FATEC Q172CPU(N) Q173CPU(N) MOTION CONTROLLER SCHOOL TEXTBOOK Microsoft® Windows® Personal Computer Operation Version SW6RN-GSV22P
• SAFETY INSTRUCTIONS • (Always read before starting practice) When designing the system, always read the related manuals, and pay special attention to safety. When practicing, pay attention to the following points and make sure to correctly handle the system. [Precautions for Practice] ! DANGER • Do not touch the terminals while the power is ON. There is a risk of electric shock accidents. • Always turn the power OFF or sufficiently confirm the surrounding safety before opening the safety covers.
Revision History * The textbook No. is indicated on the lower left of the back cover. Date of print January 2001 January 2001 *Textbook No. SH-030010-A SH-030010-B Revision details April 2001 SH-030010-C Partial revision Table of contents, section 9.2, section 9.9, section 10.1, section 10.8 March 2002 SH-030010-D Additions Section 3.2.5, section 2.3.6, section 3.2.7, section 3.2.8, Chapter 10, Appendix 5 First print Partial revision Table of contents, section 2.2, section 3.2, section 9.
CONTENTS Chapter 1 Outline 1-1 to 1-6 1.1 Features of the motion controller............................................................................................................ 1-1 1.2 Outline of control .................................................................................................................................... 1-4 1.2.1 Real mode control for SV13 transfer assembly and SV22 automatic machine .............................. 1-4 1.2.
4.3.3 Data registers D0 to D1315 (For Q172) ........................................................................................ 4-20 4.3.4 Special relays M9073 to M9079, M9104, M9105.......................................................................... 4-24 4.3.5 Special registers D752 to D799, D9017, D9019, D9104, D9180 to D9199 (For Q172) ............... 4-24 4.4 Motion SFC dedicated devices...........................................................................................................
6.1.14 6.1.15 6.1.16 6.1.17 6.1.18 6.1.19 6.1.20 Zero point return .......................................................................................................................... 6-18 Position follow-up control............................................................................................................. 6-19 High-speed oscillation control......................................................................................................
9.10.2 Monitor operation......................................................................................................................... 9-56 9.10.3 Monitor trace graph...................................................................................................................... 9-59 9.11 Ending the operations ........................................................................................................................ 9-68 9.11.1 Ending the SW6RN-GSV22P operations ................
11.6 Writing to the motion CPU................................................................................................................ 11-30 11.7 Reading of sequence program from Q-PLC CPU............................................................................ 11-31 11.8 SFC program for practice ................................................................................................................. 11-33 11.9 Practice machine operations ..................................................
Introduction This is the school textbook prepared to provide an understanding of the motion controller to enable easy control of the multi-axis positioning operations. In this textbook, the outline of the Q motion controller is explained, and the methods of setting the data to carry out positioning using a DOS/V personal computer and the SW6RN-GSV22P automatic machine software package are explained.
Chapter 1 Outline 1.1 Features of the motion controller The motion controller has the following features. (1) Q-PLC CPU and multi-CPU system A flexible system configuration, which allows the processing load to be spread out, is realized by carrying out complicated servo control with the Q motion CPU unit, and other machine control and information with the Q-PLC CPU unit.
(7) Operating system (OS) can be changed Software packages to match applications are available, and by directly writing the optical OS (refer to comparison table in section 2.1) into the CPU's built-in flash memory, a motion controller matching each machine can be created. This system is also compatible with software package function upgrades.
(10) Teaching function A servo program to match the actual part can be created with the current value teaching function. (11) Limit switch function The ON/OFF signal corresponding to the watch data range, set for each output device (X, Y, M, L, B) is output. Output devices for up to 32 points can be set.
1.2 Outline of control 1.2.1 Real mode control for SV13 transfer assembly and SV22 automatic machine (a) A system containing a servomotor is directly controlled with the servo program. (b) The positioning parameters must be set, and the servo program and positioning sequence program must be created. (c) The procedures for positioning control are indicated below.
1.2.2 Virtual mode control for SV22 automatic machine (a) The virtual mode processes synchronous control with the software using a mechanism program structured with a virtual main shaft and mechanism module. By using the virtual mode, the synchronous control conventionally carried out with a mechanism such as the main shaft, gears and cam, can be used for positioning control using a servomotor.
1.3 Items required to start up system Always carry out the steps enclosed in the solid-line box. Carry out the steps enclosed in the dotted box as necessary. 1 Motion controller device selection, system assembly, wiring Select the devices such as the Q-PLC base, power supply unit, Q motion CPU, Q-PLC CPU, motion unit, servo amplifier, servomotor and cables. Assemble and wire the system.
Chapter 2 Explanation of Functions The system functions are explained in this chapter. 2.1 List of specifications 2.1.1 List of motion controller specifications Model Q172CPU(N) Q173CPU(N) Comparison item Outline dimensions 122.4 (H) × 27.4 (W) × 89.3 (D): Q172/Q173CPU 104.4 (H) × 27.4 (W) × 114.
2.1.2 List of SFC performance specifications Item Program capacity SFC program Q173CPU(N)/Q172CPU(N) Code total (SFC diagram + operation control + transition) 287kB Text total (operation control + transition) 224kB Number of SFC programs 256 (No.
2.2 System configuration drawing Refer to the User's Manual for details on the wiring. 2.2.1 Q172CPU(N) system Q172 Q61P-Ao Qn(H) Q172 CPU CPU(N) LX Manual pulse generator input unit PLC CPU/ motion CPU Synchronous encoder input unit Main base unit (03oB) Servo external signal input unit Motion CPU control unit Q172 EX Q173 PX QI60 QXoo/ QYoo Q input/output unit or special function unit 100/200VAC Input/output (max.
2.2.2 Q173CPU(N) system Q172 Q61P-Ao Qn(H) Q173 CPU CPU(N) LX Manual pulse generator input unit PLC CPU/ motion CPU Synchronous encoder input unit Main base unit (03oB) Servo external signal input unit Motion CPU control unit Q172 EX Q173 PX QI60 QXoo/ QYoo Q input/output unit or special function unit 100/200VAC Input/output (max.
2.3 Names of each part The names and applications of each Q172CPU(N)/Q173CPU(N) part are shown below. • Q172CPU/Q173CPU Front State with front cover opened Q17m CPU 2) MODE RUN ERR. M.RUN BAT. BOOT MODE RUN ERR. M.RUN BAT.
Functions of each part No. Item 1) Module fixing hook 2) Mode judgment LED Function • Hook for fixing module onto base unit. (One-touch attachment) • Green : Normal mode • Orange : Installation mode, ROM write mode • ON : Motion CPU normally started 3) 4) RUN LED ERROR LED • OFF : Motion CPU error. Turns OFF when an error is found in the check before starting the motion CPU, or when a WDT error occurs.
Q173CPU(N)/Q172CPU(N) switch and connector functions No.
MEMO 2-8
Chapter 3 Q-PLC Multi-CPU Using the sequence program, the input/output unit and special function unit sequence control is executed, and operations are executed with the applicable commands and dedicated commands.
3.1 Multi-CPU system The multi-CPU system is configured by mounting multiple Q-PLC CPUs/Q motion CPUs (maximum, 4 units) on the main base unit, and is used to control the input/output unit and intelligent function unit using each Q-PLC CPU/Q motion CPU. Since the complicated servo control is executed by the Q motion CPU, and the other mechanical control and information control are executed by the Q-PLC CPU, it is possible to distribute the processing load. 3.1.
3.1.2 Mounting position of Q-PLC CPU/Q motion CPU It is possible to mount up to four Q-PLC CPU/Q motion CPUs in the CPU slots (located at right side of power supply unit) up to the slot No. of main base unit sequentially. It is not possible to leave an open slot between the Q-PLC CPU and Q-PLC CPU, between Q-PLC CPU and Q motion CPU, or between Q motion CPU and Q motion CPU. Group and mount the Q motion CPU in the right-hand slot of Q-PLC CPU.
3.1.3 Input/output numbers With the multi-CPU system, the slots equivalent to the number of CPUs set in the PC parameter multi-CPU setting are occupied by the Q-PLC CPU/Q motion CPU. The input/output numbers are assigned sequentially to the right with the input/output unit and intelligent function unit (mounted at the right slot occupied by the Q-PLC CPU/ Q motion CPU) assigned as "0H".
3.1.4 Automatic refresh for shared memory (1) With automatic refresh of the CPU shared memory, the transmission/reception of data between each CPU of multi-CPU system is executed automatically by the QPLC CPU during END processing, and by the Q motion CPU during main cyclic processing (dead time other than motion control) respectively.
(2) To execute automatic refresh, it is necessary for Q-PLC CPU with the multi-CPU setting of PC parameter, and for the Q motion CPU with the multi-CPU setting of basic setting to set the number of points transmitted by each CPU, and the device (device used to execute the automatic refresh) to store the data. The head device can be set in the following two ways.
3.2 Multi-CPU motion dedicated commands The multi-CPU’s dedicated commands (SFCS, GINT, DDRD, DDWR) are explained in this section. 3.2.1 SFCS motion SFC program start command The SFCS (SFC start) command is used to start the designated SFC program. [Command symbol] [Execution condition] Execution command SP.SFCS SP.SFCS (n1) (n2) (D1) (D2) S.SFCS (n1) (n2) (D1) (D2) Execution command S.
(2) Execution timing Starting of the designated SFC program is requested at the rising edge (OFF → ON) of the SFCS command. The SFC program to be started can be any task setting in the Normal task execution or NMI task execution. It is effective at all times including the real mode, virtual mode and during mode switching.
3.2.2 GINT interrupt command to other machine’s CPU The command is used to generate an interrupt to the Q motion CPU. [Command symbol] [Execution condition] Command SP.GINT (n1) (n2) S.GINT (n1) (n2) SP.GINT Command S.GINT Interrupt pointer No. (0 to 15) Head input/output No. of object machi CPU ÷ 16 No. 2 machine: 3E1H No. 3 machine: 3E2H No. 4 machine: 3E3H (1) Setting the GINT command interrupt pointer No. Set the interrupt pointer No. directly by numerical value (K0 to K15).
(3) Operation error conditions The operation error will occur in the following cases, and the SFCS command will not be executed. (a) When 0 to 3DFH, 3E4H and following are designated by the head input/ output No. of target machine CPU ÷ 16 (nl) (b) When the local machine is designated by the head input/output No. of target machine CPU ÷ 16 (nl) (c) When a CPU that does not support GINT command is designated by the head input/output No.
3.2.3 Read from DDRD Q motion CPU device command The command is used to directly read the device data in the Q motion CPU with QPLC CPU. [Command symbol] [Execution condition] Command SP.DDRD (n1) (S1) (S2) (D1) (D2) SP.DDRD Command S.DDRD (n1) (S1) (S2) (D1) (D2) S.
(3) Operation error conditions The operation error will occur in the following cases, in which the DDRD command is not executed. (a) When the local machine reserved by the head input/output No. of target machine CPU ÷ 16 (nl) is designated (b) When the local machine is designated by the head input/output No. of target machine CPU ÷ 16 (nl) (c) When a CPU other than the Q motion CPU is designated by the head input/ output No.
3.2.4 Write to DDWR Q motion CPU device command This command is used to directly write the device data in the Q motion CPU to the QPLC CPU. [Command symbol] [Execution condition] Command SP.DDWR (n1) (S1) (S2) (D1) (D2) SP.DDWR Command S.DDWR (n1) (S1) (S2) (D1) (D2) S.DDWR Device to be turned on by one scan upon completion of comm Head device of target machine No.
(3) Operation error conditions The operation error will occur in the following cases, and the DDWR command will not be executed. (a) When the local machine set for reservation by the head input/output No. of target machine CPU ÷ 16 (nl) is designated (b) When the local machine is designated by the head input/output No. of target machine CPU ÷ 16 (nl) (c) When a CPU other than the Q motion CPU is designated by the head input/ output No.
Chapter 4 Q Motion CPU This CPU holds the system setting data and servo data, and executes the servo program and mechanism support language for multi-axis positioning. 4.1 System settings This setting selects the base and units to be used, and determines the axis No. and the servo amplifier and servomotor types. (1) An example of the Q172CPU(N) system settings is shown below. Refer to section 9.3 System settings in Chapter 9 for details on creating the screen.
4.2 Servo data The following types of data are provided. Default values are set and must be changed to data that matches the system. The data is stored in the motion CPU's memory area (SRAM battery backup). One axis data and parameter block must be set. The limit switch output data is created as required. System setting data Basic system setting.................. This is the basic operation data for Q motion CPU Multi-CPU setting ......................
4.2.1 Basic system setting The basic system setting contents are shown below. Default No. Item Setting range Initial value Units Remarks 0: 0.8ms 1: 1.7ms 1 Operation cycle 2: 3.5ms setting 3: 7.1ms 5 ms 0 – • Set the motion operation cycle. 4: 14.2ms 5: Automatic setting Operation 2 setting for STOP → RUN 0: Turns on M2000 when the switch is changed from STOP to RUN. 1: Turns on M2000 when the switch is changed from STOP to • Set such condition as to turn on the PLC READY flag (M2000).
4.2.2 Multi-CPU setting The multi-CPU setting contents are shown below. Default No. Item Setting range Initial value 1 Number of multi-CPUs 0: 2 1: 3 0 – – – 2: 4 Automatic 2 refresh setting It is possible to set the devices (D, W, M, Y, B) by up to 2K for each multi- words per each CPU against the setting (1 to 4). Remarks Units • Set the total number of multiCPUs including Q-PLC.
4.2.3 Fixed parameters The fixed parameters to be set are shown below. Setting range No. 2 3 UNIT SETTING Movement amount per pulse (A) 1 Item mm Setting range Units inch Setting range 0 – 1 PULSE/ TURN (AP) MOVEMENT/ TURN (AL) 4 BACKLASH 5 STROKE LIMIT MAX. 6 STROKE LIMIT MIN. 7 CMD. IN-POS. RANGE Default degree Units Setting range Units – 2 – PULSE Setting range Units 3 – 1 to 65535PLS 0.1 to 6553.5 0.0 to 6553.5 –214748364.8 to 214748364.7 –214748364.8 to 214748364.7 0.
