS8: Up to 8 axes RD77MS16: Up to 16 axes ■Parameter setting To connect AlphaStep/5-phase, set the following parameters. n: Axis No. - 1...
Page 782 Comparisons of specifications with MR-J5(W)-B/MR-J4(W)-B Item AlphaStep 5-phase MR-J5(W)-B/MR-J4(W)-B [Pr.100] Connected device 0003202AH: STEP (AZ) 00032029H: 5-Phase 00001000H: MR-J4-_B_(-RJ), MR-J4W_-_B (2-, (ST) 3-axis type) 0001400H: MR-J5-_B_(-RJ), MR-J5W_-_B (2-, 3- axis type) Control of servo amplifier parameters Controlled by AlphaStep. Controlled by 5-phase Controlled by Simple Motion module.
Page 783 Item AlphaStep 5-phase MR-J5(W)-B/MR-J4(W)-B Monitoring of servo parameter error No. Not possible Not possible Possible Servo alarm/warning Alarm codes/warning Alarm codes/warning Alarm codes/warning codes detected by servo codes detected by codes detected by 5- amplifier are stored in "Servo alarm/warning". AlphaStep and operation phase and operation error error codes during driver...
Page 784 Precautions during control ■Absolute position system (ABS)/Incremental system (INC) The ABS/INC setting is performed by the connected AlphaStep/5-phase. For the INC setting, the restriction is shown below. • When the power of the Simple Motion module is turned off and on again, "[Md.20] Command position value" is undefined. ■Home position return The method and some operation of the home position return using the AlphaStep/5-phase differ from those of the home position return using the servo amplifier.
Page 785 • Backlash compensation after the driver home position return method When "[Pr.11] Backlash compensation amount" is set in the Simple Motion module, whether the backlash compensation is necessary or not is judged from "[Pr.44] Home position return direction" of the Simple Motion module in the axis operation such as positioning after the driver home position return.
Page 786 ■Control mode • When the AlphaStep supports the speed-torque control, position control mode (position control, and speed control including position loop, etc.), speed control mode of expansion control (speed control not including position loop), and torque control mode (torque control) can be used. It is not available to switch to continuous operation to torque control mode of expansion control.
Page 787 ■Torque limit • When the AlphaStep does not support the torque limit function, the torque limit set by the Simple Motion module is ignored. Set the torque limit value with the parameter on the AlphaStep. • When the driver is set to the AlphaStep which supports the torque limit function, and "[Cd.112] Torque change function switching request"...
Page 788: Servo Driver Vcii Series/Vph Series Manufactured By Ckd Nikki Denso Co., Ltd
µ SSCNET (/H) µ SSCNET cable MR-J3BUS_M(-A/-B) RD77MS2: Up to 2 axes RD77MS4: Up to 4 axes RD77MS8: Up to 8 axes RD77MS16: Up to 16 axes µ *1: MR-JE-_B can be connected via SSCNET ■Parameter setting To connect VC series/VPH series, set the following parameters.
Page 789 Comparisons of specifications with MR-J5(W)-B/MR-J4(W)-B/MR-J3(W)-B Item VCII series/VPH series MR-J5(W)-B/MR-J4(W)-B MR-J3(W)-B [Pr.100] Connected device 00080102H: VC (Manufactured by 00001000H: MR-J4-_B_(-RJ), MR- 00000100H: MR-J3-_B_, MR-J3W-_B CKD NIKKI DENSO CO., LTD.) (For J4W_-_B (2-, 3-axis type) (2-axis type) linear stage) 0001400H: MR-J5-_B_(-RJ), MR- 00000101H: MR-J3-_B_-RJ006 (For 00080107H: VC...
Page 790 Item VCII series/VPH series MR-J5(W)-B/MR-J4(W)-B MR-J3(W)-B Positioning control, Expansion Position control mode, Speed control Position control mode, Speed control mode, Torque control mode, Continuous control mode, Torque control mode operation to torque control mode Torque limit value change Possible (Separate setting: Possible Restrictions Gain switching command...
Page 791 ■Home position return When "1" is set in the first digit of the parameter of VC series/VPH series "Select function for SSCNET on communicate mode", it is possible to carry out the home position return without passing the zero point. (Return to origin after power is supplied will be executed when passing of Motor Z phase is not necessary.) When "0"...
