Page 1 MELSEC-Q/L QD77MS/QD77GF/LD77MS/LD77MH Simple Motion Module User's Manual (Synchronous Control) -QD77MS2 -QD77GF4 -LD77MS2 -LD77MH4 -QD77MS4 -QD77GF8 -LD77MS4 -LD77MH16 -QD77MS16 -QD77GF16 -LD77MS16...
Page 3: Safety Precautions
SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. Refer to the user's manual of the CPU module to use for a description of the PLC system safety precautions.
Page 4 For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.
Page 5 3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity (+ / -), as this may lead to destruction or damage.
Page 6 CAUTION The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed. Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system.
Page 7 DANGER The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used. Use the interlock program specified in the intelligent function module's instruction manual for the program corresponding to the intelligent function module.
Page 8 CAUTION Transport the product with the correct method according to the mass. Use the servomotor suspension bolts only for the transportation of the servomotor. Do not transport the servomotor with machine installed on it. Do not stack products past the limit. When transporting the module or servo amplifier, never hold the connected wires or cables.
Page 9 CAUTION When not using the module for a long time, disconnect the power line from the module or servo amplifier. Place the module and servo amplifier in static electricity preventing vinyl bags and store. When storing for a long time, please contact with our sales representative. Also, execute a trial operation.
Page 10 CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier.
Page 11 (5) Trial operation and adjustment CAUTION Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine. Extreme adjustments and changes may lead to unstable operation, so never make them. When using the absolute position system function, on starting up, and when the module or absolute position motor has been replaced, always perform a home position return.
Page 12 Note that when the reference axis speed is designated for interpolation operation, the speed of the partner axis (2nd axis, 3rd axis and 4th axis) may be larger than the set speed (larger than the speed limit value). Use the units with the following conditions. 1) QD77MS/QD77GF Item Conditions Input power According to each instruction manual.
Page 13 (7) Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the module or servo amplifier, confirm the check details according to the instruction manual, and restore the operation. If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with an electromagnetic brake or install a brake mechanism externally.
Page 14 CAUTION Before performing online operations (especially, program modification, forced output, and operating status change) for the running CPU module on another station from GX Works2 over CC-Link IE Field Network, read relevant manuals carefully and ensure the safety. Improper operation may damage machines or cause accidents. Do not disassemble or modify the modules.
Page 15 CAUTION When the module or absolute position motor has been replaced, carry out a home position return operation using the following method, otherwise position displacement could occur. After writing the servo data to the Simple Motion module using programming software, switch on •...
Page 16: Conditions Of Use For The Product
CONDITIONS OF USE FOR THE PRODUCT (1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions; i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; and ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.
Page 17: Introduction
INTRODUCTION Thank you for purchasing our MELSEC-Q/L series programmable controllers. This manual describes the functions and programming of the Simple Motion module. Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC-Q/L series programmable controller to handle the product correctly.
Page 18: Revisions
This manual confers no industrial property 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.  2011 MITSUBISHI ELECTRIC CORPORATION A - 16...
Page 19: Table Of Contents
CONTENTS SAFETY PRECAUTIONS ..........................A- 1 CONDITIONS OF USE FOR THE PRODUCT ..................... A-14 INTRODUCTION ............................A-15 REVISIONS ..............................A-16 CONTENTS ..............................A-17 COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES ............A-20 RELEVANT MANUALS ..........................A-21 MANUAL PAGE ORGANIZATION ........................ A-24 TERMS ................................
Page 20 4.1.3 Main shaft clutch parameters ......................4- 5 4.1.4 Main shaft clutch control data ......................4-13 4.2 Auxiliary shaft module ..........................4-14 4.2.1 Overview of auxiliary shaft module ....................4-14 4.2.2 Auxiliary shaft parameters ........................ 4-15 4.2.3 Auxiliary shaft clutch parameters ...................... 4-17 4.2.4 Auxiliary shaft clutch control data .....................
Page 21 6.4.3 List of cam position calculation warnings ..................6-14 Appendices Appendix- 1 to Appendix-18 Appendix 1 Comparisons with the Motion controller SV22 ............. Appendix- 2 Appendix 2 Sample program of synchronous control ..............Appendix- 6 Appendix 3 Lists of buffer memory addresses for synchronous control ......... Appendix-10 A - 19...
Page 22: Compliance With The Emc And Low Voltage Directives
To make this product comply with EMC and Low Voltage Directives, refer to Section 4.3.1 "Precautions for wiring" of the following. • "MELSEC-Q QD77MS Simple Motion Module User's Manual (Positioning Control)" • "MELSEC-Q QD77GF Simple Motion Module User's Manual (Positioning Control)"...
Page 23: Relevant Manuals
Manual Name Description MELSEC-Q QD77MS Simple Motion Module User's Manual Specifications of the QD77MS and information on how to (Positioning Control) establish a system, maintenance and inspection, and troubleshooting Functions, programming and buffer memory for the ...
Page 24 (2) CPU module Manual Name Description QCPU User's Manual Specifications of the hardware (CPU modules, power supply (Hardware Design, Maintenance and Inspection) modules, base units, batteries, and memory cards), system maintenance and inspection, and troubleshooting QnUCPU User's Manual (Function Explanation, Program Fundamentals) Functions, devices, and programming of the CPU module...
Page 25 (4) Servo amplifier Manual Name Description SSCNET /H Interface AC Servo This manual explains the I/O signals, parts names, MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual parameters, start-up procedure and others for MR-J4-_B_(-RJ) servo amplifier. SSCNET /H Interface Multi-axis AC Servo This manual explains the I/O signals, parts names, MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 parameters, start-up procedure and others for multi-axis...
Page 26: Manual Page Organization
[Md. * ] Symbol that indicates monitor data item. [Cd. * ] Symbol that indicates control data item. QD77MS Symbol that indicates correspondence to only QD77MS. LD77MS Symbol that indicates correspondence to only LD77MS. QD77GF Symbol that indicates correspondence to only QD77GF.
Page 27 In the buffer memory address, "j" in "34720+20j", etc. indicates a value corresponding to synchronous encoder axis No. such as the following table. Synchronous encoder axis No. (Note-1): Calculate as follows for the buffer memory address corresponding to each axis. (Example) For synchronous encoder axis No.
Page 28: Terms
Another term for a servo amplifier A generic term for "Home position return" A generic term for "Home position" (Note) SSCNET /H High speed synchronous communication network between QD77MS/LD77MS/LD77MH and servo amplifier (Note) SSCNET CC-Link IE Field Network A high-speed and large-capacity open field network that is based on Ethernet (1000BASE-T)
Page 29: Packing List
PACKING LIST The following items are included in the package of each product. Before use, check that all the items are included. QD77MS (1) QD77MS2 QD77MS2 ERR. QD77MS2 QD77MS2 Before Using the Product (2) QD77MS4 QD77MS4 ERR. QD77MS4 QD77MS4 Before Using the Product...
Page 30 QD77GF (1) QD77GF4 QD77GF4 Before Using the Product (2) QD77GF8 QD77GF8 Before Using the Product (3) QD77GF16 QD77GF16 Before Using the Product A - 28...
Page 31 LD77MS (1) LD77MS2 LD77MS2 ERR. LD77MS2 Before Using the Product (2) LD77MS4 LD77MS4 ERR. LD77MS4 Before Using the Product (3) LD77MS16 LD77MS16 AX 1 2 3 4 5 6 7 8 ERR. 9 1011 12131415 16 LD77MS16 Before Using the Product A - 29...
Page 32 LD77MH (1) LD77MH4 LD77MH4 ERR. LD77MH4 Before Using the Product (2) LD77MH16 LD77MH16 AX 1 2 3 4 5 6 7 8 ERR. 9 101112 13141516 LD77MH16 Before Using the Product A - 30...
Page 33: Outline Of Synchronous Control
Chapter1 Outline of Synchronous Control Chapter 1 Outline of Synchronous Control The outline, specifications and the operation method of synchronous control using the Simple Motion module are explained in this chapter. This chapter helps to understand what can be done using the positioning system and which procedure to use for a specific purpose.
Page 34: Outline Of Synchronous Control
Chapter1 Outline of Synchronous Control 1.1 Outline of synchronous control "Synchronous control" can be achieved using software instead of controlling mechanically with gear, shaft, speed change gear or cam, etc. "Synchronous control" synchronizes movement with the input axis (servo input axis or synchronous encoder axis), by setting "the parameters for synchronous control"...
Page 35 Chapter1 Outline of Synchronous Control List of synchronous control module The module is used in synchronous control as follows. Synchronous parameter Main shaft module Input axis module Main shaft Composite main Main shaft main input axis shaft gear gear Synchronous encoder axis parameter Synchronous encoder axis...
Page 36 Chapter1 Outline of Synchronous Control (1) Input axis Maximum number of usable Number per module Classification Name Parts Function description Reference Number 2-axis 4-axis 8-axis 16-axis per axis module module module module • Used to drive the input axis with Servo the position of the servomotor —...