4.2.4 Servo parameters The parameters to be set are shown below. [Basic servo parameters Setting range No. 1* 2* 3* 4* 5* 6 7 Item mm Setting range Units inch Setting range Default degree Units Setting range Units PULSE Setting range Units Initial value Remarks Units AMP. SETTING RESISTANCE DYNAMIC BRAKE MOTOR TYPE MOTOR Set automatically in accordance with the system settings CAPACITY MOTOR REVOLUTION (R) FEEDBACK PULSE (N) • Set the direction of rotation as seen from the load side.
[Adjustment parameters] When real-time auto tuning is enabled, the values (No.1 to No.6) are tuned and changed during test operation. Read the values from the servo amplifier to the personal computer, and then write them in the Q172CPU(N) before turning OFF the system power supply. Setting range No.
[Adjustment parameters] Continued Setting range No. Item mm Setting range Units inch Setting range Default degree Units Setting range Units PULSE Setting range Units Initial value Units Remarks 16 OPTIONAL FUNCTION 2 (NON MOTOR 9 SELECT)* 0: NO 1: YES 0 – • To check the status without connecting a motor, set "YES". 17 OPTIONAL FUNCTION 2 (MAGNETIC BRAKE INTERLOCK 9 TIMING)* 0: TIMING ARE AS FOLLOWS (NOT RELATED WITH MOTOR SPEED) • SERVO OFF • ALARM • EMG.
[Extended servo parameters] Setting range No. 1 2 3 4 5 Item mm Setting range (MR-H-B(N) –9999 to 9999 mv (MR-H-B(N) –9999 to 9999 mv 0: 1.77 BEF. ALRM. DATA SELECT 1: 3.55 2: 7.11 (SAMPLING 1 3: 14.22 TIM SEL.)* 4: 28.44 BEF. ALRM. 0: VEL. (±) DATA SELECT 1: TRQ. (±) (DATA SEL. 2: VEL. (+) 1 3: TRQ. (+) 1)* 4: CUR CMD. OUT 5: CMD F∆T BEF. ALRM 6: DEV. PULSE 1/1 DATA SELECT 7: DEV. PULSE 1/4 (DATA SEL. 8: DEV. PULSE 1/16 1 2)* 9: DEV. PULSE 1/32 10: DEV. PULSE 1/64 ZERO SPEED 7 EX.
4.2.5 Zero point return data The data to be set is shown below. Setting range No. Item mm Setting range Units inch Setting range Default degree Units Setting range Units PULSE Setting range Units A DIRECTION 0: REVERSE (CW) 1: FORWARD (CCW) 0 B METHOD 0: Near-zero point dog method 1: Count method 2: Data set method 1 3: Data set method 2 0 C ADDRESS –1 –2147483648 ×10 to 2147483647 µm 0.01 to mm/ 6000000.00 min –5 –2147483648 to ×10 2147483647 inch 0.01 to inch/ 600000.
4.2.6 JOG operation data The data to be set is shown below. Setting range No. Item A JOG SPEED LIMIT B P.B. NO. mm Setting range 0.01 to 6000000.00 Units mm/ min inch Setting range 0.001 to 600000.000 Default degree Units Setting range Units inch/ min 0.001 to 2147483.647 degree/ min 1 to 64 PULSE Setting range Units 1 to 1000000 PLS/ s Initial value 20000 1 4 - 11 Units Remarks • Sets the max. speed during JOG operation.
4.2.7 Parameter block The parameter block is used to determine the acceleration time, deceleration time and torque limit value, etc., used for zero point return operation, JOG operation and positioning with the servo program. The parameter blocks are No. 1 to No. 16. The data to be set is shown below. Setting range No.
4.2.8 Limit switch output function This function is used to output the ON/OFF signal corresponding to the range of watch data set for each output device. It is possible to set the output device for a maximum of 32 points. (1) The limit switch output function serves to output the ON to the output device while the value of watch data is located within the ON output area set by (ON Value) and (OFF Value). To execute the limit switch output function, it is necessary to set each data using the peripheral device.
4.3 Positioning control device The Q motion CPU is provided with positioning control devices for positioning information. The explanations of the devices in sections 4.3.1 to 4.3.5 are only for the Q172 specifications.
4.3.1 Status/command signals M2400 to M5471 (For Q172) Axis command signal Axis status The Q172CPU(N) has 8192 internal relay and latch relay points M/L0 to M/L8191. Of these points, M2400 to M3359 are used to exchange data for each axis. The signal name and input/output No. for each axis is determined as shown below. (1) List of M2400 to M3359 (In the virtual mode, the output module is the target instead of the drive module.
(2) List of M4000 to M5471 (In the virtual mode, the output module is the target instead of the drive module.
Applicable mode Signal name Positioning start completed Positioning completed Unusable Command in-position Real Virtual – – – Speed control in progress – Unusable – Error detection – Unusable – M code output in progress – – – – Error detection External signal TREN detection Virtual mode continuous operation disabled warning signal Unusable – Stop command Sudden stop command Forward JOG start Reverse JOG start End signal OFF command – Unusable – – – Error reset Unusable External STOP
4.3.2 Internal relays M2000 to M2319 (For Q172) The Q172CPU(N) has 8192 internal relay and latch relay points M/L0 to M/L8191. Of these points, M2000 to M2319 are used for positioning control with applications determined as shown below. Device No.
Device No.
4.3.3 Data registers D0 to D1315 (For Q172) The Q172CPU(N) has 8192 data register points D0 to D8191. Of these points, the 1316 points D0 to D1315 are used for positioning control with applications determined as shown below.
Applicable mode Signal name Real Virtual Current feed value/Roller peripheral speed Actual current value Deviation counter Minor error code Major error code Servo error code Movement amount for repeat zero point return – Movement amount after proximity dog ON Execution program number – M code Torque limit value Data set pointer for uniform speed control Movement amount change register – Actual current value when STOP is input – JOG speed setting PLC READY flag request Speed changeover point design
(Continued from page 4-20) Device Synchronous encoder Virtual servomotor Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 D800 D801 D810 D811 D820 D821 D830 D831 D840 D841 D850 D851 D860 D861 D870 D871 – – – – – – – – D1122 D1132 D1142 D1152 D1162 D1172 D1182 D1192 D802 D812 D822 D832 D842 D852 D862 D872 D1123 D1133 D1143 D1153 D1163 D1173 D1183 D1193 D803 D813 D823 D833 D843 D853 D863 D873 D804 D814 D824 D834 D844 D854 D864 D874 D805 D815 D825 D8
Applicable mode Signal name Real Virtual Current feed value – Current value – Minor error code – Major error code – Unusable – – Unusable – – Current value after main shaft differential gears – Error search output axis check No. – Unusable – – Execution cam No. Execution stroke amount – Current value within one cam shaft rotation P1 to P8 : Increment synchronization encoder connected to the Q173PX manual pulse generator input I/F.
4.3.4 Special relays M9073 to M9079, M9104, M9105 The Q172CPU(N) has 256 special relay points M9000 to M9255. Of these points, the nine points M9073 to M9079, M9104 and M9105 are used for positioning control with applications determined as shown below. Device No.
POINT Handling of registers (D704 to D708, D755 to D757) Since the bit devices shown below cannot be turned ON/OFF for each bit from the Q-PLC CPU, each bit device is turned ON when the least significant bit is changed from "0" to "1", and is turned off when it is changed from "1" to "0". The DDRD and DDWR commands are used to send the request from the Q-PLC CPU. It is possible to turn ON/OFF the bit devices directly with the motion SFC program No.
4.4 Motion SFC dedicated devices The motion CPU (PCPU) dedicated devices include the motion registers (#0 to #8191) and coast timer (FT). These devices can be used in the operation control (F/FS) program or transition (G) program. It is not possible to directly access these devices from the PLC. When the devices are used at the PLC side, therefore, substitute them for PLC devices before accessing. 4.4.
(2) SFC dedicated devices (#8000 to #8191) The SFC dedicated devices are shown below. It indicates the refresh cycle for device of which signal direction is "Status", and the retrieval cycle for device of which signal direction is "Command". Device No.
(3) SFC error history device The error information for up to eight past errors after turning ON the CPU power supply is stored as a history. The error information of #8056 to #8063 contains newest error. The error during SFC control, and conventional errors such as minor error, major error, servo error, servo program error, mode select error, etc., are all integrated in the history. When an error occurs, the "SFC error detection signal M2039" is set at the same time. The error information is as shown below.
(4) SFC error detection signal (M2039) (Refresh cycle: operation cycle) The SFC error detection signal (M2039) is turned ON when any errors detected by the motion CPU are generated. When an error occurs, it is set to the error device in accordance with the following procedure. (a) The error code is set to each axis or error device. (b) The error detection signal of each axis or error device is turned ON. (c) The error is set to the "SFC error history device (#8000 to #8063)" shown above.
Memo 4 - 30
Chapter 5 SFC Program This chapter describes the configuration and each element of the SFC program. 5.1 SFC program configuration The SFC program consists of a combination of START, step, transition, and END, etc., as shown below. Operation start Program name Positioning preparation F0 Step (operation control step): Executes the • • • • •designated operation control program while the system is active.
5.2 List of SFC symbols The parts that can be a constituent element of SFC program are shown below. The SFC program expresses the operation sequence and shift control by connecting such parts with oriented line. Division Designation Symbol (code size: byte) List expression Program name START Program name (0) Program start/end END (8) Motion control step Kn • Indicates the start of program with the program name. • Designates the program name when the subroutine is called.
Division Designation Symbol (code size: byte) SHIFT (shifting to advance reading) List expression Gn WAITON bit device • If the last step is a motion control step, the operation is shifted to the succeeding step when the shifting conditions Gn (G0 to G4095) are established without waiting for the motion to end. • If the last step is an operation control step, the operation is shifted to the succeeding step when the shifting conditions are established after execution of operation.
5.3 List of branch/connection diagrams The following shows the branch/connection patterns used to designate the steps/ transitions within SFC diagram. Designation (code size: byte) SFC symbol List expression Series shifting (Each symbol size) Selective branch IFBm IFT1 IFT2 (Number of branches + 2 × 10) Selective connection IFEm (8) Function • Sequentially executes steps and transitions Refer to the list connected in a series from the top.
5.4 SFC program name Set the "SFC program name" for each SFC program No. 0 to No. 255. The SFC program name is set within 16 single-byte characters (double-byte: 8 characters). Designate this SFC program name for the "subroutine call/start step (GSUB)" and the "clear step (CLR)". POINT (1) The SFC program can be set to a random number between 0 and 255. (2) "$ (single byte)" cannot be set as the first character of SFC program name. (3) "\", "/", ":", ";", ",", ".
5.5 Steps 5.5.1 Motion control step Start the servo program Kn. K10 ABS-1 Kn 1 2000 Axis Speed 10000 Designation range: K0 to K4095 (1) Description of operation (a) The start accept flag for the axis designated in the designated servo program Kn (n = 0 to 4095) is turned ON. (b) The designated servo program Kn (n = 0 to 4095) is started.
5.5.2 Operation control step Execute the operation control program Fn/FSn. F5 SET Y10 = X0+M0 Fn/FSn D200 = D0+D1 Designation range: F0 to F4095/FS0 to FS4095 (1) Description of operation (a) 1-time execution type operation control step Fn The operation control program Fn (n = 0 to 4095) is executed once. (b) Scan execution type operation control step FSn The operation control program FSn (n = 0 to 4095) is executed repeatedly until the succeeding shifting condition is established.
5.5.3 Subroutine call/start step Call/start the SFC program of designated program name. Program name (1) Description of operation (a) The designated SFC program is called and started. (b) The control may differ depending on the type of transition connected after the subroutine call/start step. • WAIT ......................... Subroutine call • Other than WAIT ........
5.5.4 Clear step Interrupt the execution of SFC program of designated program name. CLR Program name (1) Description of operation (a) The designated SFC program being executed is interrupted. (b) Even if the SFC program (designated for "Clear") is set to automatic start, it will not start automatically after interruption. (c) When the designated program is calling the subroutine, the execution of subroutine program called is also interrupted.
5.6 Transition Either a conditional expression or operation expression can be described for transition. The operation expression described here is executed repeatedly until the shifting condition is established. (1) Description of operation (a) Motion control step + Shift • The operation is shifted to the succeeding step when the shifting condition Gn is established without waiting for the servo program Kn (started at the motion control step) to end.
5.7 Jump/pointer Pn Pn Jump Pointer (1) Description of operation (a) "JUMP" functions to jump to the designated pointer Pn within local program. (b) The pointer can be set to a step, transition, branch point or connection point. (c) Pointer Pn can be set between P0 and P1683 in each program. (2) Precautions (a) JUMP cannot be set to exit a parallel branch - parallel connection.
5.9 Branch/connection 5.9.1 Parallel shifting The execution is shifted to the step or transition connected in series. (1) To start a servo program or subroutine, and shift to the succeeding step before the operation is completed Set the transition to SHIFT. In this case, it is possible to omit the transition (shift). When the transition is omitted, shifting is executed unconditionally. K1 The servo program K1 is started.
5.9.2 Selective branch/connection (1) Selective branch The conditions for multiple transitions (connected in parallel) are judged to execute only the route for which conditions are established first. The transition is limited to SHIFT or WAIT. Example: WAIT The servo program K1 is started. K1 G1 G2 G3 G255 K2 K3 K4 G255 The conditions for transition (G1 to G255) are judged after the start axis is stopped (start accept flag: OFF) to shift to the established route.
5.9.3 Parallel branch/parallel connection (1) Parallel branch Multiple steps, connected in parallel, are executed at the same time. Either step or transition may be used at the head of parallel branch destination. G0 WAIT G0 K2 K3 F1 F10 G1 G2 G3 G255 The steps from K2 to F10, connected in parallel, are executed when the conditions set for transition G0 are established after operation of last step, and executed thereafter for each route up to the parallel connection point.