Page 792 ■Gain switching command, PI-PID switching request, Semi/Fully closed loop switching request Gain switching command and PI-PID switching request are available. Semi/fully closed loop switching request becomes invalid. ■Driver communication The driver communication is not supported. If the driver communication is set in a servo parameter, the error "Driver communication setting error"...
Page 793: Iai Electric Actuator Controller Manufactured By Iai Corporation
µ IAI electric SSCNET cable actuator controller MR-J3BUS_M(-A/-B) RD77MS2: Up to 2 axes RD77MS4: Up to 4 axes RD77MS8: Up to 8 axes RD77MS16: Up to 16 axes ■Parameter setting To connect IAI electric actuator controller, set the following parameters.
Page 794 Comparisons of specifications with MR-J5(W)-B/MR-J4(W)-B Item IAI electric actuator controller MR-J5(W)-B/MR-J4(W)-B [Pr.100] Connected device 000A2001H: IAI Controller for Electric Actuator 00001000H: MR-J4-_B_(-RJ), MR-J4W_-_B (2-, 3-axis type) 00001400H: MR-J5-_B_(-RJ), MR-J5W_-_B (2-, 3-axis type) Control of servo amplifier parameters Controlled by IAI electric actuator controller. Controlled by Simple Motion module.
Page 795 Item IAI electric actuator controller MR-J5(W)-B/MR-J4(W)-B [Md.108] Servo status 1 b0: READY ON b0: READY ON b1: Servo ON b1: Servo ON b7: Servo alarm b2 to b3: Control mode b12: In-position b4: Gain switching b13: Current cutback b5: Fully closed loop control switching b14: Absolute position lost b7: Servo alarm b12: In-position...
Page 796 • Backlash compensation after the driver home position return method When "[Pr.11] Backlash compensation amount" is set in the Simple Motion module, set the positive direction in "[Pr.44] Home position return direction". [Operation chart] The machine home position return is started. (The home position return is executed based on the positioning pattern set in the IAI electric actuator controller.) Machine home position return start...
Page 797 ■Driver communication The driver communication is not supported. If the driver communication is set in a servo parameter, the setting is ignored. ■Axis monitor data • "[Md.104] Motor current value" is always "0". • "Zero passage" ([Md.119] Servo status 2: b0) is always OFF. •...
Page 798: Connection With Mr-J5(W)-B
SSCNET cable MR-J3BUS_M(-A/-B) Synchronous encoder via servo amplifier HK-KT motor RD77MS2: Up to 2 axes RD77MS4: Up to 4 axes RD77MS8: Up to 8 axes RD77MS16: Up to 16 axes Setting method ■Servo parameter Since the servo parameters of MR-J5(W)-B are not in the buffer memory, set the servo parameters with one of the following methods.
Page 799 • How to read and write the servo parameter using the axis control data The following axis control data and setting values are used. n: Axis No. - 1 Setting item Setting value Factory-set Buffer memory initial value address [Cd.130] Servo parameter read/write 0000H: Not request (read/write completion) 4354+100n...
Page 800 [How to write the servo parameter using the axis control data] Set the servo parameter No. in "[Cd.131] Parameter No.". Set the setting value for the servo parameter in "[Cd.132] Change data" in 2 words. Set "0022H: 2 words write request to internal memory" in "[Cd.130] Servo parameter read/write request". The Simple Motion module writes "[Cd.132] Change data"...
Page 801 • How to change individually the servo parameter after transfer of servo parameter The following axis control data and setting values are used. n: Axis No. - 1 Setting item Setting value Factory-set Buffer memory initial value address [Cd.130] Servo parameter read/write 0000H: Not request (read/write completion) 4354+100n request...
Page 802 ■Gain switching command • When "1: Gain switching command ON" is set in "[Cd.108] Gain switching command flag", the gain switching is commanded to the servo amplifier, and the load inertia moment ratio and each gain are switched to PB29 to PB36 and PB56 to PB60.