Page 37 Chapter1 Outline of Synchronous Control Maximum number of usable Number per module Classification Name Parts Function description Number Reference 2-axis 4-axis 8-axis 16-axis per axis module module module module Auxiliary shaft • The input axis of the auxiliary Section 4.2 axis shaft module.
Page 38: Performance Specifications
Chapter1 Outline of Synchronous Control 1.2 Performance specifications Performance specifications Number of settable axes Item 2-axis module 4-axis module 8-axis module 16-axis module Input Servo input axis 2 axes/module 4 axes/module 8 axes/module 16 axes/module axis Synchronous encoder axis 4 axes/module Composite main shaft gear 1/output axis Main shaft main input axis...
Page 39 Chapter1 Outline of Synchronous Control Cam specifications Item Specification Cam storage area 256k bytes Memory capacity Cam open area 1024k bytes Up to 256 (Note-1) Number of cam registration (Dependent on memory capacity, cam resolution and coordinate number) Comment Up to 32 characters per cam data Cam resolution 256/512/1024/2048/4096/8192/16384/32768 Stroke ratio...
Page 40 Specification Number of control axes Incremental synchronous encoder/ Synchronous encoder via servo amplifier Synchronous encoder axis type [CiA402 mode]/ QD77MS LD77MS QD77GF Synchronous encoder via CPU mm, inch, degree, PLS Control unit (Possible to select the decimal places of position unit and speed...
Page 41: Restrictions By The Serial No. And Version
There are restrictions in the function that can be used by the SERIAL No. of the Simple Motion module and the version of GX Works2. The combination of each version and function are shown below. (1) QD77MS QD77MS2/QD77MS4/QD77MS16 Function Reference...
Page 42 (Note-1): The serial number can be checked on the "Product Information List" screen in GX Works2. Refer to the following for how to check the SERIAL No. of the Simple Motion module. • QD77MS : "MELSEC-Q QD77MS Simple Motion Module User's Manual (Positioning Control)"...
Page 43: Operation Method Of Synchronous Control
Chapter1 Outline of Synchronous Control 1.4 Operation method of synchronous control 1.4.1 Synchronous control execution procedure The synchronous control is executed using the following procedure. Preparation STEP 1 Set the following parameters. One of the following two methods can be used. Positioning parameters Expansion parameters ...
Page 44: Starting/Ending For Synchronous Control
Chapter1 Outline of Synchronous Control 1.4.2 Starting/ending for synchronous control Set the parameters for synchronous control for each output axis to start synchronous control. The status changes to synchronous control after the parameters are analyzed at the start of synchronous control, and the output axes synchronize with input axis operations. Cd.380 Synchronous control start (Target axis bit) BUSY signal...
Page 45 Chapter1 Outline of Synchronous Control Starting history The starting history is updated when starting synchronous control. "9020: Synchronous control operation" is stored in "[Md.4] Start No.". Status when starting synchronous control The following bits in "[Md.31] Status" are turned OFF when starting synchronous control in the same way as for the positioning control start.
Page 46: Stop Operation Of Output Axis
Chapter1 Outline of Synchronous Control 1.4.3 Stop operation of output axis If the following causes occur in stopping the output axis during synchronous control, synchronous control is completed after stops processing for the output axis (BUSY signal is OFF, axis operation status is standby). Synchronous alignment must be executed for the output axis to restart the synchronous control.
Page 47 Chapter1 Outline of Synchronous Control (2) Deceleration stop The output axis stops with deceleration according to the setting in "[Pr.37] Stop group 1 sudden stop selection" to "[Pr.39] Stop group 3 sudden stop selection". The deceleration time is set in "[Pr.446] Synchronous control deceleration time" for deceleration stop, and in "[Pr.36] Sudden stop deceleration time"...
Page 48 Chapter1 Outline of Synchronous Control MEMO 1 - 16...
Page 49: Input Axis Module
Chapter 2 Input Axis Module Chapter 2 Input Axis Module The settings for the parameter and monitor data for the input axis module that are used with synchronous control are explained in this chapter. Refer to the "User's Manual (Positioning Control)" of each Simple Motion module for details on the connection and control for the servo amplifier and the synchronous encoder that is used for input axis module.
Page 50: Servo Input Axis
Chapter 2 Input Axis Module 2.1 Servo input axis 2.1.1 Overview of servo input axis The servo input axis is used to drive the input axis based on the position of the servomotor that is being controlled by the Simple Motion module. The status of a servo input axis can also be monitored even before the synchronous control start since the setting of a servo input axis is valid after the system's power supply ON.
Page 51 Chapter 2 Input Axis Module Restrictions If "1: Feed current value" or "2: Real current value" is set in "[Pr.300] Servo input axis type", set "1: Update feed current value" in "[Pr.21] Feed current value during speed control" to start the speed position change control. If "0: Do not update feed current value" or "2: Clear feed current value to zero"...
Page 52: Servo Input Axis Parameters
Chapter 2 Input Axis Module 2.1.2 Servo input axis parameters Default Buffer memory Setting item Setting details Setting value value address Set in decimal. • Set the current value type to be 0: Invalid generated of the input value for the [Pr.300] 1: Feed current value 32800+10n...
Page 53 Chapter 2 Input Axis Module [Pr.300] Servo input axis type Set the current value type to be generated of the input value for the servo input axis. 0: Invalid ........Servo input axis is invalid. 1: Feed current value ....Generate the input value based on "[Md.20] Feed current value".
Page 54 Chapter 2 Input Axis Module [Pr.302] Servo input axis phase compensation advance time Set the time to advance or delay the phase (input response) of the servo input axis. Refer to Section 4.8 "Phase compensation function" for the peculiar time delay of the system using the servo input axis.
Page 55 Chapter 2 Input Axis Module [Pr.304] Servo input axis rotation direction restriction Set this parameter to restrict the input travel value for the servo input axis to one direction. This helps to avoid reverse operation caused by machine vibration, etc. when "Real current value"...
Page 56: Servo Input Axis Monitor Data
Chapter 2 Input Axis Module 2.1.3 Servo input axis monitor data Buffer memory Monitor item Storage details Monitor value address • The current value for the servo input axis is [Md.300] Monitoring is carried out in decimal. 33120+10n stored. Servo input axis current -2147483648 to 2147483647 33121+10n (Note-1)
Page 57 Chapter 2 Input Axis Module [Md.301] Servo input axis speed The speed for the servo input axis is stored in servo input axis speed units (Refer to Section 2.1.1). The speed for the servo input axis is the value after processing smoothing, phase compensation, and rotation direction restriction.
Page 58: Synchronous Encoder Axis
Chapter 2 Input Axis Module 2.2 Synchronous encoder axis 2.2.1 Overview of synchronous encoder axis The synchronous encoder is used to drive the input axis based on input pulse from a synchronous encoder that is connected externally. The status of a synchronous encoder axis can also be monitored after the system's power supply turns ON.
Page 59 Synchronous encoder via servo amplifier Used to use a synchronous encoder connected to the servo amplifier which supports QD77MS LD77MS the scale measurement mode as a synchronous encoder axis. [CiA402 mode] QD77GF Synchronous encoder via Used to operate a gray code encoder that is connected to the input module of PLC CPU as a synchronous encoder axis.
Page 60 Chapter 2 Input Axis Module Units for the synchronous encoder axis The position units and speed units for the synchronous encoder axis are shown below for the setting of "[Pr.321] Synchronous encoder axis unit setting". Table 2.3 Synchronous encoder axis position units Setting value of "[Pr.321] Synchronous encoder axis unit setting"...
Page 61: Setting Method For Synchronous Encoder
Chapter 2 Input Axis Module 2.2.2 Setting method for synchronous encoder [1] Incremental synchronous encoder Setting method Connect the synchronous encoder to the "Manual pulse generator/Incremental synchronous encoder input" of the Simple Motion module. Set the input method for the incremental synchronous encoder signal using the following parameters.
Page 62 Chapter 2 Input Axis Module Setting example The following shows an example for setting an incremental synchronous encoder as synchronous encoder axis 2 of the QD77MS. QD77MS Incremental synchronous encoder Synchronous encoder axis 2 Axis 1 Axis 2 Axis 3 Set "1: Incremental synchronous encoder"...
Page 63 Chapter 2 Input Axis Module [2] Synchronous encoder via servo amplifier [CiA402 mode] QD77MS LD77MS QD77GF There are restrictions in the function and the encoder that can be used by the version of the servo amplifier. Setting method Used to use a synchronous encoder connected to the servo amplifier which supports the scale measurement mode as a synchronous encoder axis.
Page 64 • "Scale measurement mode selection (PA22)" is set to the servo amplifier set by "ABS" or "INC" from the "External synchronous encoder input" list of the amplifier setting dialog using the Simple Motion Module Setting Tool. QD77MS LD77MS • When the servo parameter "Scale measurement mode selection (PA22)" is changed, it is required to switch the power of servo amplifier off once after the parameter is transferred to the servo amplifier, and then switch it on again.