5.10 Y/N transition Use the "SHIFT Y/N transition", "WAIT Y/N transition" when the route needs to be branched according to the establishment of the shift conditions.
(2) Precautions (a) To connect to just before "SHIFT Y/N" or "WAIT Y/N", insert it between "connection – branch". • It is not possible to connect directly • Insert "connection - branch" into "SHIFT Y/N" or "WAIT Y/N". between.
5.11 Task operation The timing to execute the SFC program can be set once for each program with the program parameter. The task is roughly classified into three types as shown in the following table. Task type Contents Normal task Execution at motion main cycle (dead time) Event task 1. Execution at constant cycle (0.8ms, 1.7ms, 3.5ms, 7.1ms, 14.2ms) 2. Execution when input set for event task, of external interrupt (16 points of QI60), is turned ON 3.
(2) Event task The event task is used to execute the SFC program when an event occurs. The event includes the following: (a) Constant cycle The SFC program is executed periodically at a cycle of 0.8ms, 1.7ms, 3.5ms, 7.1ms or 14.2ms. (b) External interrupt (16 points of I0 to I15) The SFC program is executed when the QI16 (16-point interrupt unit mounted in motion slot) input set to the event task turns ON.
5.12 SFC parameters The SFC parameters include "task parameters" used to control the tasks (normal task, event task, NMI task) and "program parameters" set for each SFC program. 5.12.1 Task parameters No. Item 1 Number of continuous shift lines 2 Interrupt setting Normal task Setting range Initial value 1 to 30 3 Set either "Event task" or "NMI task" for external Event task interrupt input (I0 to I15). Remarks These parameters are retrieved at the rising edge of the PLC READY signal (M2000).
5.13 SFC program start method The SFC program is executed while the PLC READY M2000 signal is ON. The SFC program can be started by the following three methods. (1) Automatic start (2) Start from SFC program (3) Start from PLC The start method is set for each SFC program using the program parameter. (1) Automatic start The SFC program is started automatically when the PLC READY M2000 is turned ON.
Chapter 6 SV22 Servo Programs 6.1 Servo program The servo program is used to designate the type of positioning control and the positioning data required for carrying out positioning control. The servo program configuration and designation methods are explained in this section. With the SV13 and SV22, the servomotor is controlled with this servo program. However, the servo commands that can be used are listed in the "List of servo commands". 6.1.
6.1.2 List of servo commands The commands listed below are available, but the usage validity differs according to the CPU OS.
Repeat condition Program No.
Positioning data VF Reverse rotation VR Forward rotation VVF Reverse rotation VVR Forward rotation VPF Reverse rotation VPR Re-start VPSTART VSTART Speed changeover control (Max.
Repeat condition Program No.
Positioning data ABS Helical interpolation control ABS Radius designation ABS INC INC INC INC ABS Center ABS point designation INC INC – 9 – – – – 9 – – – – 9 – – – – 9 – – – – 9 – – – – 9 – – – – 9 – – – – 10 – – – – 10 – – – – 10 – – – – 10 – – – – – – – – – – – – – – – – – – – – – – – – – S curve ratio – Deceleration processing on STOP input Allowable error range for circular interpolation – Torque limit value –
Repeat condition Program No.
6.1.3 Linear control 1 to 4-axis control with ABS-1 to ABS-4 (absolute method) (1) Using the zero point as a reference, positioning control is carried out from the current stopped address (address before positioning) to the designated address. (2) The movement direction is determined according to the currently stopped address and designated address. REAL End point ABS-2 1, AXIS 2, AXIS SYN. SPEED End point The axis moves to this point no matter where the address before positioning is located.
6.1.4 Circular interpolation control using auxiliary point designation 2-axis control with ABS (absolute method) (1) Circular interpolation from the current stop address (address before positioning) through the designated auxiliary point address to the end point address, using the zero point as the reference.
6.1.5 Circular interpolation control using radius designation 2-axis control with ABS , ABS , ABS , and ABS (absolute method) (1) Circular interpolation of an arc of the designated radius from the current stop address (address before positioning) to the designated end point address, using the home position as the reference.
6.1.6 Circular interpolation control using center point designation 2-axis control with ABS , ABS (absolute method) (1) Using the currently stopped address (address before positioning) having the zero point as its reference as the start point, circular interpolation is carried out to the end point address with an arc having a radius that is the distance to the center point. REAL End point ABS AXIS AXIS SPEED CENTER CENTER 200 1, 2, 1, 2, 200000.0 0.0 5000.00 100000.0 50000.
6.1.7 Fixed-dimension feed control 1-axis to 3-axis control with FEED-1, FEED-2 and FEED3 (incremental method) (1) Positioning control is executed for the designated movement amount from the current stop position (0). (2) The travel direction is designated by the sign of the travel value, as follows: (a) Positive movement amount .... Forward direction (increased address) (b) Negative movement amount ...
6.1.9 Speed/position changeover control 1-axis control with VPF, VPR (increment method) (1) After the servomotor starts, speed control is carried out. When the speed/position changeover enable signal (M3205/axis 1) is ON, the control will change from speed control to position control with the CHANGE (speed/position changeover) signal from an external source, and positioning will take place for the designated movement amount. (a) VPF....Forward direction (address increment direction) start (b) VPR ...
6.1.10 Speed changeover control 1-axis to 3-axis control using VSTART, ABS-1, ABS-2, ABS-3, VEND (absolute method) (1) Using the currently stopped address, having the zero point as the reference as the start point, positioning control is carried out to the end point while relaying the speed changeover point. (Speed changeover point is only for VABS) Absolute method An address that results in reverse run cannot be designated.
6.1.11 Constant-speed control 1-axis to 4-axis control with CPSTART1 to CPSTART4, CPEND (1) With one start, positioning control is carried out at a uniform speed to the end point address while relaying the pass point.
6.1.12 Repeated control (for speed changeover control and uniform speed control) 1-axis to 4-axis control using FOR-TIMES, FOR-ON, FOR-OFF, NEXT (1) The speed changeover point VABS and VINC commands for speed changeover control are repeatedly executed. (2) The uniform speed control pass point ABS and INC commands are repeatedly executed. (3) Designating the number of repetitions FOR-TIMES designates the number of repetitions as K1 to K32767 and a number, or indirectly designates with D, W.
6.1.13 Simultaneous start Simultaneous start control using START (1) Two to three types of servo programs (excluding START) are simultaneously started. (3) If three servo programs are for 1-axis to 4-axis control, up to 12 axes can be simultaneously started. (3) The servo program No. designated with the START command cannot be indirectly designated with a word device (D, W). REAL START K K 64 65 200 REAL INC-1 AXIS SPEED End point 100 1, 100000.0 5000.
6.1.14 Zero point return 1-axis zero point return using ZERO (1) Zero point return is executed from the currently stopped position using the method designated in the zero point return data. (2) When the near-point dog type or count type is designated, the axis will move in the return direction designated in the zero point return data. (3) When the data set type is designated, the stopped address will be used as the zero point and the axis will not move. (4) The axis No. cannot be designated indirectly.
6.1.15 Position follow-up control 1-axis control using PFSTART (absolute method) (1) With the first start, the axis is positioned to the address word device (D, W even number) set in the servo program. (The axis will follow-up if the contents of D, W and # are changed.) REAL End point PFSTART AXIS SPEED 200 2, D10 2000.
6.1.16 High-speed oscillation control 1-axis control using OSC (increment method) (1) The designated axis reciprocates in a sine wave form designated with 1) to 3) below. Acceleration/deceleration is not carried out. After starting, the axis will continue repeated reciprocation until stop is input. Amplitude 360 [degree] 0 Start angle 1) 2) 3) Start angle Designate at which angle of the sine curve the start angle for starting is located. The setting range is 0 to 359.9 [degree].
90° 270° 90° Start 270° Start 6 - 21 90° 27°
6.1.17 Helical interpolation control with auxiliary point designated 3-axis control by ABH (absolute method) (1) Helical interpolation control is realized by linearly interpolating the linear axis while executing circular interpolation from the current stop address (address before positioning) based on the zero point, through the designated auxiliary point address on the arc end point address and linear axis end point address.
6.1.18 Helical interpolation control with radius designated 3-axis control by ABH /ABH /ABH /ABH (absolute method) (1) Helical interpolation control is realized by linearly interpolating the linear axis while executing circular interpolation from the current stop address (address before positioning) based on the zero point, at the designated radius to the arc end point address and linear axis end point address.
6.1.19 Helical interpolation control with center point designated 3-axis control by ABH /ABH (absolute method) (1) Helical interpolation control is realized by linearly interpolating the linear axis while executing circular interpolation from the current stop address (address before positioning) with an arc, having a radius to equal to the distance to the center point. Interpolation is executed to the arc end point address and linear axis end Z (Linear axis 3) point address.
6.1.20 Current value change CHGA Servomotor/virtual servomotor axis current value change control (1) When the real mode is selected, the current value of the designated axis is changed. (2) When the virtual mode is selected, the current value of the designated virtual servomotor is changed. CHGA AXIS 2, Current value change control 50 • Axis used ............................................Axis 2 • Current value change address ...........
Memo 6 - 26
Chapter 7 Operation Control Program A substitute operational expression, dedicated motion function and bit device control command can be set with the operation control program. Multiple blocks can be set in one operation control program, however, the shifting condition can be set only to the transition program. The operational expressions that can be described by the operation control program and transition program are described in this section. 7.
7.
Number Division Bit device control Symbol SET Device setting RST Device resetting DOUT DIN OUT (None) ! Logical operation Comparison operation Dedicated motion function Function Bit device output Logical affirmation Logical negation Logical product + Logical sum == Equal != Not equal < Below <= Less than > Over >= More than CHGT EI DI NOP BMOV TIME MULTW Others MULTR TO FROM of basic Speed change request Torque limit value change request Event task permit Event task prohibit N
7.3 Dedicated motion functions (CHGV, CHGT) Speed change request: CHGV Format Setting data Contents (S1) Axis No. requesting for speed change (S2) Designated speed CHGV ((S1), (S2)) Result data type – (1) The speed is changed with the following procedure. 1) The "speed change flag" (M2061 to M2092) corresponding to the axis designated by (S1) is turned ON. 2) The speed of axis designated by (S1) is changed to the speed designated by (S2). 3) The "Speed change flag" is turned OFF.
Torque limit value change request: CHGT Format CHGT ((S1), (S2)) Setting data Contents (S1) Axis No. to request for torque limit value change (S2) Designated torque limit value Result data type – (1) The torque limit value of the axis designated by (S1) is changed to the torque limit value designated by (S2).
7.4 Other commands Event task permit: EI Format EI (1) Execution of event task is permitted. (2) It is applicable only to the normal task. Program example Execution of event task is permitted. EI Event task prohibit: DI Format DI (1) Execution of event task is prohibited. (2) When an external interrupt or PLC interrupt occurs after execution of the DI command, the corresponding event task is executed once when the EI command is executed. (3) The constant cycle event task is not executed during DI.
Non-processing: NOP Format NOP (1) Since the command is a non-processing command, and will not bring about any influence upon last operation. Block transfer: BMOV Format BMOV (D), (S), (n) Setting data Contents Result data type (D) Head No. of transfer destination device (S) Head No. of transfer source device (n) Number of words transferred – (1) The contents of n-words from the word device designated by (S) are transferred in a batch to the n-words from the word device designated by (D).
Time waiting: TIME Format Setting data Contents Result data type TIME (S) (S) Waiting time (0 to 2147483647) msec Logical type (True/False) (1) The system will wait for time designated by (S). When the time elapsed is less than the setting time, the state becomes "False". When it is over the setting time, it becomes "True". Program example Program to wait for 60 sec.
Writing of data to local machines shared memory: MULTW Format Setting data Contents Shared memory address of local machine (D) MULTW (D), (S), (n), (D1) Result data type CPU at writing destination Head No. of device in which writing data is (S) stored (n) – Number of data items to be written Local machine device to turn ON after (D1) completion of writing (1) (n) word of device data is written from the local machine CPU’s (S) to the CPU shared memory address designated local machine CPU’s CPU.
Reading of data from shared memory of other machine: MULTR Format Setting data Result data type Head No. of device in which data read is (D) MULTR (D), (S1), (S2), (n) Contents stored Head input No.
Chapter 8 Windows Personal Computer Operations 8.1 Flow of creating data for operating motion controller Software package installation • SW6RN-GSV22P • SW3RN-CAMP • SW6RN-SNETP • SW6RN-DOSCP Refer to Appendix 2.2.
8.2 Registering the main unit OS Register (install) the OS (SW6RN-SV22QC) for the Q motion CPU. Q02HCPU Q172CPU RS-232C QC30R2 RS-232C cable (1) Connect the RS-232C port of DOS/V personal computer to the RS-232C connector of Q02HCPU using QC30R2 cable, and turn ON the power supply. (If the system has already been started with the cable connected, start from step (2).) (2) Turn the Q motion CPU power switch OFF, set the install switch to Installation enabled (ON), and then turn the power switch ON.
Continued from previous page (4) The INSTALL dialog box will open. Click on [Communication], and then the [Communication setting] menu. (5) The COMMUNICATION SETTING dialog box will open. Check "RS-232C", select "1". Serial communication CPU connection", and click on the Detail setting button. (6) The DETAIL setting dialog box will open. Select the "PC side I/F CPU setting" to 'QnCPU', and the "Object CPU" to '#2 machine'. After setting, click on the OK button.
Continued from previous page (8) The INSTALL dialog box will open. Click on the Motion main unit OS install button. (9) The MOTION MAIN UNIT OS INSTALL dialog box will open. Click on the Reference button. (10) Insert the OS FD (SW6RN-SV2QC-1/2) in the FD drive, and select 'a:' in the folder’s designation dialog box. (11) Double-click on 'a:\'.
Continued from previous page (12) When 'SV22' appears at "OS type", click on the OK button. (13) Click on the Execute button in the MOTION MAIN UNIT OS INSTALL dialog box. (14) When the message shown at left appears, replace the FD with the second OS FD (SW6RN-SV2QC2/2), and click on the OK button. Note: It takes several minutes to install the main unit OS. (15) When the message "Installation completed" appears, click the OK button.