Page 803 Comparisons of specifications with MR-J5(W)-B and MR-J4(W)-B Item MR-J5(W)-B MR-J4(W)-B [Pr.100] connected device 00001400H: MR-J5-_B_(-RJ), MR-J5W_-_B (2-, 00001000H: MR-J4-_B_(-RJ), MR-J4W_-_B (2-, 3-axis type) 3-axis type) Control of servo amplifier parameters Controlled by Simple Motion module Controlled by Simple Motion module (Reading and changing 32 bit parameters are (Reading and changing 32 bit parameters are available)
Page 804: Appendix 4 Operation Examples Of When The Remote Head Module Is Mounted [Rd77Ms]
Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS] This section describes operation examples of when the remote head module is mounted. System configuration example The following system configuration is used to explain an example of operation. RD77MS16 AX1-16 (1) Master station (Network No.
Page 805: Setting In The Master Station
Setting in the master station Connect the engineering tool to the CPU module of the master station and set parameters. Create the project with the following settings. [Project]  [New] Configure the setting to use the module labels and add the module labels of the CPU module. Add the master/local module with the following settings.
Page 806 Configure the setting to use the module labels and add the module labels of the master/local module. Set "Required Settings" of "Module Parameter" of the master/local module as shown below. [Navigation window]  [Parameter]  [Module Information]  [RJ71GF11-T2]  [Required Settings] Set "Network Configuration Settings"...
Page 807 Set "Refresh Setting" of "Module Parameter" of the master/local module as shown below. [Navigation window]  [Parameter]  [Module Information]  [RJ71GF11-T2]  [Basic Settings]  [Refresh Setting] Write the set parameters to the CPU module on the master station. Then reset the CPU module or power off and on the system.
Page 808: Setting In The Intelligent Device Station
Setting in the intelligent device station Connect the engineering tool to the remote head module of the intelligent device station and set parameters. Create the project with the following settings. [Project]  [New] Set "Network Required Setting" of "CPU Parameter" of the remote head module as shown below. [Navigation window] ...
Page 809 Configure the setting not to use the module labels. Set "Refresh Setting" of "Module Parameter" of RD77MS as shown below. [Navigation window]  [Parameter]  [Module Information]  [RD77MS16]  [Module Parameter]  [Refresh Setting] Since the parameters are already set with a program in this program example, use default values for module parameter settings of the engineering tool.
Page 810: Checking The Network Status
Checking the network status After setting parameters to the master station and the intelligent device station, check whether data link is normally performed between the master station and the intelligent device station. Check the network status using the CC-Link IE Field Network diagnostics of the engineering tool.
Page 811 APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 812 APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 813 ■Details of arrayed labels Out of global labels listed in the above table, the arrayed labels are listed in the table below. Label name Assigned device Description bnBusy[0] X110 Axis 1: BUSY signal bnBusy[1] X111 Axis 2: BUSY signal bnBusy[2] X112 Axis 3: BUSY signal bnBusy[3]...
Page 814 Label name Assigned device Description wStep[0] Step mode wStep[1] Step valid flag wTarget[0] Target position change (New address) wTarget[1] wTarget[2] Target position change (New speed) wTarget[3] wTarget[4] Target position change request flag wBasicParam[0] Basic parameter: Unit setting wBasicParam[1] Basic parameter: Unit magnification wBasicParam[2] Basic parameter: Number of pulses per rotation (16 bits)
Page 815 Checking the operation status of the master station Parameter setting program When parameters are set in "Module Parameter" of the engineering tool, this program is unnecessary. ■Setting of basic parameter 1 (axis 1) APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 816 ■Setting of home position return basic parameter (axis 1) APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 817 ■Parameter setting program for the speed-position switching control (ABS mode) (for axis 1) This program is unnecessary when the speed-position switching control (ABS mode) is not executed. APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 818 Positioning data setting program ■For positioning data No.1 (Axis 1) When positioning data is set in "Module Extended Parameter" of the engineering tool, this program is unnecessary. APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 819 Block start data setting program ■For the setting of start block 0 block start data (Axis 1) 1 to 5 points When block start data is set in "Module Extended Parameter" of the engineering tool, this program is unnecessary. Setting Special start instruction to Normal start When block start data is set in "Module Extended Parameter"...