Page 65 Chapter 2 Input Axis Module Setting example The following shows an example for setting a serial absolute synchronous encoder Q171ENC-W8 using MR-J4-B-RJ as synchronous encoder axis 1 of the QD77MS. QD77MS MR-J4-B-RJ Q171ENC-W8 (4194304PLS/rev) Axis 1 Axis 2 Axis 3 Synchronous encoder axis 1 Set the parameters as below.
Page 66 Data type setting 4" is ignored. (Set the total points to be within 3 words for the optional data monitor. Otherwise, the monitor setting is ignored.) QD77MS LD77MS (3) When the servo alarms about the serial absolute synchronous encoder connection occur in the servo amplifier axis selected as "Synchronous encoder via servo...
Page 67 Input value for synchronous encoder via CPU" while it is connecting. Setting example The following shows an example for setting a synchronous encoder via CPU as synchronous encoder axis 4 of the QD77MS. (Resolution of the gray code encoder: 4096 PLS/rev) Input...
Page 68 Chapter 2 Input Axis Module Restrictions (1) "[Cd.325] Input value for synchronous encoder via CPU" is taken every operation cycle, but it is asynchronous with the scan time of the PLC CPU. Therefore, speed fluctuation of the synchronous encoder axis becomes larger if the refresh cycle of "[Cd.325] Input value for synchronous encoder via CPU"...
Page 69: Synchronous Encoder Axis Parameters
34720+20j Fetch cycle: At power supply ON axis type (Connectable servo amplifier: (Note-1) Axis 1 to axis 16 QD77MS LD77MS [CiA402 mode] QD77GF : Synchronous encoder via CPU Set in hexadecimal. • Set the unit of the synchronous encoder...
Page 70 Chapter 2 Input Axis Module Default Buffer memory Setting item Setting details Setting value value address [Pr.326] • Set the time to advance or delay the Synchronous encoder Set in decimal. 34730+20j phase. axis phase -2147483648 to 2147483647 [μs] 34731+20j Fetch cycle: Operation cycle compensation advance time...
Page 71 101 to 116: Synchronous encoder via servo amplifier (Note-1) (Connectable servo amplifier: Axis 1 to axis 16 [CiA402 mode] QD77MS LD77MS QD77GF ...............Generate the input value based on the synchronous encoder input via servo amplifier connected to the specified servo amplifier (axis 1 to axis 16).
Page 72 Chapter 2 Input Axis Module [Pr.324] Synchronous encoder axis length per cycle Set the length per cycle for the synchronous encoder axis current value per cycle. The current value of synchronous encoder axis is stored in "[Md.321] Synchronous encoder axis current value per cycle" at ring counter based on the setting value. The unit settings are in synchronous encoder axis position units (Refer to Section 2.2.1).
Page 73 Chapter 2 Input Axis Module [Pr.325] Synchronous encoder axis smoothing time constant Set the averaging time to execute a smoothing process for the input travel value from synchronous encoder. The smoothing process can moderate speed fluctuation of the synchronous encoder input. The input response is delayed depending on the time corresponding to the setting by smoothing process setting.
Page 74 Chapter 2 Input Axis Module [Pr.327] Synchronous encoder axis phase compensation time constant Set the time constant to affect the phase compensation amount for the first order delay. 63 [%] of the phase compensation amount are reflected in the time constant setting. Pr.326 Synchronous encoder axis phase compensation advance time Synchronous encoder axis current value...
Page 75 Chapter 2 Input Axis Module [Pr.328] Synchronous encoder axis rotation direction restriction Set this parameter to restrict the input travel value for the synchronous encoder axis to one direction. This helps to avoid reverse operation caused by such as machine vibration of synchronous encoder input.
Page 76 Chapter 2 Input Axis Module [Pr.329] Resolution of synchronous encoder via CPU Set the resolution of connected synchronous encoder when "201: Synchronous encoder via CPU" is set in "[Pr.320] Synchronous encoder axis type". If 1 or more is set, "[Cd.325] Input value for synchronous encoder via CPU" is processed as the cycle counter within the range from 0 to (resolution of synchronous encoder via If 0 or less is set, "[Cd.325] Input value for synchronous encoder via CPU"...
Page 77: Synchronous Encoder Axis Control Data
Chapter 2 Input Axis Module 2.2.4 Synchronous encoder axis control data Default Buffer memory Setting item Setting details Setting value value address • If set to "1", the synchronous encoder axis control is started. Set in decimal. • If set to "101 to 116", the synchronous : Start for synchronous encoder axis control starts based on the high- [Cd.320]...
Page 78 Chapter 2 Input Axis Module [Cd.320] Synchronous encoder axis control start If set to "1", the synchronous encoder axis control is started. Md.320 Synchronous encoder axis current value Cd.320 Synchronous encoder axis control start Cd.321 Synchronous encoder axis 0: Current value change control method Cd.322 Synchronous encoder axis current value setting address...
Page 79 Chapter 2 Input Axis Module [Cd.321] Synchronous encoder axis control method Set the control method for the synchronous encoder axis. 0: Current value change ..The synchronous encoder axis current value and the synchronous encoder axis current value per cycle are changed as follows.
Page 80 Chapter 2 Input Axis Module [Cd.324] Connection command of synchronous encoder via CPU Use this data when "201: Synchronous encoder via CPU" is set in "[Pr.320] Synchronous encoder axis type". If set to"1", the synchronous encoder axis is connected. Once connected, the synchronous encoder current value is restored based on the "[Cd.325] Input value for synchronous encoder via CPU".
Page 81: Synchronous Encoder Axis Monitor Data
Chapter 2 Input Axis Module 2.2.5 Synchronous encoder axis monitor data Buffer memory Monitor item Storage details Monitor value address • The current value for the synchronous [Md.320] Monitoring is carried out in decimal. 35200+20j encoder axis is stored. Synchronous encoder -2147483648 to 2147483647 35201+20j (Note-1)
Page 82 Chapter 2 Input Axis Module [Md.320] Synchronous encoder axis current value The current value for the synchronous encoder axis is stored in synchronous encoder axis position units (Refer to Section 2.2.1). The synchronous encoder position for an incremental synchronous encoder is "0" immediately after the power supply ON.
Page 83 Chapter 2 Input Axis Module [Md.325] Synchronous encoder axis status The each status for a synchronous encoder axis is monitored with the following each bits. Storage item Storage details At power supply ON, this flag turns ON when the synchronous encoder axis parameter ([Pr.320] to [Pr.329]) is normal and the setting of the synchronous Setting valid flag encoder axis is valid.
Page 84 Chapter 2 Input Axis Module MEMO 2 - 36...
Page 85: Cam Function
Chapter 3 Cam Function Chapter 3 Cam Function The details on cam data and operation for cam function in output axis (cam axis) are explained in this chapter. The cam function controls output axis by creating cam data that corresponds to the operation.
Page 86: Control Details For Cam Function
Chapter 3 Cam Function 3.1 Control details for cam function The output axis for synchronous control is operated with a cam. The following operations can be performed with cam functions. • Two-way operation: Reciprocating operation with a constant cam strokes range. •...
Page 87 Chapter 3 Cam Function Cam data The cam data used in the cam function includes "storage data" which is used for reading/writing with GX Works2 and "open data" which is transmitted to the internal memory at cam control. Storage data Open data Linear cam —...
Page 88 Chapter 3 Cam Function (2) Stroke ratio data format The stroke ratio data format is defined in equal divisions for one cam cycle based on the cam resolution, and configured with stroke ratio data from points within the cam resolution. Refer to Section 3.2 "Create cam data"...
Page 89 Chapter 3 Cam Function (3) Coordinate data format The coordinate data format is defined in coordinates of more than 2 points for one cam cycle. The coordinate data is represented as "(Input value, Output value)". • Input value : Cam axis current value per cycle •...
Page 90 Chapter 3 Cam Function When an input value that is 0 or the cam axis length per cycle does not exist in the coordinate data, the coordinate is calculated from the line segment between the nearest two coordinates. Output value: Y [Output axis position units] Generated line Generated line...
Page 91 Chapter 3 Cam Function Feed current value of cam axis The feed current value is calculated as shown below. (1) Stroke ratio data format Feed current Cam reference Cam stroke Stroke ratio corresponding to value position amount cam axis current value per cycle (2) Coordinate data format Feed current Cam reference...
Page 92 Chapter 3 Cam Function Cam reference position The cam reference position is calculated as shown below. (1) Stroke ratio data format Cam reference The preceding cam Cam stroke Stroke ratio at position reference position amount the last point (2) Coordinate data format Output value corresponding Output value Cam reference...
Page 93 Chapter 3 Cam Function Cam data starting point This setting is only valid for cam data using the stroke ratio data format. The cam data point corresponding to "Cam axis current value per cycle = 0" can be set as the cam data starting point.
Page 94: Create Cam Data
Chapter 3 Cam Function 3.2 Create cam data 3.2.1 Memory configuration of cam data Cam data is arranged in the following 2 areas. Memory Storage item Details Remark configuration Data is written by the following operations. • Data is preserved •...