Continued from previous page (17) Click on the Install End button. (18) Turn the Q motion CPU power OFF, set the install switch to Installation disabled, and then turn the power ON again. This completes registration of the main unit OS.
8.3 Setting the Q-PLC CPU 8.3.1 Reading the sequence program (1) Click on [Start], [Program], [MELSOFT application] and then [GX Developer] in Windows. (2) The GX Developer will start, so click on [Project] and then the [Open project] menu. (3) Input 'A:\Q172\' in the "Drive path" in Open project dialog box, and 'GPPW' in "Project name" then click on the Open button. The sequence program, PC parameter, etc., will be read in from the FD.
8.3.2 Setting the multi-CPU (1) Double-click on [Parameter] and then [PC parameter] in project data list. (2) The Qn(H) PARAMETER SETTING dialog box will open, so click on the Multi-CPU setting button. (3) The MULTI-CPU SETTING dialog box will open, set the "Number of CPUs" to '2 units', and check the "Retrieve out-of-group input status". Confirm that 'All machines stopped due to error in #2 machine' of "Operation mode" is checked.
Continued from previous page (5) Select the "Setting changeover" in "Refresh setting" to 'Setting 2', and set the following. "Head device" : 'D6000' "Number of #1 machine points" : '4' "Number of #2 machine points" : '4' Click the Setting End button after setting. (6) The Qn(H) PARAMETER SETTING dialog box will open again, so click on the I/O ASSIGNMENT SETTING tab. (7) Click on the Detail setting button in the I/O ASSIGNMENT setting tab screen.
Continued from previous page (9) The Qn(H) PARAMETER SETTING dialog box will open again, so click on the Setting End button.
8.3.3 Writing the sequence program Q02HCPU Q172CPU RS-232C QC30R2 RS-2320 cable (1) Click on [Online], and then [Write to PC]. (2) The WRITE TO PC dialog box will open, so click on the Parameter + Program button. (3) Click on the Execute button.
(4) The message "Completed." will appear when writing of data to the PC is completed, so click on the OK button. (5) Click on the Close button in the WRITE TO PC dialog box.
8.4 Starting up SW6RN-GSV22P The operations from starting up the SW6RN-GSV22P to the creation of a new project are explained in this section. (1) Click on [Start], [Program], [SWnRNC-GSV], [SW6RNC-GSV], [SW6RN-GSV22P] and then [Project control]. (2) Click on the Creation of new project button in the PROJECT CONTROL dialog box. (3) After the screen changes, click on the Folder change button. To return to the last screen, click the Undo button.
Continued from previous page (5) When the message "Create a new project?" appears, click on the YES button. (6) When your own name (English) appears at "Project name" in the FOLDER SELECT dialog box, click on the OK button. (7) Click on the OK button in PROJECT CONTROL dialog box. (8) After the screen changes, click on the New creation button.
Continued from previous page (9) When the NEW CREATION dialog box appears, select 'Q172' for “CPU select" and 'SW6-SV22QC (SFC)' for "OS select", then click on the OK button. (10) When dialog box confirming creation of the user initial file appears, click on the YES button. (11) When the EXECUTION COMPLETE dialog box appears, click on the OK button. This completes start up and initialization.
Continued from previous page (13) The CHANGE TO OTHER MENU dialog box will appear.
Chapter 9 Basic Practice Using the SV22 Real Mode 9.1 Details of practice A triangle will be drawn on the X-Y table as a positioning path. The SV13 is the same as the SV22’s real mode so this practice session will be used for both.
9.2 Q172CPU practice machine system configuration Since the external signals (limit, DOG) are not used for this practice, the Q1272LX unit is omitted.
Practice machine operation panel The function selector switches are wired to X10 to X17. X0 X1 X2 X9 X0A Y0 Y1 Y2 Y9 Y0A X3 X4 X5 X0B X0C Y3 Y4 Y5 Y0B Y0C X6 X7 X8 X0D X0E Y6 Y7 Y8 Y0D Y0E The input signal switches are wired to X0 to X0E. The lamps are wired to Y0 to Y0E. X0 STANDBY POINT POSITIONING X1 X3 X4 X7 EMERGENCY STOP The basic settings for the Q motion CPU are set. X9 SPEE CHANGE 300 0 0 X18 ..............JOG Operation X19 ..............
The digital indicators are wired to Y20 to Y2F. Y2F to Y20 Y33 Y32 Y31 Y30 The lamps are wired to Y30 to Y33. X23 X22 X21 X20 The toggle switch is wired to X20 to X23. X20 .............Axis changeover X21 Toggle switch Open to X23 Y20 ............. to Y2F ............. Y30 ............. to Y33 .............
9.3 System setting The system is set with SW6RN-GSV2P. (1) System setting window display (when the menu is changed to another menu) 1) Open the CHANGE TO OTHER MENU dialog box from the PROJECT CONTROL menu displayed when the SW6RN-GSV22P is started, and click on the System setting button. 2) The SYSTEM SETTING window and BASIC SETTING dialog box will open. Set the "Number of main base slots" to '5'. After setting, click on the MULTI-CPU SETTING tab in the Basic setting dialog box.
(Continued from previous page) 4) Set the "Automatic refresh setting" to 'Setting 2', and set the following. "Head device" : 'D6000' "Number of #1 machine points" : '4' "Number of #2 machine points" : '4' 5) Confirm that 'All machines stopped due to error in #2 machine' under "Operation mode" is checked. After checking, click the SYSTEM SETTING tab i the BASIC SETTING dialog box. 6) Set the "Emergency stop input setting" to 'X(PX)', and input '1F' for X(PX).
(2) Setting the motion slot 1) Double-click on the slot 1 of the main base on the SYSTEM SETTING screen to set the input/output hybrid unit in slot 1. 2) The MOTION SLOT setting dialog box will open, so select 'I/O unit' from under "PLC". After setting, click on the Detail setting button. 3) The I/O UNIT SETTING dialog box will open. Se the "Unit type" to 'Hybrid (same No. for input/ output)', and the number of points to '32'. After setting, click on the OK button.
(Continued from previous page) 4) 9-8 This completes setting of the slot 1 input/output hybrid unit. Slot 2’s input/output hybrid unit is controlled by the Q-PLC CPU and does not need to be set.
(3) Setting the amplifier 1) To set the first servo amplifier and servomotor, click on the servo amplifier (first [d1] amplifier from left) in the SYSTEM SETTING window. 2) The AMPLIFIER TYPE tab screen will open in the AMPLIFIER SETTING dialog box. Set the "Amplifier type name" to 'MR-J2S-B', and the "Amplifier capacity" to '10B'. After setting, click on the MOTOR SETTING tab in the AMPLIFIER SETTING dialog box. 3) Set "Automatic Setting" for the "Motor series".
(Continued from previous page) 5) Set the "Axis No." to '1' and check that the other items are set as follows. "Amplifier setting" : 'ABS' "External dynamic brake selection": 'None' "Tolerable movement amount : '10 rotations' during power-off" 6) Click on the OK button in the AMPLIFIER SETTING dialog box. 7) Next, to set the second servo amplifier and servomotor, double-click on the second (d2) servo amplifier from the left on the SYSTEM SETTING screen.
(4) Relative check, Conversion, and Save As 1) After setting the motion slot and amplifier, click on the [File] menu and then the [Relative check] menu in the SYSTEM SETTING window. 2) If the message "No error." is displayed for the check results, click on the OK button. If the error contents and remedies are displayed, correct the settings, and execute the relative check again. 3) Click on the [File] menu and then the [Conversion] menu. When the message "Completed.
9.4 Setting the servo data After ending the system settings, set the servo data. 1) Click on the Servo data setting tool button in the SYSTEM SETTING window. Close the system setting window after the servo system setting window opens. (Click at the upper right on the window.) 2) Double-click on the 1-axis section of the Fixed Parameters in the SERVO DATA SETTING window. 3) The FIXED PARAMETER SETTING/AXIS NO.1 dialog box will open, so set each item as shown on the left.
(Continued from previous page) 5) Click on the [SERVO PARAMETER] tab in the SERVO DATA SETTING window. 6) Click on the 1-axis section of the Basic Parameters in the SERVO PARAMETER tab screen. 7) The SERVO PARAMETER SETTING/AXIS NO.1 dialog box will open, so set each item as shown below. (Only the basic parameters need to be set.) Rotating direction : Reverse (CW) Automatic tuning : Automatic tuning mode 1 Servo response setting : 5 After setting, click on the OK button.
(Continued from previous page) 10) The PARAMETER BLOCK SETTING BLOCK NO.1 dialog box will open when the "Block 1" section is double-clicked on, so set the following contents. After setting, click on the OK button. 11) Set block 2 as follows in the same manner. 12) After setting all the servo data, click [File] and then the [Save As] menu. This completes setting of the servo data.
9.5 Practice SFC programs The sequence programs and SFC programs used for practice are listed below. Refer to the following explanations for details on each program. Start by sequence Normal execution program Start by SFC program • Sequence program •[JOG operation] SFC program No.10 •[Real mode main] SFC program No.0 •[Zero point return] SFC program No.20 • [Initial setting] SFC program No.210: Automatic start •Virtual mode for practice •[Servo program continuous] SFC program No.
• Normal execution program [Initial setting] program Started automatically. No. 210 Initial setting • Program started by sequence program [Real mode main] program No. 0 Started by sequence program. [JOG operation] program No.10 Started by sequence program. JOG operation Real mode main Zero point return Servo pro.
• Program started by SFC program [Servo program continuation] program No. 80 Started by No. 0. [Zero point return] program No. 20 Started by No. 0.
• Q02H sequence program M200 M201 0 (M84 SFC program start X18 X18 ) X19 [SP.SFCS H3E1 K10 M800 D800 ] Start of JOG mode SFC [SP.SFCS H3E1 K0 M801 D801 ] Start of real mode SFC [SP.
9.6 Creating SFC programs Create the SFC program used to set the operation of motion control. 9.6.1 Creating a new SFC program Creation of a new SFC program starts by assigning the [Program name]. 1) Click on the Program edit tool button in the SERVO DATA SETTING window. The PROGRAM EDIT window and SFC PROGRAM CONTROL dialog box will open. Close the servo data setting window after the PROGRAM EDIT window opens. (Click at the upper right on the window.) 2) Click on the New creation button.
(Continued from previous page) 4) The set SFC programs will be listed. Click the New creation button again to create the SFC programs shown below. (The procedures for creating the SFC programs other than No.10 and 20 will not be explained here. Refer to the section on the SFC programs for operation and create the programs later.) 9 - 20 No.
9.6.2 Creating the SFC diagram Arrange the SFC diagram symbols to create the SFC diagram. 1) Select the "10 JOG operation" from the SFC program list in the SFC PROGRAM CONTROL dialog box, and click on the OK button. 2) The program edit screen (used for creation of each SFC program) will open. When the SFC program is selected by mistake, causing another SFC program to be displayed, click on the SFC program control tool button to select the desired SFC program again.
(Continued from previous page) JOG operation 5) Click on each tool button thereafter in the similar manner to arrange each SFC diagram symbol as shown on the left. : : : : 6) (SHIFT Y/N transition) (1-time execution type operation control step) (Jump) (Continuation of connection - branch) Connect the SFC diagram symbols arranged. Click on the Connection tool button in PROGRAM EDIT screen.
(Continued from previous page) 7) The shape of the mouse cursor will change when moved over the SFC diagram symbol. Drag the start point of SFC program and the pointer to connect the SFC diagram symbols. 8) Connect the other SFC diagram symbols in the same manner. JOG operation JOG operation When the connection is made incorrectly, click on the Selection tool button ( ) on the PROGRAM EDIT screen, and then move the mouse cursor over the connection line. Click the mouse to cut the line.
(Continued from previous page) 9) Click on [Edit] and then the [Alignment] menu in the PROGRAM EDIT window. The arranged SFC diagram symbols will be aligned. 10) Set the program No. and pointer No. to the arranged SFC diagram symbols. Click on the Selection tool button in the PROGRAM EDIT screen. 11) Double-click on the pointer (P). JOG operation 12) The pointer No. setting dialog box will open. Input '0' for the "Pointer No.", and click on the OK button. The pointer No.
(Continued from previous page) JOG operation 13) The pointer No. is set to '0'. Next, double-click on the transition (G). 14) The PROGRAM NO. SETTING dialog box will open Input '100' for the "Program No.", and click on the OK button. The program No. is common in the project.
(Continued from previous page) 15) The program No. 'G100' is set to the transition. Set the program No. and pointer No. for the other SFC diagram symbols shown at left in the same manner.
9.6.3 Inputting the transition and operation control step Set the conditional expression and operation expression to the transition and operation control steps arranged in the SFC diagram. 1) Click on and select the operation control step 'F100'. 2) When '[F100]' appears at the area on the lower right of the screen (step’s PROGRAM EDIT screen), double-click it. 3) The OPERATION CONTROL PROGRAM/ TRANSITION PROGRAM EDIT dialog box will open. Click on the Command selection button.
(Continued from previous page) 5) The command will be set as 'RST M0', so input 'M3202' for 'M0'. Click on the Enter key to feed the line, and input 'RST M3203', 'RST M3222' and 'RST M3223'. After inputting, click on the Conversion button. 6) When the message "Conversion completed." appears, click on the OK button. 7) Click on the OK button. 8) The set command will appear on the step’s PROGRAM EDIT screen.
(Continued from previous page) 9) Set the operation expression and conditional expression for the following operation control program and transition program in the same manner.
(Continued from previous page) 11) When the message "Completed normally." appears, click on the OK button. 12) The SFC program will be listed on the right side on screen. 13) Click on [File], and then the [Save As] menu on the PROGRAM EDIT window. This completes creation of the JOG operation SFC program.
9.6.4 Inputting the motion control step Set the motion control steps (used for positioning control, etc.). Create the SFC program for zero point return first. 1) Create the SFC program for zero point return. Click on the SFC program control tool button on the PROGRAM EDIT screen. 2) Select "20 Zero point return" from the SFC program list in the SFC PROGRAM CONTROL dialog box, and click on the OK button. 3) Create the zero point return SFC program with the following procedure.