Page 820 Home position return request OFF program When "Setting of operation during uncompleted OPR" is set to "1: Execute the positioning control" in "Module Parameter" of the engineering tool, this program is unnecessary. External command function valid setting program APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 821 PLC READY signal [Y0] + All axis servo ON signal [Y1] ON program Positioning start No. setting program ■Machine home position return ■Fast home position return ■Positioning with the positioning data No.1 APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 822 ■Speed-position switching control (positioning data No.2) For the ABS mode, writing the target movement amount after change is unnecessary. ■Position-speed switching control (positioning data No.3) ■Advanced positioning control APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 823 ■Turning off a fast home position return command and fast home position return command storage This program is unnecessary when the fast home position return is not used. Positioning start program ■For positioning start signal [Y10] • The contacts of bFastOPR_Request and bFastOPR_RequestMemory are unnecessary when the fast home position return is not used.
Page 824 M code OFF program This program is unnecessary when the M code is not used. JOG operation setting program Inching operation setting program APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 825 JOG operation/inching operation execution program APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 826 Manual pulse generator operation program APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 827 Speed change program Override program APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 828 Acceleration/deceleration time change program Step operation program APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 829 Skip program Continuous operation interrupt program APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 830 Target position change program APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 831 Restart program APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 832 Parameter initialization program APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 833 Flash ROM write program Error reset program This program stores and resets only error codes. To reset warnings, create OR circuits for the error detection signal (Axis 1) W0.D and warning detection signal (Axis 1) W0.9 with step 1356. In addition, create a program to store the warning codes by referring to step 1337. APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 834 Stop program APPX Appendix 4 Operation Examples of When the Remote Head Module Is Mounted [RD77MS]...
Page 835: The Rd77Ms Operation When The Remote Head Module Is Mounted
The RD77MS operation when the remote head module is mounted This section describes the RD77MS operation for when the RD77MS is used with the remote head module disconnected. The RD77MS operation with the remote head module disconnected An output signal is turned off when the remote head module is disconnected because "CPU error output mode setting" of the RD77MS is fixed to "0: Clear".
Page 836: Appendix 5 Restrictions By The Version
Appendix 5 Restrictions by the version The software versions corresponding to each Simple Motion module are shown below. Model Version GX Works3 RD77MS 1.000A RD77GF 1.020W There are restrictions in the function that can be used by the software of the Simple Motion module and the version of engineering tool.
Page 837 [RD77GF] : There is no restriction by the version. Function 4-axis/8-axis/16-axis 32-axis module Reference module Software GX Works3 Software GX Works3 version version Support for "0" in "Stroke limit enabling condition selection" Ver.02 or later Ver.05 or later 1.030G or later ...
Page 838 MEMO APPX Appendix 5 Restrictions by the version...
Page 839: Index
INDEX ..... 549,552 Control method 0 to 9 ...651 Control mode auto-shift parameter 3-axis helical interpolation control with sub point .
Page 840 . . 382,383 Home position return acceleration time selection Mark detection signal compensation time ....... . 539,540 Mark detection signal detection direction setting .
Page 841 ....622 Positioning start No. Speed limit value at continuous operation to torque ....622 .
Page 842 ....507,509 Unit magnification (AM) ......507 Unit setting .
Page 843: Revisions
REVISIONS *The manual number is given on the bottom left of the back cover. Revision date *Manual number Description June 2014 IB(NA)-0300247ENG-A First edition February 2015 IB(NA)-0300247ENG-B ■Added functions 3-axis helical interpolation control, Inter-module synchronization function, Online module change, Hot line forced stop function ■Added or modified parts RELEVANT MANUALS, TERMS, Section 1.1, 1.2, 1.3, 2.1, 2.2, 3.1, 3.2, 4.1, 4.2, 4.3, 4.4, 5.1, 5.2, 5.3, 5.4, Chapter 6, Section 7.1, 8.2, 8.4, 8.5, 8.6, 8.8, 8.9, 9.1, 9.2, 9.3, 9.4, 9.5, 9.8, 9.9, 9.10, 9.11,...
Page 844 Japanese manual number: IB-0300246-M 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 845: 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 846: 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 848 IB(NA)-0300247ENG-J(2406)MEE MODEL: RD77-U-APP-E MODEL CODE: 1XB014 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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