Page 95 Chapter 3 Cam Function 2) Operation with buffer memory Simple Motion module Buffer memory [Cd.600] Cam data operation request (1: Read) Coordinate data [Cd.600] Cam data operation Stroke ratio request (1: Read) data Auto-generation data • Rotary cutter 1) Operation with GX Works2 [Cd.608] Write Cam auto-...
Page 96 Chapter 3 Cam Function Cam data operation with GX Works2 Cam data can be modified while viewing the waveform with GX Works2. The cam data is written/read/verified to the cam storage area with GX Works2, however it cannot be executed to the cam open area. The waveform generated by the cam auto-generation function can be confirmed by the "Cam graph"...
Page 97: Cam Data Operation Function
Chapter 3 Cam Function 3.2.2 Cam data operation function This function is used to write/read cam data via buffer memory with the cam operation control data. The amount of data for each operation is 4096 points with the stroke ratio data format, and 2048 points with the coordinate data format.
Page 98 Chapter 3 Cam Function Setting value Default Buffer memory Setting item Setting details (Read operation: Stored value) value address • Write operation: Set the cam data starting point. Fetch cycle: At requesting cam data operation Set in decimal. [Cd.606] • Read operation: The cam data starting point is •...
Page 99 Chapter 3 Cam Function [Cd.603] Number of cam data operation points Set the number of operation points to write/read starting from the first position of cam data. The following shows the operation details when the value of "Cam data first position + Cam data operation points - 1"...
Page 100 Chapter 3 Cam Function [Cd.607] Cam data value Set/load the cam data operation points according to one of the following formats. (1) Stroke ratio data format Buffer memory Item Setting value address 45008 Stroke ratio at first point 45009 45010 Stroke ratio at second point -2147483648 to 2147483647 [ 10 45011...
Page 101: Cam Auto-Generation Function
Chapter 3 Cam Function 3.2.3 Cam auto-generation function The cam auto-generation function is used to generate cam data automatically for specific purposes based on parameter settings. With this function, cam data is generated in the cam open area. It is possible to generate up to 1 Mbyte including the regular cam data. (Example: 256 cam data (with the stroke ratio format, resolution is 1024) can be automatically generated.) The processing time of cam auto-generation takes longer if the data point is larger.
Page 102 Chapter 3 Cam Function [Cd.609] Cam auto-generation cam No. Set the cam No. to be generated automatically. [Cd.610] Cam auto-generation type Set the type of cam auto-generation. [Cd.611] Cam auto-generation data Set the cam auto-generation data corresponding to "[Cd.610] Cam auto-generation type". 1) For a rotary cutter The cam data starting point for a rotary cutter is 0.
Page 103 Chapter 3 Cam Function Synchronous axis length Synchronous axis cycle length Synchronous axis (Cam axis) Sheet synchronization width Synchronization starting point Feed sheet Sheet length Cam axis current value per cycle Sheet length Sheet synchronization width Synchronization starting point Synchronous section acceleration ratio Cam axis (Synchronous axis) speed When 0%, it is as fast as synchronous speed.
Page 104 Chapter 3 Cam Function MEMO 3 - 20...
Page 105: Synchronous Control
Chapter 4 Synchronous Control Chapter 4 Synchronous Control The parameters and monitor data for synchronous control such as "Main shaft module", "Speed change gear module", and "Output axis module" are explained in this chapter. Configure the required settings according to the control and application requirements for each module.
Page 106: Main Shaft Module
Chapter 4 Synchronous Control 4.1 Main shaft module 4.1.1 Overview of main shaft module For the main shaft module, the input value is generated as a composite value from two input axes (the main and sub input axis) through the composite main shaft gear. The composite input value can be converted by the main shaft gear that provides the deceleration ratio and the rotation direction for the machine system, etc.
Page 107: Main Shaft Parameters
Chapter 4 Synchronous Control 4.1.2 Main shaft parameters Default Buffer memory Setting item Setting details Setting value value address Set in decimal. • Set the input axis No. on the main input side : Invalid [Pr.400] (Note-1) for the main shaft. 1 to 16 : Servo input axis 36400+200n...
Page 108 Chapter 4 Synchronous Control [Pr.402] Composite main shaft gear Set the composite method for input values from the main and sub input axes. The setting values for each axis are shown as follows. 0: No input .......... The input value from the input axis is calculated as 1: Input+ ..........
Page 109: Main Shaft Clutch Parameters
Chapter 4 Synchronous Control 4.1.3 Main shaft clutch parameters Default Buffer memory Setting item Setting details Setting value value address Set in hexadecimal. ON control mode 0: No clutch 1: Clutch command ON/OFF 2: Clutch command leading edge 3: Clutch command trailing edge 4: Address mode 5: High speed input...
Page 110 Chapter 4 Synchronous Control Default Buffer memory Setting item Setting details Setting value value address • Set the clutch OFF address for the address mode. (This setting is invalid except during address mode.) Set in decimal. [Pr.409] • If the address is out of the range from 0 -2147483648 to 2147483647 36414+200n Main shaft clutch OFF...
Page 111 Chapter 4 Synchronous Control [Pr.405] Main shaft clutch control setting Set the ON and OFF control methods separately for the main shaft clutch. The clutch control setting can be changed during synchronous control, however, the setting "No clutch" (Direct coupled operation) cannot be selected during synchronous control after already selecting another setting.
Page 112 Chapter 4 Synchronous Control (2) OFF control mode 0: OFF control invalid ....... Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control. 1: One-shot OFF........The clutch is turned OFF after moving the distance "[Pr.410] Travel value before main shaft clutch OFF"...
Page 113 Chapter 4 Synchronous Control [Pr.406] Main shaft clutch reference address setting Select the address type to be used as the reference address for clutch control. Note that the processing order of the main shaft gear and the main shaft clutch will change depending on the reference address setting.
Page 114 Chapter 4 Synchronous Control [Pr.408] Travel value before main shaft clutch ON Set the travel value of the reference address with a signed value between the clutch ON condition completing and the clutch closing. 1 to 2147483647 (Positive value) ..Used when the reference address is increasing in direction.
Page 115 Chapter 4 Synchronous Control [Pr.410] Travel value before main shaft clutch OFF Set the travel value of the reference address with a signed value between the clutch OFF condition completing and the clutch opening. 1 to 2147483647 (Positive value) ..Used when the reference address is increasing in direction.
Page 116 Chapter 4 Synchronous Control [Pr.413] Slippage amount at main shaft clutch ON Set the slippage amount at clutch ON when the slippage method is set in "[Pr.411] Main shaft clutch smoothing method". The slippage amount is set in units based on the current value selected in "[Pr.406] Main shaft clutch reference address setting".
Page 117: Main Shaft Clutch Control Data
Chapter 4 Synchronous Control 4.1.4 Main shaft clutch control data Default Buffer memory Setting item Setting details Setting value value address [Cd.400] Set in decimal. • Set the clutch command ON/OFF. Main shaft clutch 0: Main shaft clutch command OFF 44080+20n Fetch cycle: Operation cycle command...
Page 118: Auxiliary Shaft Module
Chapter 4 Synchronous Control 4.2 Auxiliary shaft module 4.2.1 Overview of auxiliary shaft module For the auxiliary shaft module, the input value is generated from the auxiliary shaft. The input value can be converted by the auxiliary shaft gear that provides the deceleration ratio and the rotation direction for the machine system, etc.
Page 119: Auxiliary Shaft Parameters
Chapter 4 Synchronous Control 4.2.2 Auxiliary shaft parameters Default Buffer memory Setting item Setting details Setting value value address • Set the input axis No. for the auxiliary Set in decimal. shaft. [Pr.418] : Invalid 36430+200n (Note-1) Fetch cycle: At start of synchronous 1 to 16 : Servo input axis Auxiliary shaft axis No.
Page 120 Chapter 4 Synchronous Control [Pr.419] Composite auxiliary shaft gear Set the composite method for input values from the main and auxiliary shafts. The setting values for each axis are shown as follows. 0: No input .......... The input value from the input axis is calculated as 1: Input+ ..........
Page 121: Auxiliary Shaft Clutch Parameters
Chapter 4 Synchronous Control 4.2.3 Auxiliary shaft clutch parameters Default Buffer memory Setting item Setting details Setting value value address Set in hexadecimal. ON control mode 0: No clutch 1: Clutch command ON/OFF 2: Clutch command leading edge 3: Clutch command trailing edge 4: Address mode 5: High speed input...
Page 122 Chapter 4 Synchronous Control Default Buffer memory Setting item Setting details Setting value value address • Set the clutch OFF address for the address mode. (This setting is invalid except during address mode.) Set in decimal. [Pr.426] • If the address is out of the range from 0 -2147483648 to 2147483647 36442+200n Auxiliary shaft clutch OFF...