(Continued from previous page) 5) The SERVO PROGRAM EDIT dialog box and COMMAND SELECTION dialog box will open 6) Set the " Command division " in the COMMAND SELECTION dialog box to 'Simultaneous start', and the "Servo command" to 'START'. Then click on the OK button. 7) Input the 'K1' in the "Program No.:" text box. Click the Enter key to feed the line, and input 'K2'.
(Continued from previous page) 8) 9) Click on the Store button. This completes setting of the 'K0' motion control step. Carry out the same procedure to create the motion control steps used for the other SFC programs shown on the following pages. Outline of motion control step editing 1) Click on the Program No. setting button. 2) Input the motion control step No. to be edited next in the "Program No." in the PROGRAM NO. SETTING dialog box, and click the OK button.
(Continued from previous page) REAL Positioning AXIS AXIS interpolation) (2-axis linear COMPOSITE VELOCITY Select the "M code" from the "Setting item", and click on the Add button. REAL Positioning AXIS VELOCITY (1-axis linear) M CODE REAL Select the "M code" from the "Setting item", and click on the Add button. Positioning AXIS AXIS (2-axis linear interpolation) COMPOSITE VELOCITY M CODE Select the "M code" from the "Setting item", and click on the Add button.
(Continued from previous page) 12) Click on the SFC diagram write tool button on the PROGRAM EDIT screen to convert the program into a SFC program. Zero point return Zero point return Refer to section 9.9 and create the SFC programs with the following numbers. 0 80 210 13) Click on [File], and then the [Save As] menu on the PROGRAM EDIT window. This completes inputting of the motion control step.
9.6.5 SFC program parameter setting and batch conversion Set the parameters and convert them for the created SFC program. (Continued on next page) 1) Click on [Option], [SFC parameter setting] and then the [Program parameter] menu on the PROGRAM EDIT screen. 2) The PROGRAM PARAMETER screen will open. The created SFC program will be listed, so doubleclick on "Initial setting". 3) The PROGRAM PARAMETER SETTING dialog box will open. Set "Start setting" to ‘Automatic start'.
(Continued from previous page) 4) Convert the created SFC diagram into an SFC program as a batch. Click on the Batch conversion tool button in the PROGRAM EDIT screen. 5) When the message "Completed normally." appears, click on the OK button. This completes creation of the SFC program. JOG operation If a "CAUTION" message appears, correct the SFC program, or exit the GSV22P. (Ending the SW6N-GV22P) 6) Click on [File] and then the [GSV22P end] menu on the PROGRAM EDIT screen.
9.7 Writing to the motion CPU Write the servo setting data and SFC program to the Q172CPU. 1) Set the Q motion CPU to STOP. 2) Click on the [Communication] and then the [Communication setting] menu on the PROGRAM EDIT screen. 3) The COMMUNICATION SETTING dialog box wil open, so check "RS-232C", select "1. Serial communication CPU connection" and click on the Detail setting button.
(Continued from previous page) 6) Click on the [Communication] and then the [Transfer] menu in PROGRAM EDIT screen. 7) The COMMUNICATION dialog box will open, so check "Servo setting data" and "SFC program", and then click on the Write button. 8) Since the dialog box to confirm the motion CPU type and writing execution, click on the Yes button. 9) When the message "Completed normally." is displayed, click on the OK button. 10) Reset the Q-PLC CPU.
9.8 Test operation PLC READY (M2000) must be turned OFF before starting test operation. "Stop" the Q motion CPU. 9.8.1 JOG operation Perform the JOG operation in the test mode to level the disc attached to the servomotor. 1) Click on the Test tool button in the PROGRAM EDIT window. After the TEST window opens, close the PROGRAM EDIT window. (Click on at the upper right of the window.) 2) The test start request will be executed automatically when the TEST window opens.
(Continued on next page) (Continued from previous page) 5) Set "Axis No. setting" to '2' so that the disc is levelled in the same manner as axis 1. 6) Alter the disc is levelled with JOG operation, click on the END button to close the JOG OPERATION dialog box. This completes JOG operation.
9.8.2 Running the servo program Run the zero point return and positioning servo program set with the program operation in the test mode. 1) Click on the Program operation tool button. 2) A dialog box for selecting the type of program operation will open, so click on the Independent operation button. 3) The PROGRAM OPERATION (INDEPENDENT) dialog box will open, so set the spin box to '1', and click on the Program No. setting button.
(Continued from previous page) 5) The PROGRAM OPERATION dialog box will open, so click on the START button. (The axis 1 is returned to zero point.) Note: The motor will not rotate during data-set type zero point return. (The current feed value is set to '–30000.0µm'.) 6) The message "Program operation completed." will appear, so click on the OK button. 7) Click on the END button in the PROGRAM OPERATION dialog box. 8) Start operation of the servo program No.2 in the same manner.
9.9 Program for operation 9.9.1 Initialization This operation sequence/SFC program has been prepared for the SW6RN-GSV22P (for Q172). The explanatory drawing of the practice machine’s operation panel, is shown in section 9.2. When the RUN/STOP switch of Q motion CPU is set to RUN, PLC READY (M2000) will turn ON for the Q-PLC CPU. Example of SFC program for when the all-axis servo is started upon reception of the PCPU READY flag (M9074). (1) Program example Initialization SFC program No.
(2) Q02HCPU sequence program CPU READY flag M200 M201 0 (M84 JOG mode X19 X18 Virtual mode ) [SP.SFCS H3E1 K10 M800 D800 ] Start of SFC for JOG mode [SP.SFCS H3E1 K0 M801 D801 ] Start of SFC for real mode [SP.
9.9.2 JOG operation When the forward JOG start signal (M3202/axis 1) or reverse JOG start signal (M3203/ axis 1) is turned ON, the axis will move at the speed stored in the JOG operation speed register (following table) and the details (acceleration/deceleration time) of the parameter block set in the JOG data. The axis will stop when the JOG start signal is turned OFF. (1) JOG operation speed setting registers Speed setting range JOG operation speed setting mm register No.
2) Example of SFC program for JOG operation of axis 1 and axis 2 with independent start JOG operation SFC program No. 10 All JOG operation is stopped when the JOG operation mode is not selected. Start of JOG operation mode If the axis 1 is not in reverse JOG, the forward JOG is started when "X5" is turned ON. When X5, X3, X1 and X7 are turned OFF, the forward JOG/reverse JOG (corresponding to each switch) is stopped.
Axis 2 PX5 : Axis 1 forward JOG command PX3 : Axis 1 reverse JOG command PX1 : Axis 2 forward JOG command PX7 : Axis 2 reverse JOG command D641, D640 : Axis 1 JOG speed setting register D643, D642 : Axis 2 JOG speed setting register X0 X1 X2 X3 X4 X5 X6 X7 X8 Axis 1 [Timing chart] JOG speed Forward Reverse X5 M3202 X3 M3203 9 - 48
9.9.3 Main routine SFC program (real mode operation) This SFC program is executed in the main routine when the real mode is selected. It is used to start other SFC programs (from this main routine SFC program) to execute various operations in the real mode. (1) SFC program started from main routine SFC program SFC program No. Program name Description section 20 Zero point return 9.9.4 80 Servo program continuation 9.9.5 (2) Program example Real mode main SFC program No.
9.9.4 Zero point return When the servo program is executed at the motion control step of the SFC program, the operation is executed according to the contents of the data and parameter block for the executed servo program. [SFC program] Start of “Zero point return” when X0 is set to ON, and X2001 and M2002 are set to OFF Real mode main SFC program No. 0 Waiting point Zero point return SFC program No. 20 Servo program No. 0 start [Motion control step] K0: REAL 1 START PROGRAM NO. PROGRAM NO.
9.9.5 Continuous positioning To execute the servo program in the sequence of 11 → 12 → 13 → 14, the 'WAIT' type transition is used after the motion control step (servo program), so that the execution is shifted to the succeeding motion control step (servo program) after completion of servo program being executed. When the program is interrupted during continuous execution, the operation is executed continuously from the interrupted servo program to re-start the operation.
[Transition] [Operation control step] [Motion control step] G800 PX19 G803 TIME K3000 G805 ((D12 == K12)*(D32 == K11 ))+ !M330 G808 PX19 G811 TIME K3000 G813 ((D12 == K13)*(D32 == K14 ))+ !M332 F800 SET M329 F802 SET M331 K11: REAL 1 ABS-2 AXIS 1, AXIS 2, COMPOSITE SPEED K13: REAL 1 ABS-2 AXIS 1, AXIS 2, COMPOSITE SPEED M CODE D12 D32 D329 D330 D331 D332 2000.0µM 2000.0µM 5000.00MM/MIN 20000.0µM 200000.0µM 7000.
9.10 Operating the practice machine 9.10.1 Operation The servomotor movement is monitored with the servo monitor using the SW6RNGSV22P. 1) Click on the monitor tool button on the TEST window. 2) The MONITOR window will open and the enlarged current value monitor will appear. (For details on the monitor operation, refer to section 9.10.2.
(Continued from previous page) [Execute JOG operation] The axis will move with JOG while the switch is ON. X0 X1 X3 X6 X2 Items to check when axis does not move: • Is the servo ON? • Is the Q-PLC/Q motion CPU set to RUN? • Is the personal computer in the test mode. (Cancel the mode if in the test mode.) X5 X7 X8 [Execute zero point return] Set the mode selector switch to [REAL] X19. • Press X0 . The X axis and Y axis will return to the zero point.
(Continued from previous page) [Starting continuous positioning] • Positioning will be carried out with the following path when X2 turns ON. The circle number indicates the servo program No.
9.10.2 Monitor operation The current value, cause of error occurrence and motion SFC operation status, etc., can be checked with each monitor. (1) SFC error history The history of errors that occurred in the SFC program after turning ON or resetting the motion CPU power supply is displayed. 1) Click on the SFC error history button in the MONITOR window. 2) The SFC error history monitor will appear.
(3) Motion SFC monitor The motion CPU program monitor is displayed. 1) Click on the monitor mode button on PROGRAM EDIT screen. 2) When the message shown at left appears, click on the YES button. 3) The motion SFC program monitor will appear. : Running : Stopped : In break (Blue) : Active (Red) : Waiting for parallel connection 4) Click on the execution step device monitor button.
(Continued from previous page) 5) The EXECUTION STEP DEVICE MONITOR window will open. The state of the active step’s device can be confirmed. 6) To change the displayed program, click on the PROGRAM BATCH MONITOR button. 7) The PROGRAM BATCH MONITOR EXECUTION STEP window will open. When the program to monitor is double-clicked on, the window for the selected SFC program will open.
9.10.3 Monitor trace graph The position command, position droop, motor speed, motor current, and speed command, etc., can be traced with the SW6RN-DOSCP’s digital oscilloscope. Each method differs as shown in the following table according to the communication connection method. The method using an RS-232C connection is practiced in this section.
(Continued from previous page) (c) (b) (a) (d) (e) (u) (l) (o) (n) (o) (n) No.
(Continued from previous page) No. (u) Name JOG dial Function Adjusts the monitor cursor position/waveform display position when the monitor cursor is moved or the waveform display is scrolled. The function may change depending on the combination of following pushbuttons pressed. Scrolls the screen every 6 grids SCROLL button ON horizontally. SCROLL VERTICAL Scrolls the designated channel every button OFF button ON grid vertically.
(Continued from previous page) 5) The COMMUNICATION SETTING dialog box will open, so check "RS-232C", select "1. Serial communication CPU connection" and click on the Detail setting button. 6) The DETAIL SETTING dialog box will open, so set "PC side I/F CPU setting" to 'QnCPU', and "Object CPU" to '#2 machine'. After setting, click on the OK button. Since the communication setting dialog box is resumed in this case, click on the OK button.
(Continued from previous page) 2) Click on 'Motor current/command voltage', 'Motor speed' and 'Position command', and then click on the Page1 button. 3) Click on 'Bit device 1'. 4) Click on 'X2' using the alphanumeric button arranged on the device window, and click on the OK button. 5) Click on the OK button.
(Continued from previous page) 6) Set the trace conditions. Click on the MENU button, and then the TRIGGER button. 7) Check "Bit OR-Trigger". Click on "Pattern" of CH 1 twice. ('1' (ON status) will appear.) 8) Set the sampling unit to 4.0msec. Click on and select the setting value '1' for "Sampling rate" on "STRAGE MEMORY". (When selected, the display color will change to yellow.) 9) Click on the '5' and then 'ENT' using the value input button.
(Continued from previous page) 10) Set the sampling size to 8,192 times. Set "Sampling size (point)" to '8192' in the same manner as steps 8) to 10), and the check "Filing Trigger". 11) Click on the OK button. 12) Click on the RUN button. The trace monitor will be executed. 13) The trigger waiting status will occur, causing "Sampling before trigger" to appear at the display area MAP. 14) Turn ON X2 of the practice machine.
(Continued from previous page) 15) When buffering is completed after establishment of the trigger, the Buffering data reading progress bar will appear. The waveform will appear when the buffering data is read. 16) The displayed graph can be enlarged or reduced and confirmed with the steps given on the next page.
[Enlargement/reduction of graph in horizontal direction] Adjust the time axis range. HORIZONTAL Enlargement/reduction [Movement of graph in horizontal direction] Allows the graph to be scrolled horizontally. Leftward movement → Rightward movement SCROLL [Enlargement/reduction of graph in vertical direction] Adjust the vertical axis range of selected graph. → Enlargement/ reduction VERTICAL Note: Enlarge/reduce only the graph for the designated data [Movement of graph in vertical direction] No.
9.11 Ending the operations 9.11.1 Ending the SW6RN-GSV22P operations 1) Click on [File], and then the [GSV22P End] menu on the TEST window. (The [File] menu and [GSV22P Exit] menu are located on the window of each function.) 2) If the setting data is not saved, the message to confirm overwriting of the data will appear. Click on the YES button. The message for system setting is shown on the left. 1) Click on [Project] and then the [GX Developer Exit] menu in GX Developer.