Page 123 Chapter 4 Synchronous Control [Pr.422] Auxiliary shaft clutch control setting Set the ON and OFF control methods separately for the auxiliary shaft. The clutch control setting can be changed during synchronous control, however the setting to "No clutch" (Direct coupled operation) cannot be selected during synchronous control after already selecting another setting.
Page 124 Chapter 4 Synchronous Control (2) OFF control mode 0: OFF control invalid ....... Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control. 1: One-shot OFF........The clutch is turned OFF after moving the distance "[Pr.427] Travel value before auxiliary shaft clutch OFF"...
Page 125 Chapter 4 Synchronous Control [Pr.423] Auxiliary shaft clutch reference address setting Select the address type to be used as the reference address for clutch control. Note that the processing order of the auxiliary shaft gear and the auxiliary shaft clutch will change depending on the reference address setting.
Page 126 Chapter 4 Synchronous Control [Pr.425] Travel value before auxiliary shaft clutch ON Set the travel value of the reference address with a signed value between the clutch ON condition completing and the clutch closing. 1 to 2147483647 (Positive value) ..Used when the reference address is increasing in direction.
Page 127 Chapter 4 Synchronous Control [Pr.427] Travel value before auxiliary shaft clutch OFF Set the travel value of the reference address with a signed value between the clutch OFF condition completing and the clutch opening. 1 to 2147483647 (Positive value) ..Used when the reference address is increasing in direction.
Page 128 Chapter 4 Synchronous Control [Pr.430] Slippage amount at auxiliary shaft clutch ON Set the slippage amount at clutch ON when the slippage method is set in "[Pr.428] Auxiliary shaft clutch smoothing method". The slippage amount is set in units based on the current value selected in "[Pr.423] Auxiliary shaft clutch reference address setting".
Page 129: Auxiliary Shaft Clutch Control Data
Chapter 4 Synchronous Control 4.2.4 Auxiliary shaft clutch control data Default Buffer memory Setting item Setting details Setting value value address Set in decimal. [Cd.403] • Set the clutch command ON/OFF. 0: Auxiliary shaft clutch command OFF Auxiliary shaft clutch 44083+20n Fetch cycle: Operation cycle 1: Auxiliary shaft clutch command ON...
Page 130: Clutch
Chapter 4 Synchronous Control 4.3 Clutch 4.3.1 Overview of clutch The clutch is used to transmit/disengage command pulses from the main/auxiliary shaft input side to the output axis module through turning the clutch ON/OFF, which controls the operation/stop of the servomotor. A clutch can be configured for the main and auxiliary shafts.
Page 131 Chapter 4 Synchronous Control ON control mode (1) No clutch (Direct coupled operation) Execute direct coupled operation without clutch control. POINT Other clutch parameters are not applicable during direct coupled operation by setting "0: No clutch". "Clutch forced OFF command" and the change of the clutch control setting are ignored during direct coupled operation.
Page 132 Chapter 4 Synchronous Control (4) Clutch command trailing edge The clutch is turned ON when the clutch command passes the trailing edge (from ON to OFF). Clutch command Clutch ON/OFF status Current value before clutch Travel value after clutch (5) Address mode The clutch is turned ON when the reference address reaches "Clutch ON address".
Page 133 Chapter 4 Synchronous Control (6) High speed input request The clutch is turned ON when the high speed input request [DI] turns ON. The following actions are required when using the high speed input request. • Set the signal No. for the "High speed input request signal" clutch control setting. •...
Page 134 Chapter 4 Synchronous Control OFF control mode (1) OFF control invalid Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control. (2) One-shot OFF The clutch is turned OFF after moving the distance "Travel value before clutch OFF" (One-shot operation) after the clutch command turn ON.
Page 135 Chapter 4 Synchronous Control (4) Clutch command trailing edge The clutch is turned OFF when the clutch command passes the trailing edge (from ON to OFF). Clutch command Clutch ON/OFF status Current value before clutch Travel value after clutch (5) Address mode The clutch is turned OFF when the reference address reaches "Clutch OFF address".
Page 136 Chapter 4 Synchronous Control (6) High speed input request The clutch is turned OFF when the high speed input request [DI] turns ON. The following actions are required when using the high speed input request. • Set the signal No. for the "High speed input request signal" clutch control setting. •...
Page 137: Smoothing Method For Clutch
Chapter 4 Synchronous Control 4.3.3 Smoothing method for clutch Set the clutch smoothing method in "[Pr.411] Main shaft clutch smoothing method" and "[Pr.428] Auxiliary shaft clutch smoothing method". The 2 types of clutch smoothing include the following. • Time constant method smoothing •...
Page 138 Chapter 4 Synchronous Control (1) Time constant method exponential curve smoothing Set "1: Time constant method (Exponential)" in the clutch smoothing method. Clutch ON/OFF status Clutch smoothing status Speed before clutch processing Speed after clutch smoothing Clutch smoothing time constant Item Main shaft clutch Auxiliary shaft clutch...
Page 139 Chapter 4 Synchronous Control Slippage method smoothing Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON, and with slippage at clutch OFF when the clutch turns OFF. Smoothing is also processed with the slippage amount setting when the input speed to the clutch changes, therefore, positioning control at clutch ON/OFF is not affected by speed changes.
Page 140 Chapter 4 Synchronous Control (2) Slippage method linear acceleration/deceleration smoothing Set "4: Slippage method (Linear)" in the clutch smoothing method. Clutch ON/OFF status Clutch smoothing status Speed before clutch processing Speed after clutch smoothing Slippage amount at clutch ON Slippage amount at clutch OFF •...
Page 141 Chapter 4 Synchronous Control • When the input speed is changed largely during smoothing The output speed is changed slightly compared to the change of the input speed. (The average speed might be faster than the speed before starting smoothing.) Clutch ON/OFF status Clutch smoothing status Input speed...
Page 142: Use Example Of Clutch
Chapter 4 Synchronous Control 4.3.4 Use example of clutch The following machine shows an example using clutch control for a flying shear cutting system that synchronizes off a start signal from a sensor input. Sensor input (High speed input Main shaft request [DI]) gear Main shaft...
Page 143: Speed Change Gear Module
Chapter 4 Synchronous Control 4.4 Speed change gear module 4.4.1 Overview of speed change gear module A speed change gear module is used to change the input speed from the main shaft/auxiliary shaft/composite auxiliary shaft gear during operation. When not using a speed change gear module, set "0: No speed change gear"...
Page 144: Speed Change Gear Parameters
Chapter 4 Synchronous Control 4.4.2 Speed change gear parameters Default Buffer memory Setting item Setting details Setting value value address Set in decimal. • Set the arrangement for the speed 0: No speed change gear [Pr.434] change gear. 1: Main shaft side 36460+200n Speed change gear Fetch cycle: At start of synchronous control...
Page 145 Chapter 4 Synchronous Control [Pr.436] Speed change ratio: Numerator, [Pr.437] Speed change ratio: Denominator Set the numerator and the denominator for the speed change ratio. "[Pr.436] Speed change ratio: Numerator" and "[Pr.437] Speed change ratio: Denominator" can be changed during synchronous control. Input values for speed change are processed as follows.
Page 146: Output Axis Module
Chapter 4 Synchronous Control 4.5 Output axis module 4.5.1 Overview of output axis module For the output axis module, the cam axis current value per cycle is calculated based on the input value (the output value from a speed change gear), and is converted based on the set cam data.
Page 147 Chapter 4 Synchronous Control Units for the output axis The position units for the output axis are shown below based on the setting "[Pr.1] Unit setting". Table 4.1 Output axis position units Setting value of Output axis position unit Range "[Pr.1] Unit setting"...
Page 148: Output Axis Parameters
Unit setting selection 0: Use units of Fetch cycle: At start of synchronous control main input axis 1: Use units of this setting QD77MS/ QD77GF/ • Set the required input amount with the [Pr.439] Set in decimal. LD77MS: 36472+200n cam per cycle.
Page 149 Chapter 4 Synchronous Control [Pr.438] Cam axis cycle unit setting Set the command units for the cam axis input per cycle to be used for cam control. These units are used for setting the cam axis length per cycle and the cam axis current value per cycle.
Page 150 Chapter 4 Synchronous Control [Pr.445] Cam axis phase compensation time constant Set the time constant to affect the phase compensation amount for the first order delay. 63 [%] of the phase compensation amount is reflected in the time constant setting. Pr.444 Cam axis phase compensation advance time Current value per cycle after phase compensation...
Page 151 Chapter 4 Synchronous Control [Pr.447] Output axis smoothing time constant Set the averaging time to execute a smoothing process for the travel value of the output axis after cam data conversion. The smoothing process can moderate sudden speed fluctuation for cams using the coordinate data format, etc.
Page 152: Synchronous Control Change Function
Chapter 4 Synchronous Control 4.6 Synchronous control change function 4.6.1 Overview of synchronous control change function This function can change the cam reference position, the cam axis current value per cycle and the current value per cycle after the main/auxiliary shaft gear during the synchronous control.