Chapter 10 Applied Practice with SV22 Real Mode 10.1 Details of practice Practice drawing triangles and circles as positioning paths on the X-Y table, and practice uniform speed control and speed control. Since SV13 is the same as real mode applied to the SV22, this practice is used in common.
10.2 Q172CPU practice machine system configuration Since the external signals (limit, DOC) are not used for this practice, the Q1272LX unit is omitted.
Practice machine operation panel The function selector switches are wired to X10 to X17. X0 X1 X2 X9 X0A Y0 Y1 Y2 Y9 Y0A X3 X4 X5 X0B X0C Y3 Y4 Y5 Y0B Y0C X6 X7 X8 X0D X0E Y6 Y7 Y8 Y0D X0 STANDBY POINT POSITIONING X1 X3 X4 X7 CAM DATA CHANGE REQUEST X10 to X17 DIGITAL switch 2 digit 0 0 X18 ............. JOG Operation X19 ............. Real selector switch X1A............. Virtual X1F.............
The digital indicators are wired to Y20 to Y2F. Y2F to Y20 Y33 Y32 Y31 Y30 The lamps are wired to Y30 to Y33. X23 X22 X21 X20 The toggle switch is wired to X20 to X23. X20.............Axis changeover X21 Toggle switch Open to X23 Y20............. to Y2F............. Y30............. to Y33.............
10.3 Practice SFC programs The sequence programs and SFC programs used for practice are listed below. Refer to the following explanations for details on each program. Start by sequence Normal execution program Start by SFC program • Sequence program • [JOG operation] SFC program No.10 • [Real mode main] SFC program No.0 • [Start/sudden stop] SFC program No. 40 Automatic start • [Waiting point positioning] • [Speed change] SFC program No. 60 SFC program No.
• Program started by SFC program (1) [Servo program execution] program No. 30 Started by No. 0 Servo program execution [Waiting point positioning] program No. 20 Start by No. 0 [Address indirect designation] program No. 100 Start No. 0 Address indirect designation Waiting point positioning [Current value change] program No. 50 Start by No.
• Program started by SFC program (2) [Servo program continuation] program No. 80 Started by No.
• Program started by sequence program [JOG operation] program No. 10 Started by sequence program JOG operation [Real mode main] program No. 0 Started by sequence program Real mode main Servo pro. Waiting position Address Servo pro.
• Normal execution program [Start/sudden stop] program No.40 Started automatically. Start/sudden stop [Speed change] program No. 60 Started automatically. Speed change [Actual current value read] program No. 70 Started automatically. Actual current value read Servo pro. [M code read] program No. 90 Started automatically. M code read [Error detection_Reset_EMG] program No. 110 Started automatically. Error detection_Reset_EMG [Push-button] program No. 120 Started automatically.
• Q02H sequence program M200 M201 0 (M84 SFC program start X18 X18 ) X19 [SP.SFCS H3E1 K10 M800 D800 ] Start of JOG mode SFC [SP.SFCS H3E1 K0 M801 D801 ] Start of real mode SFC [SP.
10.4 Writing to the motion CPU Write the servo setting data and SFC program to the Q172CPU. Read the existing program from the folder destination path C:\Q172, project name SFC. (1) Reading from existing program file 1) Click on the [Start], [Program], [SWnRNC-GSV], [SW6RNC-GSV], [SW6RN-GSV22P] and then [Program editing]. An existing program can be read even when another menu is selected. 2) Click on the Existing project setting button in the PROJECT CONTROL dialog box.
(Continued from previous page) 3) Check that the [Path] under "Folder destination" is set to 'C:\Q172', and that the [Project name] is 'SFC'. Then click on the OK button. 4) Click on the OK button in the PROJECT CONTROL dialog box. 5) Click on the File read button after the screen changes.
(Continued from previous page) 6) The FILE READ dialog box will open, so click on the YES button. 7) The EXECUTION COMPLETED dialog box will open, so click on the OK button.
(2) Writing to Q motion CPU 1) Set the Q motion to STOP. 2) Click on the [Communication] and then the [Communication setting] menu on the PROGRAM EDIT window. 3) The COMMUNICATION SETTING dialog box will open, so check "RS-232C", select "1. Serial communication CPU connection" and click on the Detail setting button. 4) The DETAIL SETTING dialog box will open, so set the "PC side I/F CPU" to 'QnCPU', and the "Object CPU" to '#2 machine'. After setting, click on the OK button.
(Continued from previous page) 7) The COMMUNICATION dialog box will open, so check "Servo setting data" and "SFC program", and click on the Write button. 8) Since the dialog box to confirm the motion CPU type and writing execution, click on the Yes button. 9) When the message "Completed normally." is displayed, click on the OK button. 10) Reset the Q-PLC CPU.
10.5 Program for operation This operation sequence/SFC program has been prepared for the SW6RN-GSV22P (for Q172). The explanatory drawing of the practice machine’s operation panel, is shown in section 9.2. For initial setting program and independent JOG operation start, refer to the section 9.9. 10.5.1 JOG operation The JOG operation can be executed with independent start or simultaneous start. For independent start, refer to section 9.9.2.
(3) Program example 1) JOG operation conditions Item Condition Axis used JOG operation speed 2) Axis 1 Axis 2 1500mm/min 1500mm/min SFC program example when axis 1 and axis 2 are started simultaneously JOG operation SFC program No. 10 All JOG operation is stopped when the JOG operation mode is not selected.
M2048 : Simultaneous JOG start command flag D710 to D713 : Simultaneous JOG operation start axis setting area PX2 : Forward JOG command for axis 1, axis 2 PX6 : Reverse JOG command for axis 1, axis 2 PX0 : Reverse JOG command for axis 1, forward JOG command for axis 2 PX8 : Forward JOG command for axis 1, reverse JOG command for axis 2 D641, D640 : JOG speed setting register for axis 1 D643, D642 : JOG speed setting register for axis 2 [Timing chart] Axis 1 Forward (X-axis) Reverse Forward Axis 2 (Y-axis)
10.5.2 Main routine SFC program (real mode operation) This a SFC program executed in the main routine when the real mode is selected. It is used to start other SFC programs (from this main routine SFC program) to execute various operations in the real mode. (1) SFC program started from main routine SFC program SFC program No. Program name Description section 20 Waiting point positioning 10.5.3 30 Servo program execution 10.5.3 50 Current value change 10.5.6 80 Servo program continuation 10.5.
10.5.3 Execution of servo program (motion control step) When the servo program is executed at the motion control step of the SFC program, the operation is executed according to the contents of the data and parameter block for executed servo program. Example 1 Example of SFC program used to execute the servo program No.10 (to execute the linear interpolation of axis 1 and axis 2) [Servo program] Real Program No.: Mode .............................. Axis linear interpolation command..............
Example 2 Example of SFC program used to execute the servo program No. (designated by two digits of digital switch (X10 to X17)) with indirect settings. When the servo program No. to be started is prepared as shown below Axis to control Servo program No. Axis 1 1, 12, 30, 31 Axis 2 2, 14 Axis 1, axis 2 0 and other than above [Real mode main] program The "Servo program execution" is started when the X1 switch is turned ON. Real mode main SFC program No. 0 Servo pro.
[Transition] [Operation control step] [Motion control step] G300 (D4000==K1) * !M2410 * ! M2001 G302 (D4000==K30) * !M2001 G304 !((D4000==K1)+(D4000==K12)+(D4000==K30) +(D4000==K31)) G306 (D4000==K14) * !M2002 G308 (D4000==K0)*!(M2410+M2430+M2001+M2002) G311 (D4000==K11)*!(M2001+M2002) G313 (D4000==K15)*!(M2001+M2002) G315 (D4000==K21)*!(M2001+M2002) G317 (D4000==K32)*!(M2001+M2002) G319 !((D4000==K10)+(D4000==K11)+(D4000==K13) +(D4000==K15)+(D4000==K20)+(D4000==K21) +(D4000==K25)+(D4000==K33)) F300 DIN
K32: REAL 1 VPF AXIS 1, VELOCITY 100000.0µm 5000.
10.5.4 Stopping It is possible to stop the operation either by "Deceleration stop" or "Sudden stop".
10.5.5 Error reset When an error occurs, the error detection signal (M2407/axis 1) is turned ON, causing the minor error code or major error code to be stored in the monitor data register. When a servo error occurs, on the other hand, the servo error detection signal (M2408/ axis 1) is turned ON, causing the servo error code to be stored in the monitor data register.
(3) Example of SFC program to reset axis 1/axis 2 error Error detection_Reset_EMG SFC program No. 110 When M2407, M2427, M2408 or M2428 and M33 are turned ON, the M292 is turned ON. (If the SFC program "Push-button" is used, the XC switch turns ON when M292 is turned ON.) [Error reset] When XC is turned ON, M3207, M3227, M3208 and M3228 are turned ON, causing the error detection signal and error storage register to be cleared. When M9076 is turned OFF, M295 is turned ON.
10.5.6 Current value change Change the position at which the axis designated by CHGA command (change address) of servo program is stopped to the set address. CAUTION Changing the current value during start may cause a minor error (code 300) to occur, causing it to be unable to be executed.
10.5.7 Speed change (CHGV) The motion dedicated function CHGV command (change velocity) is used to forcibly change the speed set during positioning control (excluding circular interpolation) and JOG operation. (1) CHGV speed change request command This item describes the number of the axis for which the speed is to be changed and the new speed. CHGV (K1, K30000) K [Speed after change] D0 to D8191 W0 to 1FFFF R0 to R8191 Axis No.
2) Speed change program example Speed change SFC program No. 60 Changed when the real mode is selected. If M2001 is turned ON and M2002 is turned OFF, the speed is changed to 2,000mm/min when X3 is turned ON. The speed is changed to 1,000mm/min when X4 is turned ON. The speed is changed to 300mm/min when X5 is turned ON.
10.5.8 Reading actual current value The monitor data includes D0 to D159 stored in the actual current value storage register (shown below). Consequently, a read program does not need to be created.
(2) Q02HCPU sequence program Normally Axis 1 ON SM400 X20 41 D6004 K4Y20 ] [DBCD D6006 K4Y20 ] value by BCD code Axis 2 X20 Axis 1 start accept flag M205 T3 Output of axis 2 current T0 (Y30 M206 (T0 Axis 2 start accept flag Output of axis 1 current value by BCD code [DBCD T0 ) K5 T1 (Y31 (T1 T1 ) ) K5 ) T2 (Y32 ) K5 (T2 ) (Y33 ) T2 (T3 10 - 31 K5 ) The lamps (Y30 to Y33) turn ON at a 0.5msec cycle when axis 1 and axis 2 are operating.
10.5.9 Continuous positioning To execute the servo program in the sequence of 11, 12, 13, 14, 20, 21 and 15, use the transition of 'WAIT' type after the motion control step (servo program) to shift to the succeeding motion control step (servo program) after completion of servo program under execution. When the servo program is interrupted during execution, re-execute the program continuously from the interrupted servo program.
[Transition] [Operation control step] [Motion control step] G800 PX19 G803 TIME K3000 G805 ((D12 == K12)*(D32 == K11 ))+ !M330 G808 PX19 G811 TIME K3000 G813 ((D12 == K13)*(D32 == K14 ))+ !M332 G816 PX19 G819 TIME K1 G821 ((D12 == K21)*(D32 == K21 ))+ !M334 G824 PX19 G827 TIME K1000 F800 SET M329 F802 SET M331 F804 SET M333 F806 SET M335 K11: REAL 1 ABS-2 AXIS 1, AXIS 2, COMPOSITE VELOCITY K13: REAL 1 ABS-2 AXIS 1, AXIS 2, COMPOSITE VELOCITY M CODE K15: REAL 1 ABS-2 AXIS 1, AXIS 2, COMPOSITE VELOCITY K2
10.5.10 M code function The M code No. ranges from 0 to 255, and is added to the servo program. When this servo program is executed, the M code is set in the M code monitor register. Since the M code is known when it is checked using the compare command in the sequence program, pre-determined work can be executed. (1) Example of servo program (with M code added) REAL AXIS VELOCITY M CODE Addition of M code "3" (2) Practice conditions • When the M code '3' is detected, the pen is lowered.
2) Substitute the M code read out to the other device to raise/lower the pen. Push-button SFC program No. 120 Make the status of X0 to XF correspond to M400 to M415. •• Add the device • 12 SET M411=XB+M291 to read M •• code. • Substitute M400 to MM415 for D4030. Transfer the status of D4030 to YD to YF.
10.5.11 Indirect setting of servo program address Indirect settings enable use of the even-number address of un-used data registers (D), link registers (W) and motion devices (#). In addition to the address, the speed, dwell, M code and parameter block can be set indirectly. (1) Practice conditions Set the positioning address for axis 1/axis 2 indirectly in servo program No.25 using the ABS-2 command. • Input the pre-determined position as a two-digit number using the digital switches (X10 to X17).
(3) SFC program Calculate the axis 1 and axis 2 addresses from the digital switch value, and store in the D4006, D4007, D4008 and D4009. Execute the servo program No.25 using the calculated addresses. [Real mode main] program Real mode main The "Address indirect designation" is started when X7 is turned ON and M2001 and M2002 are turned OFF. SFC program No. 0 Indirect address designation SFC program No. 100 The digital switches (X10 to X17) are stored in D0.
10.6 Operating the practice machine 10.6.1 Operation The servomotor movement is monitored with the servo monitor using the SW6RNGSV22P. 1) Click on the monitor tool button on the TEST window. 2) The MONITOR window will open and the enlarged current value monitor will appear.
(Continued from previous page) [Execute JOG operation] The axis will move with JOG operation while the switch is ON. X0 X1 X2 X3 Items to check when axis does not move: • Is the servo ON? • Is the Q-PLC/Q motion CPU set to RUN? • Is the personal computer in the test mode. (Cancel the mode if in the test mode.) X5 X6 X7 X8 [Execute zero point return] Set the mode selector switch to [REAL] X19.
(Continued from previous page) [Positioning to waiting point] Set the mode selector switch to [REAL] X19. • When X0 is pressed, the axes are positioned to the waiting point (X-axis address '0', Y-axis address '0'). [Real mode main] program (SFC program No. 0) Real mode main The SFC program [Positioning of waiting point] is started when X0 is turned ON. Positioning to waiting point [Waiting point positioning] program (SFC program No.
(Continued from previous page) [Items to confirm during operation] (1) Pen UP/DOWN Axis 1 and axis 2 are • When X0B is turned ON, the pen DOWN display lamp turns ON (Y0B: ON). stopped suddenly [Push-button] program (SFC program No.120) when X0E is turned Push-button ON. M411 is turned ON. when XB is turned ON. Axis 1 and axis 2 are stopped when X0D is turned ON. Substitute the status of M400 to M415 in D4030. Output the contents of D4030 to Y0 to YF.
(Continued from previous page) (3) Error reset • When X0C is turned ON, the occurring error can be reset. [Error detection_Reset_EMG] program (SFC program No.110) Error detection_Reset_EMG When XC is turned ON, the axis 1 error is reset. When XC is turned ON, the axis 2 error is reset. When XC is turned ON, the axis 1 servo error is reset. When XC is turned ON, the axis 2 servo error is reset.
(Continued from previous page) [Starting continuous positioning] • Positioning will be carried out with the following path when X2 turns ON. • The M code is detected to raise/lower the pen. (Y2B lamp: Flickering) The circle number indicates the servo program No.
(Continued from previous page) [Indirect setting of positioning address] X7 • If is pressed with the digital switch set to 7 5 , the address of ' 75 ' is stored in the D4006, D4007, D4008 and D4009 for positioning when the servo program No.25 is executed. The positioning control is executed in succession to the position in which the address is changed to '(76), ...' and then to the 'END' position.
(Continued from previous page) [Speed control] Set the mode selector switch to [REAL] X19. • For speed control, the actual current value will be set to zero when starting, and the current value will not increase/decrease during operation. X1 • Turn ON with the digital switch set to 3 0 . Forward run will start. Turn ON X0D • Turn ON Turn ON X1 X0D (stop) or the X0E (sudden stop) to stop the operation. with the digital switch set to 3 (stop) or the • When the speed change X3 X0E , 1 .
Memo 10 - 46
Chapter 11 Practicing with the SV22 Virtual Mode 11.1 Mechanism program The mechanism program used for control in the virtual mode is configured of the mechanism module connection diagram and mechanism module parameters. 11.1.1 Mechanism module connection diagram This is the virtual mechanism system diagram created by arranging virtual mechanism modules on the screen. (The following diagram is for the Q172.) Max.
11.1.2 List of mechanism modules The number of mechanism modules that can be used in the mechanism module connection diagram for the virtual mode is shown below. (The quantity for the Q172 is shown.
11.1.3 Virtual servomotor The virtual servomotor is used to operate the virtual axis with the servo program or JOG operation. No. Parameter setting item Default value Setting range 1 to 8 –231 to 231 –1 pulse 1 Virtual axis No.
11.1.7 Clutch The smoothing clutch and direct clutch can be used. The control includes the ON/OFF mode (X, Y, M, L, B, F), address mode (D, W) and external input mode (TREN tracking enable signal of Q172EX serial ABS synchronous encoder input unit). The address mode is always used together with the ON/OFF mode. In addition, the address clutch reference setting (M3213/Axis 1) must be turned and the reference must be set. No.
11.1.8 Transmission To lower the roller output speed, the transmission conveys, to the output shaft, the speed obtained by multiplying the input axis speed with the transmission ratio set in the speed ratio setting device. (The gears are used to increase the speed.) No.
11.1.11 Ball screw The ball screw outputs the movement amount obtained by multiplying the drive module's movement amount with the conveyance module's gear ratio. This is used when the final output is linear positioning. No. Parameter setting item 1 Output axis No. 2 Unit setting 3 Ball screw pitch (P) 4 No. of pulses per ball screw rotation (NP) Default value Setting range 0 1 to 8 mm mm inch 0 0.1 to 214748364.7 0.00001 to 21474.
11.1.13 Cam The cam carries out cam output based on the cam stroke and cam curve data created with SW3RN-CAMP, and outputs the movement amount obtained by multiplying the drive module movement amount with the conveyance module's gear ratio. This is used when the final output is reciprocating cam control or feed cam control. No. 1 2 3 4 Parameter setting item Output axis No. No. of pulses per cam axis rotation (Nc) Applicable cam No. Cam No.
[Cam data created with SW3RN-CAMP] The cam data is stored in the cam data dedicated internal memory in the motion CPU. No. Parameter setting item 1 Cam No. 2 Resolution (3.5ms) Default value Stroke amount, cam No.
11.2 Details of practice The X axis (axis 1) and Y axis (axis 2) are synchronously operated using the mechanical support language. The X axis (axis 1) carries out left/right reciprocation with the ball screw, and the Y axis (axis 2) carries out forward/backward reciprocation with the cam output. 250 200 150 Cam stroke 40000.0µm 100 Cam 1-rev. (50000.
Ideology for moving along path • The X axis (axis 1) ball screw is set to 5mm/rotation (131072 pulse/rotation), so the axis 1 output module is set as the "ball screw", and the No. of pulses per rotation is set to 131072 pulse with the ball screw parameter. • The Y axis (axis 2) ball screw is also set to 5mm/rotation (131072 pulse/rotation), so to establish a 50mm/rotation movement amount rotary cam in the X axis direction, the No.
11.3 Starting up SW3RN-CAMP and creating the cam 1) Click on [Start], [Program], [SWnRNC-GSV], [SW3RN-CAMP] and then [Cam data creation]. 2) The CAM DATA CREATION window will open, so click on [File], and then the [New creation] menu. 3) The dialog box to confirm the new creation will open, so click on the OK button. 4) Click on the initial setting tool button. 5) The INITIAL SETTING dialog box will open, so set as follows.
(Continued from previous page) 6) Click on the Stroke setting tool button. 7) Set in the STROKE SETTING dialog box as shown in the following table. Area No. 1 Start angle End angle 0.0 Stroke 80.0 30.00 2 180.0 100.00 3 0.0 0.00 Stroke setting range "Minimum value": 0.00, "Maximum value": 100.00 Click on the Stroke setting completed button. 8) Click on the OK button. 9) Set the "Cam curve list" to 'Harmonic' in the CAM CURVE SELECTION dialog box. (The cam curve for area No.1 is selected.
(Continued from previous page) 11) Click on the OK button. 12) To see the [Stroke ratio], [Speed], [Acceleration] and [Saltarion] shown in the table for the operation angle, click on the graph display tool button. After confirmation, click on the Cancel button. 13) To see the [Stroke ratio], [Speed], [Acceleration] and [Saltarion] for the operation angle as a value, click on the graph display tool button.
(Continued from previous page) After confirmation, click on the Cancel button. The table is arranged from No.0 to No.255, and can be displayed by scrolling. 14) To save the set cam data, click on [File] and then the Save as] menu in the CAM DATA CREATION window. 15) Set the "Machine name" to 'Q172', and the "Cam No." to '1' in the SAVE AS dialog box, and then click on the Write button.
(Continued from previous page) 16) Create the cam data for cam No.2 with the same procedure as for cam No.1. For cam No.2, change the "Cam curve selection" of cam No.1, to 'Uniform speed'. (The other items are the same as cam No.1.) Select [Edit] and then [Cam curve selection], and set the full-stroke to 'Uniform speed'. 17) When saving the data with 'Save as', set the "Cam No." to '2'. 18) Set the cam No.3 with the same procedure. Set the "Stroke setting" as shown below. Area No.
11.4 SFC program for virtual mode The following lists the SFC programs in the virtual mode. No.
• Normal execution program [Virtual mode JOG operation] program No.140 Started automatically. [Virtual stop/sudden stop] program No.170 Started automatically. Virtual stop/sudden stop Virtual mode JOG operation Virtual servo [Virtual error detection] program No. 180 Started automatically. Virtual error detection [Cam change] program No. 190 Started automatically. Cam change 11 - 17 [Clutch ON/OFF] program No. 200 Started automatically.
11.4.1 New creation of SFC program for virtual mode 1) Click on [Start], [Program], [SWnRNC-GSV], [SW6RNC-GSV], [SW6RN-GSV22P] and then the [Program edit]. 2) The PROJECT CONTROL dialog box will open, so click on the EXISTING PROJECT SETTING button. 3) Check that the "Path" is set to 'C:\Q172', and that the "Project name" is the same as the project name set in the real mode. Then, click on the OK button.
(Continued from previous page) 4) Check that the folder for setting the user file is the project folder set in the real mode, and click on the OK button. 5) Click on the FILE READ button. 6) Click on the YES button.
(Continued from previous page) 7) Click on the OK button in the EXECUTION COMPLETED dialog box. 8) Click on the New creation button. 9) The NEW CREATION dialog box will open, so input the '130' for the SFC program No. and 'Virtual mode main' for the "SFC program name" before starting. After input, click on the OK button.
(Continued from previous page) 4) The set SFC programs will be listed. Click on the New creation button again to create the SFC programs as shown below. No. (The specific procedures for creating the SFC program are not described in this section. Refer to the section "SFC program for operation" and create the program later.
11.4.2 Inputting the motion control steps for the virtual mode Set the motion control steps for the virtual mode. Virtual servo program 1) Create the SFC program for the virtual servo program. Click on the SFC program control tool button on the PROGRAM EDIT screen. 2) Select "150 virtual servo program" from SFC program list in the SFC PROGRAM CONTROL dialog box, and click on the OK button. 3) Create an SFC program to change the current value as shown on the left.
(Continued from previous page) 5) Click on the Cancel button in the COMMAND SELECTION dialog box. 6) Click on the Mode assignment setting button in the SERVO PROGRAM EDIT dialog box. 7) Set the "Virtual mode program" between '40' and '49', and the "Virtual mode assignment" to 'Yes' in the MODE ASSIGNMENT SETTING dialog box, and click on the OK button. 8) Click on the Command selection button in the SERVO PROGRAM EDIT dialog box.
(Continued from previous page) 10) Input '1' and '0' in the "Axis: " text box, and '640000' in the "Speed" text box. 11) Click on the Store button. 12) Click on the Program No. setting button in the SERVO PROGRAM EDIT dialog box. 13) Set '41' for the "Program No." in the PROGRAM NO. SETTING dialog box, and click on the OK button. VIRTUAL AXIS VELOCITY 14) Edit the program No.41 as shown on the left, and click on the Store button. After editing, close the PROGRAM EDIT dialog box.
(Continued from previous page) 15) Set the transition program shown below. Virtual servo program [G1500] [G1501] [G1502] PX0*!M2001 PX1*!M2001 !(M2001*M2002) 16) To save the edited servo program, click on [File] and then the [Save] menu. This completes editing of the servo programs No. 40 and No. 41 for the virtual mode.
11.5 Editing the mechanism The drive module, conveyance module and output modules for the virtual mode are set on the screen with the mouse. 1) 2) Click on the mechanism editing tool button in the PROGRAM EDIT window. After the MECHANISM EDIT window opens, close the PROGRAM EDIT window. Edit the mechanism as shown below. A When the smoothing clutch is selected with the parameter, the clutch will change to the following figure.
(Continued from previous page) 3) Double-click on the module A (virtual servomotor), and set the parameters as shown below. After setting, click on the OK button. 4) Double-click on the module B (gear) and set the parameters as shown below. After setting, click on the OK button. 5) Double-click on the module C (gear) and set the parameters as shown below. After setting, click on the OK button.
(Continued from previous page) 6) Double-click on the module D (clutch) and set the parameter as shown below. After setting, click on the OK button. 7) Double-click on the module E (ball screw) and set the parameters as shown below. After setting, click on the OK button.
(Continued from previous page) 8) Double-click on the module F (cam) and set the parameter as shown below. After setting, click on the OK button. 9) To convert and save the mechanism, click on [File] and then the [Conversion/save] menu. 10) To designate the cam data, set the machine name 'Q172' set when the cam data was created, and then click on the OK button. 11) When the message "Completed normally." appears, click on the OK button.
11.6 Writing to the motion CPU Write the following data to the motion CPU: • Servo programs • Mechanism programs • Cam data 7) 1) 2) Stop the Q motion CPU. Click on [Communication] and then the [Transfer] menu in the MECHANISM EDIT window. 3) Click and select the 'Servo program', 'Mechanism program' and then the 'Cam data' under "Transfer data" in the COMMUNICATION dialog box. After selecting the data to transfer, click on the Write button.
11.7 Reading of sequence program from Q-PLC CPU (When the sequence program has been read from FD during "Practice with real mode" in Chapter 9, it is not necessary to execute this operation.) In this practice, do not create the sequence program, but read it from the Q-PLC CPU, and monitor the circuit during practice operation. 1) Click on [Start], [Program], [MELSOFT application] and then the [GX Developer], to start the GX Developer. 2) Click on [Project] and then the [Project new creation] menu.
(Continued from previous page) 5) The PC READ dialog box will open, so click on the Parameter + Program button to select the data to be read. After selecting, click on the Execute button. 6) When the message "Completed." appears, click on the OK button. 7) Click on the Close button to close the PC READ dialog box. This completes reading of the sequence program from the Q-PLC CPU. Click on [On-line], [Monitor] and then the [Monitor mode] menu to execute the circuit monitor.
11.8 SFC program for practice [Virtual mode main] program No. 130 Virtual mode main Setting of axis 2 cam reference position (lower dead point) (M3234) SFC program No. 130 One digit from digital switch is stored in D5030 (cam No.), and the cam stroke (40mm) in D5032. The virtual mode changeover request is reset unless the virtual mode is selected. Start of virtual mode Virtual mode changeover request M3234 is reset when the M2044 is turned ON.
[Virtual mode JOG operation] program No.140 Virtual mode JOG operation SFC program No. 140 The JOG operation is started when the X3 and X5 are turned ON in virtual mode. All JOG operation is stopped when the JOG operation is not executed. The forward JOG is started when X5 is turned ON while the virtual axis 1 is not in reverse run. The forward/reverse JOG operation corresponding to each switch is stopped when X3 and X5 are turned OFF.