Page 153: Synchronous Control Change Control Data
Chapter 4 Synchronous Control 4.6.2 Synchronous control change control data Default Buffer memory Setting item Setting details Setting value value address • Set "1" to initiate a synchronous control change command request. The value is [Cd.406] Set in decimal. reset to "0" automatically after completion of Synchronous control 1: Synchronous control change 44086+20n...
Page 154 Chapter 4 Synchronous Control [Cd.406] Synchronous control change request Set "1" to initiate "[Cd.407] Synchronous control change command". The Simple Motion module resets the value to "0" automatically after completion of the synchronous control change. The setting is initialized to "0" when starting synchronous control. [Cd.407] Synchronous control change command Set the synchronous control change command.
Page 155 Chapter 4 Synchronous Control (2) Change cam axis current value per cycle The cam axis current value per cycle is changed to "[Cd.408] Synchronous control change value". The cam reference position will be also changed to correspond to the changed cam axis current value per cycle. This operation is completed within one operation cycle.
Page 156 Chapter 4 Synchronous Control (5) Cam axis current value per cycle movement This command is executed to move the cam axis current value per cycle through adding the setting travel value of "[Cd.408] Synchronous control change value". The travel value to be added is averaged in "[Cd.409] Synchronous control reflection time"...
Page 157 Chapter 4 Synchronous Control [Cd.409] Synchronous control reflection time Set the reflection time for synchronous control change processing as follows. Setting details for [Cd.407] Synchronous control change command "[Cd.409] Synchronous control reflection time" The time to reflect the travel value to the cam 0: Cam reference position movement reference position.
Page 158: Synchronous Control Monitor Data
Chapter 4 Synchronous Control 4.7 Synchronous control monitor data Synchronous control monitor data is updated only during synchronous control. The monitor values ([Md.400], [Md.401], [Md.402], [Md.407], [Md.408], and [Md.409]) from the last synchronous control session are restored the next time the system's power supply turns ON.
Page 159 Chapter 4 Synchronous Control Buffer memory Monitor item Storage details Monitor value address • The feed current value as the cam reference position is stored. Monitoring is carried out in decimal • Value is stored even after system's power supply [Md.408] display.
Page 160 Chapter 4 Synchronous Control [Md.400] Current value after composite main shaft gear The current value after combining the main input and the sub input values going into the composite main shaft gear is stored as an accumulative value. Units are in position units of the main input axis (Refer to Chapter 2).
Page 161 Chapter 4 Synchronous Control [Md.401] Current value per cycle after main shaft gear The input travel value after the main shaft gear is stored within the range from 0 to (Cam axis length per cycle - 1). The unit is in cam axis cycle units (Refer to Section 4.5.1). The value is restored according to "[Pr.460] Setting method of current value per cycle after main shaft gear"...
Page 162 Chapter 4 Synchronous Control [Md.411] Execute cam stroke amount The executing cam stroke amount is stored. When "[Pr.441] Cam stroke amount" is changed during synchronous control, this is updated when the controlling cam stroke amount switches. [Md.420] Main shaft clutch ON/OFF status, [Md.423] Auxiliary shaft clutch ON/OFF status The clutch ON/OFF status is stored.
Page 163: Phase Compensation Function
("[Pr.302] Servo input axis phase compensation advance time", "[Pr.326] Synchronous encoder axis phase compensation advance time"). The delay time peculiar to the system is shown below. (1) Delay time peculiar to the system for a servo input axis (a) QD77MS [Pr.300] Servo input axis type Operation cycle [ms]...
Page 164 Chapter 4 Synchronous Control (2) Delay time peculiar to the system for a synchronous encoder axis (a) QD77MS [Pr.320] Synchronous encoder axis type Operation Incremental synchronous Synchronous encoder Synchronous encoder cycle [ms] encoder via servo amplifier via CPU 0.88 2287 [μs] 3634 [μs]...
Page 165 (If the operation cycle is as 1.77 [ms] and model loop gain of axis 1 is as 80.) Setting item Setting value QD77MS : 3953 [μs] QD77GF : 4968 [μs] [Pr.326] Synchronous encoder axis LD77MS : 4045 [μs]...
Page 166: Output Axis Sub Functions
Chapter 4 Synchronous Control 4.9 Output axis sub functions The following shows which sub functions apply for the output axis in synchronous control. Sub function Output axis Details Backlash compensation function The same control as other methods. Electronic gear function Setting is ignored.
Page 167 Chapter 4 Synchronous Control Sub function Output axis Details Controlled the same as positioning control. Operation setting for incompletion For a system that needs alignment, start of OPR function synchronous control after establishing an OP. Servo OFF request is ignored during synchronous Servo ON/OFF control similar to positioning control.
Page 168 Chapter 4 Synchronous Control MEMO 4 - 64...
Page 169 Chapter 5 Synchronous Control Initial Position Chapter 5 Synchronous Control Initial Position The initial position for synchronous control is explained in this chapter. Configure these settings for situations that require initial position alignment for synchronous control. 5.1 Synchronous control initial position ................. 5- 2 5.2 Synchronous control initial position parameters .............
Page 170: Synchronous Control Initial Position
Chapter 5 Synchronous Control Initial Position 5.1 Synchronous control initial position The following synchronous control monitor data can be aligned to a set position when starting synchronous control, as the initial position for synchronous control. The alignment to a synchronous control initial position is useful for restoring a system based on the last control status along with restarting synchronous control after canceling midway.
Page 171 Chapter 5 Synchronous Control Initial Position Current value after composite main shaft gear when starting synchronous control The current value after composite main shaft gear is restored as follows according to the main input axis operation executed before starting synchronous control. Servo input axis Operation of main input axis Synchronous...
Page 172 Chapter 5 Synchronous Control Initial Position Current value per cycle after main shaft gear, current value per cycle after auxiliary shaft gear when starting synchronous control The current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear is restored as follows according to the main input axis/auxiliary shaft operation executed before starting synchronous control.
Page 173 Chapter 5 Synchronous Control Initial Position Restoration method 2): The travel value from the last synchronous control session is reflected to the current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear. [Main shaft] Current value per cycle Amount of change of current Current value per after main shaft gear at...
Page 174 Chapter 5 Synchronous Control Initial Position Cam axis position at synchronous control start The cam axis position is composed of the relationship of 3 positions "Cam axis current value per cycle", "Cam reference position" and "Cam axis feed current value". One of positions can be restored by defining 2 positions when starting synchronous control.
Page 175: Synchronous Control Initial Position Parameters
Chapter 5 Synchronous Control Initial Position 5.2 Synchronous control initial position parameters Default Buffer memory Setting item Setting details Setting value value address Set in decimal. [Pr.460] • Select the setting method for the current 0: Previous value Setting method of value per cycle after main shaft gear.
Page 176 Chapter 5 Synchronous Control Initial Position Default Buffer memory Setting item Setting details Setting value value address • Set the initial value for the cam axis current value per cycle. [Pr.468] • The restoration value for the cam axis Set in decimal. 36512+200n Cam axis current current value per cycle is searched from...
Page 177 Chapter 5 Synchronous Control Initial Position [Pr.462] Cam axis position restoration object Select the object to be restored from "Cam axis current value per cycle", "Cam reference position" or "Cam axis feed current value" when starting synchronous control. 0: Cam axis current value per cycle restoration ......
Page 178 Chapter 5 Synchronous Control Initial Position [Pr.465] Current value per cycle after main shaft gear (Initial setting) Set the initial setting value of the current value per cycle after main shaft gear when "[Pr.460] Setting method of current value per cycle after main shaft gear" is set to "1: Current value per cycle after main shaft gear (Initial setting)".
Page 179: Cam Axis Position Restoration Method
Chapter 5 Synchronous Control Initial Position 5.3 Cam axis position restoration method 5.3.1 Cam axis current value per cycle restoration If "[Pr.462] Cam axis position restoration object" is set to "0: Cam axis current value per cycle restoration" when starting synchronous control, the cam axis current value per cycle is restored based on the cam reference position and the cam axis feed current value.
Page 180 Chapter 5 Synchronous Control Initial Position Cam axis current value per cycle restoration operation (1) With a two-way cam pattern operation (a) Search from "Cam axis current value per cycle = 0". (Cam data starting point = 0) Cam axis current value per cycle Search from "Cam axis current value per cycle=0".
Page 181 Chapter 5 Synchronous Control Initial Position (d) The search fails. Cam axis current value per cycle Cam axis feed current value Restoration fails. No match (Feed current value) is found for the feed current value within1 cycle. Cam reference position (2) With a feed operation cam pattern (a) Search from "Cam axis current value per cycle = 0".
Page 182 Chapter 5 Synchronous Control Initial Position (c) Search from a value in the middle of the cam axis current value per cycle. (Cam data starting point  0) Pr.468 Cam axis current value per cycle (Initial setting) Cam axis current value per cycle Search from the value in the middle.
Page 183 Chapter 5 Synchronous Control Initial Position Example The following shows an example of restarting the cam (a cam similar to a cam with a linear feed where two identical positioning points do not exist on the cam) from the feed current value after a forced stop, when the forced stop has stopped operation.
Page 184 Chapter 5 Synchronous Control Initial Position • Cam operation Feed current value [PLS] 200 (peak) Cam operation restarts from "Feed current value = 123 [PLS]" when the previous forced stop occurred. Time [ms] Cam axis current value per cycle [PLS] 1000 Time [ms] 5 - 16...
Page 185: Cam Reference Position Restoration
Chapter 5 Synchronous Control Initial Position 5.3.2 Cam reference position restoration If "[Pr.462] Cam axis position restoration object" is set to "1: cam reference position restoration" when starting synchronous control, the cam reference position is restored based on the cam axis current value per cycle and the cam axis feed current value. Select the method for the cam axis current value per cycle to be restored.
Page 186 Chapter 5 Synchronous Control Initial Position • Operation before starting synchronous control Feed current value [PLS] Stroke ratio [%] Cam pattern for "cam data starting point setting = 200 [PLS]" "Feed current value = 0" due to (200 [PLS]) home position return, etc. Time [ms] Cam axis length per cycle [PLS] 1000...
Page 187: Cam Axis Feed Current Value Restoration
Chapter 5 Synchronous Control Initial Position 5.3.3 Cam axis feed current value restoration If "[Pr.462] Cam axis position restoration object" is set to "2: Cam axis feed current value restoration" when starting synchronous control, the cam axis feed current value is restored based on the cam axis current value per cycle and the cam reference position.
Page 188 Chapter 5 Synchronous Control Initial Position Example The following shows an example of starting a cam pattern from the zero point of the cam axis current value per cycle with the current feed current value position as the origin when returning to a specified point, or home position return is completed after a forced stop.
Page 189 Chapter 5 Synchronous Control Initial Position • Cam operation Feed current value [PLS] With the "feed current value = 150 [PLS]" position as the start point, the cam operates for the amount of "Cam reference position + cam stroke amount". Time [ms] Cam axis current The time when cam axis current value per cycle is "0 [PLS]"...
Page 190: Synchronous Control Analysis Mode
Chapter 5 Synchronous Control Initial Position 5.4 Synchronous control analysis mode With synchronous control analysis mode, parameters are only analyzed for synchronous control when there is a command to start synchronous control. This mode is used to confirm the synchronous positions of the output axes in order to align axes with position control before starting synchronous control.
Page 191 Chapter 5 Synchronous Control Initial Position Synchronous control system control data Default Buffer memory Setting item Setting details Setting value value address • Synchronous control begins if the target Set the target axis in 16bits. axis bit is turned ON. [Cd.380] (Note-1) (bit0: axis 1 to bit15: axis 16...
Page 192: Cam Position Calculation Function
Chapter 5 Synchronous Control Initial Position 5.5 Cam position calculation function The cam position is calculated by the program with this function. This function can be used to calculate the cam position for the synchronous control initial position before starting synchronous control.
Page 193: Cam Position Calculation Control Data
Chapter 5 Synchronous Control Initial Position 5.5.1 Cam position calculation control data Default Buffer memory Setting item Setting details Setting value value address • Set the cam position calculation request. Set in decimal. • The Simple Motion module resets the 1: Cam axis feed current value [Cd.612] value to "0"...
Page 194 Chapter 5 Synchronous Control Initial Position [Cd.612] Cam position calculation request Set the following commands to calculate the cam position. 1: Cam axis feed current value calculation request 2: Cam axis current value per cycle calculation request The result is stored in "[Md.600] Cam position calculation result" and the setting value is reset to "0"...
Page 195: Cam Position Calculation Monitor Data
Chapter 5 Synchronous Control Initial Position 5.5.2 Cam position calculation monitor data Buffer memory Monitor item Storage details Monitor value address Monitoring is carried out in decimal. • When calculating the cam axis feed current value: • The result of the cam position -2147483648 to 2147483647 [Md.600] calculation is stored.
Page 196 Chapter 5 Synchronous Control Initial Position For the feed cam, calculates "[Cd.618] Cam position calculation: Cam axis feed current value" by the stroke difference and searches again from the 0th point to the whole range. If the corresponding position is not found even though the search process starts again, the warning "Cam position calculation cam axis 1 cycle current value calculation disable"...
Page 197 Chapter 5 Synchronous Control Initial Position • If the corresponding position is not found until the last point of the cam data, searches from the 0th point of the cam data. • Searches until between the 127th point and the 128th point in order of the cam data between the 0th point and the 1st point and between the 1st point and the 2nd point.
Page 198 Chapter 5 Synchronous Control Initial Position (2) The range within the cam data When "[Cd.617] Cam position calculation: Cam axis current value per cycle < the last point of cam data", the position corresponding to "[Cd.618] Cam position calculation: Cam axis feed current value" is searched from the range of the cam data.
Page 199 Chapter 5 Synchronous Control Initial Position Example) When "[Cd.617] Cam position calculation: Cam axis current value per cycle" is corresponding to the 3rd point of cam data Search order At the 2nd point Search starting point At the 1st point At the 3rd point [Cd.617] Cam position calculation: At the 5th point...
Page 200 Chapter 5 Synchronous Control Initial Position Example) When "[Cd.617] Cam position calculation: Cam axis current value per cycle" is corresponding to the last point of cam data Search order At the 2nd point At the 3rd point At the 1st point Search starting point At the 5th point At the 0th point...
Page 201: Method To Restart Synchronous Control
Chapter 5 Synchronous Control Initial Position 5.6 Method to restart synchronous control The relationship of the synchronous position for synchronous control is always saved in the Simple Motion module. Synchronous control can be restarted without returning all axes to their starting points by restoring the synchronized relationship through the synchronous control initial position parameters (Refer to Section 5.2).
Page 202 Chapter 5 Synchronous Control Initial Position (2) Procedure for restarting synchronous control 1) Set the synchronous control initial position parameters for axis 2 and 3 as follows. Setting item Setting value [Pr.460] Setting method of current value per 2: Calculate from input axis cycle after main shaft gear [Pr.462] Cam axis position restoration object 2: Cam axis feed current value restoration...
Page 203: List Of Cam Position Calculation Warnings
Chapter 6 Troubleshooting (Synchronous Control) Chapter 6 Troubleshooting (Synchronous Control) The "errors" and "warnings" related to synchronous control detected by the Simple Motion module are explained in this chapter. Errors can be confirmed with the Simple Motion module LED display and GX Works2. When an error or warning is detected, check the status details and then proceed with the countermeasures.
Page 204: Error And Warning Details
Chapter 6 Troubleshooting (Synchronous Control) 6.1 Error and warning details [1] Error Errors related to synchronous control are shown below. Refer to the "User's Manual (Positioning Control)" of each Simple Motion module for other errors. Errors can be confirmed with the LED display of Simple Motion module or GX Works2. Refer to the "Simple Motion Module Setting Tool Help"...
Page 205: Error And Warning Of Input Axis
Chapter 6 Troubleshooting (Synchronous Control) 6.2 Error and warning of input axis The detection processing and reset method for error and warning of input axis are different in the servo input axis and synchronous encoder axis. Error and warning of servo input axis (1) Error detection The error detection signal for target axis turns ON, and the input axis error number is stored in "...
Page 206: List Of Input Axis Errors
• The synchronous encoder cable is cable. synchronous communication error disconnected. • Check the connected synchronous (262h) encoder axis QD77MS LD77MS • Communication to the synchronous encoder. becomes invalid. [CiA402 mode] QD77GF encoder cannot be established. • Check whether the synchronous encoder cable is faulty.
Page 207: List Of Input Axis Warnings
Synchronous encoder via servo amplifier battery Voltage of the servo amplifier battery The synchronous Replace the battery. warning connected with a synchronous encoder encoder control (2ABh) QD77MS LD77MS decreased to 3.2V or less. continues. [CiA402 mode] QD77GF 6 - 5...
Page 208: Error And Warning Of Output Axis
Chapter 6 Troubleshooting (Synchronous Control) 6.3 Error and warning of output axis The detection processing and reset method for error and warning of output axis are similar to normal positioning control. Error and warning of output axis (1) Error detection The error detection signal turns ON, and the output axis error number is stored in "...
Page 209 Chapter 6 Troubleshooting (Synchronous Control) Error Operation status at Error name Error Corrective action error occurrence Setting value of the synchronous Outside main shaft parameter " [Pr.405] Main shaft clutch clutch control setting (2C0h) control setting" is outside the setting range range.
Page 210 Chapter 6 Troubleshooting (Synchronous Control) Error Operation status at Error name Error Corrective action error occurrence The synchronous parameter " [Pr.437] Outside speed change Synchronous control Set a value within the range of 1 to ratio denominator Speed change ratio: Denominator" is does not start.
Page 211 Chapter 6 Troubleshooting (Synchronous Control) Error Operation status at Error name Error Corrective action error occurrence The synchronous parameter " [Pr.468] Outside cam axis Cam axis current value per cycle (Initial Set within the range of 0 to (Cam axis current value per cycle (2FFh) setting)"...
Page 212: List Of Output Axis Warnings
Chapter 6 Troubleshooting (Synchronous Control) 6.3.2 List of output axis warnings Warning Operation status at Warning name Warning Corrective action warning occurrence • The synchronous parameter " [Pr.405] Main shaft clutch control setting" was set to outside the setting range during Synchronous control Outside main shaft the synchronous control.
Page 213: Warning Of Cam Operation
Chapter 6 Troubleshooting (Synchronous Control) 6.4 Warning of cam operation A warning is detected for an axis 1 when in the cam operation (cam data operation/cam auto- generation/cam position calculation) is incorrect. Warning of cam operation (1) Warning detection "b9: Axis warning detection of " [Md.31] Status" for axis 1 " turns ON, and the cam data operation warning number/cam auto-generation warning number/cam position calculation warning number is stored in "...
Page 214 Chapter 6 Troubleshooting (Synchronous Control) Warning Operation status at Warning name Warning Corrective action warning occurrence • " [Cd.603] Number of cam data • Set a value within the range of 1 to operation points" is outside the range 4096 for the stroke ratio data format of 1 to 4096 for the stroke ratio data cam.
Page 215: List Of Cam Auto-Generation Warnings
Chapter 6 Troubleshooting (Synchronous Control) 6.4.2 List of cam auto-generation warnings Warning Operation status at Warning name Warning Corrective action warning occurrence Outside cam auto- " [Cd.609] Cam auto-generation cam generation cam No. Set a value within the range of 1 to 256. (334h) No."...
Page 216: List Of Cam Position Calculation Warnings
Chapter 6 Troubleshooting (Synchronous Control) 6.4.3 List of cam position calculation warnings Warning Operation status at Warning name Warning Corrective action warning occurrence " [Cd.613] Cam position calculation: Outside cam position calculation cam No. Cam No." is outside the range of 0 to Set a value within the range of 0 to 256.
Page 217 Appendices Appendices Appendix 1 Comparisons with the Motion controller SV22 ......Appendix- 2 Appendix 2 Sample program of synchronous control ........Appendix- 6 Appendix 3 Lists of buffer memory addresses for synchronous control ..Appendix-10 APP. Appendix - 1...
Page 218: Appendix 1 Comparisons With The Motion Controller Sv22
Appendices Appendix 1 Comparisons with the Motion controller SV22 The following shows the differences in synchronous control functions between the Motion controller Q172DCPU (SV22) and Simple Motion module QD77MS/QD77GF/LD77MS/LD77MH. Item Q172DCPU QD77MS/QD77GF/LD77MS/LD77MH General Starting method The whole system is switched to the...
Page 219 (Select a composite method for each input from "Input+/Input-/No input (0)".) (Note): Clutch compatibility The following shows the control methods for the clutch setting in the Simple Motion module QD77MS/QD77GF/LD77MS/LD77MH compared with those in the Motion controller Q173DCPU/Q172DCPU (SV22). Q173DCPU/Q172DCPU (SV22) QD77MS/QD77GF/LD77MS/LD77MH...
Page 220 Appendices Item Q172DCPU QD77MS/QD77GF/LD77MS/LD77MH Output module Type Roller shaft, Ball screw shaft, Rotary Cam shaft only. table shaft, Cam shaft (The linear cam can be controlled as (It is impossible to use "degree" as the same as the ball screw shaft etc.
Page 221 Appendices Item Q172DCPU QD77MS/QD77GF/LD77MS/LD77MH Cam function Cam resolution/ Cam resolution: Stroke ratio data format: Number of 256, 512, 1024, 2048 256, 512, 1024, 2048, 4096, 8192, coordinate (Coordinate data format: None) 16384, 32768 Coordinate data format: 2 to 16384 Number of cam...
Page 222: Appendix 2 Sample Program Of Synchronous Control
Appendices Appendix 2 Sample program of synchronous control The following shows a sample program of executing synchronous control on the axis 1 with the axis 4 as an input axis. (The axis 4 is configured as the virtual servo amplifier.) 1) Set MR-J4(W)-B(-RJ) on the axis 1 and the virtual servo amplifier on the axis 4 in the system setting.
Page 223 Appendices 3) Create the cam data (cam No.1). 4) Set the synchronous parameter of the axis 1. Appendix - 7...
Page 224 Appendices 5) Create the program to start synchronous control. The sample programs when head I/O number of the Simple Motion module is set to "30H" are shown below. [Operation example for 4-axis module] Flag for PLC READ synchro Y signal nization All axes servo O...
Page 225 Appendices [Operation example for 16-axis module] Flag for PLC READ synchro Y signal nization All axes servo ON M100 G36320.0 Start sy Axis 1: Synchron nchronou BUSY ous cont s contro rol star DMOVP K20000 G2409 G4618 Axis 1: Axis 1: JOG spee BUSY in drivi...
Page 226: Appendix 3 Lists Of Buffer Memory Addresses For Synchronous Control
Appendices Appendix 3 Lists of buffer memory addresses for synchronous control Refer to "User's Manual (Positioning Control)" of each Simple Motion module for the list of general buffer memory addresses. (1) Synchronous control system control data Buffer memory Reference Item address section [Cd.380]...
Page 227 Appendices (4) Synchronous encoder axis parameter Buffer memory Reference Item address section [Pr.320] Synchronous encoder axis type 34720+20j [Pr.321] Synchronous encoder axis unit setting 34721+20j Synchronous encoder axis unit conversion: 34722+20j [Pr.322] Numerator 34723+20j Synchronous encoder axis unit conversion: 34724+20j [Pr.323] Denominator 34725+20j...
Page 228 Appendices (6) Synchronous encoder axis monitor data Buffer memory Reference Item address section 35200+20j [Md.320] Synchronous encoder axis current value 35201+20j 35202+20j [Md.321] Synchronous encoder axis current value per cycle 35203+20j 35204+20j [Md.322] Synchronous encoder axis speed 35205+20j Synchronous encoder axis phase compensation 35206+20j Section 2.2.5 [Md.323]...
Page 229 Appendices Buffer memory Reference Item address section [Pr.405] Main shaft clutch control setting 36408+200n [Pr.406] Main shaft clutch reference address setting 36409+200n 36410+200n [Pr.407] Main shaft clutch ON address 36411+200n 36412+200n [Pr.408] Travel value before main shaft clutch ON 36413+200n 36414+200n [Pr.409] Main shaft clutch OFF address...
Page 230 Appendices Buffer memory Reference Item address section [Pr.434] Speed change gear 36460+200n [Pr.435] Speed change gear smoothing time constant 36461+200n 36462+200n Section 4.4.2 [Pr.436] Speed change ratio: Numerator 36463+200n 36464+200n [Pr.437] Speed change ratio: Denominator 36465+200n [Pr.438] Cam axis cycle unit setting 36470+200n 36472+200n [Pr.439]...
Page 231 Appendices (8) Control data for synchronous control Buffer memory Reference Item address section [Cd.400] Main shaft clutch command 44080+20n [Cd.401] Main shaft clutch control invalid command 44081+20n Section 4.1.4 [Cd.402] Main shaft clutch forced OFF command 44082+20n [Cd.403] Auxiliary shaft clutch command 44083+20n [Cd.404] Auxiliary shaft clutch control invalid command...
Page 232 Appendices Buffer memory Reference Item address section [Md.423] Auxiliary shaft clutch ON/OFF status 42832+40n [Md.424] Auxiliary shaft clutch smoothing status 42833+40n Section 4.7 42834+40n [Md.425] Auxiliary shaft clutch slippage (accumulative) 42835+40n n: Axis No.-1 (10) Cam operation control data Buffer memory Reference Item address...
Page 233 Appendices Buffer memory Reference Item address section [Cd.608] Cam auto-generation request 53200 [Cd.609] Cam auto-generation cam No. 53201 [Cd.610] Cam auto-generation type 53202 Section 3.2.3 53204 (Note-1) Cam auto-generation data [Cd.611] 53779 [Cd.612] Cam position calculation request 53780 [Cd.613] Cam position calculation: Cam No. 53781 53782 [Cd.614]...
Page 234 Appendices MEMO Appendix - 18...
Page 235 WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
Page 236 TRADEMARKS Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies.
Page 238 IB(NA)-0300174-H(1702)MEE MODEL: LD77MH-U-SD-E MODEL CODE: 1XB943 HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

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Mitsubishi Electric QD77MS User Manual

Chapter 1 Outline of Synchronous Control

Chapter 2 Input Axis Module

Chapter 3 Cam Function

Chapter 4 Synchronous Control

Chapter 5 Synchronous Control Initial Position

Chapter 6 Troubleshooting (Synchronous Control)

Appendix- 1 to Appendix-18

Appendix 1 Comparisons with the Motion Controller SV22

Appendix 2 Sample Program of Synchronous Control

Appendix 3 Lists of Buffer Memory Addresses for Synchronous Control

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