[Virtual servo program] program No. 150 [Virtual mode main] program Virtual mode main The "Virtual servo program" is started when X0 or X1 is turned ON. SFC program No. 130 Virtual servo program Virtual servo SFC program No. 150 The servo program No.40 is started when the X0 is turned ON and M2001 is turned OFF. The servo program No.41 is started when X1 is turned ON and M2001 is turned OFF. Shift to END when M2001 is turned OFF after completion of motion control step.
[Virtual stop/sudden stop] program No. 170 Virtual stop/sudden stop SCF program No. 170 M2044=ON [Sudden stop] When the XE switch is turned ON, M4801 is turned ON to stop the virtual axis 1 suddenly. [Stop] When the XD switch is turned ON, M4800 is turned ON, causing the virtual axis 1 to be decelerated to a stop. When XD and XE are turned ON, the execution of SFC program "Virtual servo program" is interrupted to end the operation.
[Virtual error detection] program No. 180 Virtual error detection SFC program No. 180 M2044=ON When M4007 and M33 are turned ON, M136 is turned ON. (When the SFC program "Push-button" is pressed, M316 is turned ON, causing the switch to turn on.) [Transition] [Operation control step] G1800 M2044 F1800 SET M316 G1801 M4007*M33 F1401 RST M316 M33 : 2-second clock M316 : Error detection signal M4007 : Virtual servo error detection [Cam change] program No.
[Clutch ON/OFF] program No. 200 SFC program No. 200 Clutch ON/OFF M320 is turned ON when X8 is turned OFF. M2160 is turned ON when M322 is turned ON. (When the SFC program "Push-button" is pressed, M322 is turned ON, causing X8 switch to turn ON.
11.9 Practice machine operations Monitor the operation with the X-Y table movement and a personal computer. 1) Click on the monitor tool button in the MECHANISM EDIT window. 2) The CURRENT VALUE ENLARGED MONITOR will open in the MONITOR window. Start the Q-PLC CPU and Q motion CPU. [Execution of zero point return] • Set the mode selector switch to [REAL] X19. • Set the digital switches X10 to X17 to • When the 0 0 . switch is pressed, axis 1 and axis 2 will return to the zero point.
(Continued from previous page) [Changing to virtual mode] Set the mode selector switch from [REAL] (X19 ON) to [VIRTUAL] (X1A ON). The virtual mode is entered if the If the X0A X0A lamp is on. lamp does not turn on, and the X0C error lamp flickers, check the details of the error, and correct the settings. Confirming the error [Error list] → [Error list] menu ↓ [Virtual drive servomotor axis 1 current value monitor] Enlarge the current value monitor in the MONITOR window.
(Continued from previous page) [Mechanism monitor] Close the virtual servomotor's DETAILS MONITOR dialog box. Double-click on the cam position to display the CAM DETAILS MONITOR dialog box. X1 Move to the right X0 Move to the left • '1' is displayed for "Execution cam No.". [Setting of cam No. to '2'] • Set the digital switches X10 to X17 to 0 2 . • Press X6 cam data change request. • '2' will appear at "Execution Cam No." [Start in the virtual mode (cam No.
(Continued from previous page) [Clutch operation] Press X8 clutch OFF while operating in the virtual mode. The mechanism monitor clutch will open, and movement in the X axis direction will stop. Caution • If the clutch is turned OFF, the X axis movement will stop. When the clutch is turned ON, the X axis direction position will change by the amount that the axis did not move. [Items to confirm] • Is the cam changed to No. 1, No. 2 or No.
[END operation] 1) Click on [File] and then the [GSV22P END] menu in the MECHANISM EDIT window. 2) If the edited data is not saved, a dialog to confirm the overwriting of the data will appear. Click on the YES button. This completes the operation.
11.10 Exercise (Roller setting) Change the cam to the following roller and move it. Conditions: It is assumed that a reduction gear is installed externally to increase the torque. Servomotor 1 10 Reduction gear Roller (constant speed control) ROLLER PARAMETERS The feedback pulse is set to 10-fold, so the roller will actually rotate once with 10 servomotor rotations. Click on the [OK] button in the above setting. Select [File], [Conversion/Save as] menu to save the setting contents.
Appendix Appendix 1 Examples of programs for SV22 virtual mode Program example 1................................... Program example 2................................... Program example 3................................... Program example 4...................................
Program example 1 (1) Synchronously operate axis 1, axis 2, axis 3, axis 4, axis 5, axis 6, axis 7 and axis 8 with virtual servomotor Axis 1 . (2) Wire synchronous encoder to P2, and make auxiliary input to axis 6.
Mechanism connection diagram Axis 1 Axis 2 Axis 3 Axis 5 Axis 1 Axis 7 Axis 4 Axis 8 Synchronous encoder NO.2 (P2) Axis 6 1 Servo program VIRTUAL Speed control forward run The drive module's virtual servomotor axis 1 will move in the forward run direction. AXIS SPEED VIRTUAL Speed control reverse run The drive module's virtual servomotor axis 1 will move in the reverse run direction.
Program example 2 Control details (1) Synchronously operate axis 1, axis 2, and axis 3 with virtual servomotor Axis 1 . (2) Wire synchronous encoder to P1, and make auxiliary input to axis 4.
Servo program VIRTUAL Speed control forward run The drive module's virtual servomotor axis 1 will move in the forward run direction. AXIS SPEED VIRTUAL Speed control reverse run The drive module's virtual servomotor axis 1 will move in the reverse run direction.
Program example 3 Control details (1) Synchronously operate axis 1, axis 2, and axis 3 with virtual servomotor Axis 1 . (2) Synchronously operate axis 4 and axis 5 with virtual servomotor Axis 2 . (3) Carry out 3-axis linear interpolation or 2-axis circular interpolation of axis 6, axis 7 and axis 8 with virtual servomotors Axis 3 , Axis 4 and Axis 5 .
Servo program VIRTUAL Speed control forward run The drive module's virtual servomotor axis 1 will move in the forward run direction. AXIS SPEED VIRTUAL Speed control reverse run The drive module's virtual servomotor axis 1 will move in the reverse run direction. AXIS SPEED VIRTUAL Absolute 1-axis linear control The drive module's virtual servomotor axis 2 rotates to address "0".
Program example 4 Control details (1) Synchronously operate axis 1 and axis 2 with virtual servomotor Axis1 . (2) Carry out 3-axis linear interpolation of axis 3, axis 4 and axis 5 with virtual servomotors Axis 3 , Axis 4 and Axis 5 . (3) Carry out 2-axis circular interpolation of axis 6 and axis 7 with virtual servomotors Axis 6 and Axis 7 .
Servo program VIRTUAL Speed control forward run The drive module's virtual servomotor axis 1 will move in the forward run direction. AXIS SPEED VIRTUAL Speed control reverse run The drive module's virtual servomotor axis 1 will move in the reverse run direction. AXIS SPEED VIRTUAL Absolute 3-axis linear interpolation control The drive module's virtual servomotor axis 3, axis 4 and axis 5 rotate to the designated address. AXIS AXIS AXIS SYN.
Appendix 2 Sample motion SFC The sample program stops all motion control upon reception of emergency stop input, and re-starts motion control when reset. This sample program also monitors the dedicated positioning devices on the PLC side. (1) Sample program functions This sample program is provided with the following functions. No.
(2) Q173CPU(N) system setting CPU unit: Q173(N) Main base SSCNET1 MR-J2S-10B Without regenerative option Automatic setting None Dynamic brake Tolerable movement amount 10 (turns) during power OFF 1-axis (INC) Regenerative option d1 MR-J2S-10B Without regenerative option Automatic setting None 10 (turns) 2-axis (INC) d2 Without regenerative option Without regenerative option Without regenerative option Without regenerative option Without regenerative option Without regenerative option None 0 (tu
• Automatic refresh setting 3 Transmission range of each CPU CPU shared memory G Number of points Head End CPU CPU side device Head device W100 Head End No. 1 machine No. 2 machine No. 3 machine No. 4 machine Use for applications other than positioning device for monitor. • Automatic refresh setting 4 Transmission range of each CPU CPU shared memory G Number of points Head End CPU CPU side device Head device W100 Head End No. 1 machine No. 2 machine No. 3 machine No.
(4) SFC program list No. 0 20 110 120 130 140 150 AutoSetting of number END Contents of processing matic of continuous operation start shifts Positioning Normal Yes – 3 (1) Started automatically, and executed at all times when device the Q173CPU(N) is running. (2) Transfers the dedicated positioning device (bit data) for monitor to W0 and following. (3) Transfers the dedicated positioning device (word data) for monitor to W100 and following.
(5) Motion SFC program detail Positioning device P0 [F0] //Status M2400 to M3039 (40 words) of each axis //M2400 and after (No.
Main [F20] SET M9028 // Clock data read request ON P0 [G20] M9076 // Emergency stop reset? Motion control [G21] !M9076 // Emergency stop? CLR Motion control [F25] DOUT PY10, H0000 // PY10 to PY1F (16 points): OFF The "No.110: Motion control" subroutine is started when the emergency stop is reset. (Since the next step is shifted, the subroutine is started, and the next step is executed as soon as the subroutine is executed.) The "No.
Motion control [F110] SET M2042 // All-axis servo ON command: ON P0 [G105] M2415*M2435 //Is 1-axis/2-axis servo ON? IFB1 [G110] !PX2*!PX1 [G111] !PX2*PX1 [G112] PX2*!PX1 [G113] PX2*PX1 JOG Manual pulse generator Zero point return Program operation IFE1 [G115] // Waiting for completion of subroutine call NOP P0 The subroutine of following program is called depending on the status of PX1 and PX2.
JOG [F120] //1-axis JOG operation speed = 100000PLS/sec D640L = K100000 //2-axis JOG operation speed = 100000PLS/sec D642L = K100000 [G120] //1-axis forward JOG command SET/RST SET M3202 = PX3 * !M3203 RST M3202 = !PX3 //1-axis reverse JOG command SET/RST SET M3203 = PX4 * !M3202 RST M3203 = !PX4 //2-axis forward JOG command SET/RST SET M3222 = PX5 * !M3223 RST M3222 = !PX5 //2-axis reverse JOG command SET/RST SET M3223 = PX6 * !M3222 RST M3223 = !PX6 // Performed repeatedly to the end of JOG mode.
Manual pulse generator [F130] D720 = 100 //1-axis 1-pulse input magnification setting D721 = 100 //2-axis 1-pulse input magnification setting D714L = H00000001 // Control of 1-axis by P1 D716L = H00000002 // Control of 1-axis by P2 SET M2051 // P1 manual pulse generator permit flag ON SET M2052 // P2 manual pulse generator permit flag ON Set as follows to execute the manual pulse generator operation of 1-axis using manual pulse generator P1, and that of 2-axis using manual pulse generator P2.
Zero point return P0 IFB1 [G140] //(PX3*!1-axis zero point return completed //*1-axis in-position signal //*!1-axis start accepted)? PX3*!M2410*M2402*!M2001 [G141] //(PX4*!2-axis zero point return completed //*2-axis in-position signal //*!2-axis start accepted)? PX4*!M2430*M2422*!M2002 [K140: REAL] 1 ZERO AXIS 1 [K141: REAL] 1 ZERO AXIS 2 [G142] // Zero point return mode finished? !(PX2*!PX1) END IFE1 P0 The 1-axis is returned to zero point when PX3 is turned ON, and the 2axis is returned to zero
Program operation P0 IFB1 [G151] //Is P4 ON? PX4 [G150] //**** Detection of PX3 OFF → ON *** //M0 is turned ON when PX3 is turned ON //and M1 (PX3 at last status) //is turned OFF. RST M0 SET M0 = PX3 * !M1 //The last status of PX3 is stored in M1. RST M1 SET M1 = PX3 //Shifted to the succeeding step when M0 //is turned ON (PX3 OFF ON is //detected). M0 [G152] //Program operation mode finished? !(PX2*PX1) Detected at rising edge of bit device (PX3).
Appendix 3 Operating the Windows personal computer Appendix 3.1 Backing up an FD Back up your school textbook. 1) Insert a formatted FD in the FD drive, and click on [Start], [Program] and then [Explorer] to start up Explorer. 2) Select the project folder created with Explorer. 3) Click on [Edit] and then the [Copy] menu in Explorer. 4) Select drive A (3.5-inch FD) with Explorer.
(Continued from previous page) 5) Click on [Edit] and then the [Paste] menu. 6) Copying of the data is completed when the project folder is saved in drive A (3.5-inch FD). (SW6RN-GSV22P cannot directly recognize a folder in the FD. Read the file after designating the project.
Appendix 3.2 Installing SW6RN-GSV22P (1) The SW6RNC-GSV general start-up support software includes the following, each of which is installed as required. Install SW3RN-SNETP. The other software packages may be installed thereafter in any sequence.
(3) The SW6RN-GSV22P installation procedures are described below. The other software packages may differ in part, however, the installation procedures are the same. Refer to SW6RNC-GSV/GSVHELP Installation Manual for details. 1) Turn the personal computer ON, start up Windows, and insert the CD-ROM disk in the CD-ROM drive. 2) Click on [Start], [Setting] and then [Control Panel] in the task bar. 3) Double-click on the Control Panel's "Add/Remove Programs" icon.
(Continued from previous page) 5) The INSTALL FROM FLOPPY DISK OR CD-ROM dialog box will open. Click on the Next button. 6) The EXECUTE INSTALLATION PROGRAM dialog box will open, so click on th Reference button. 7) The FILE REFERENCE dialog box will open. Designate the drive and folder in the following sequence. "CD-ROM drive" → "SW6RN-GSV22P" → "00h" → "disk1" Select the 'Set-up' file in the "disk1" folder, and click on the Open button.
(Continued from previous page) 9) A screen showing the cautions and warnings will open. Click the Next button. 10) Input your "Name" and "Company name", and click on the Next button. 11) The SELECT INSTALLATION DESTINATION dialog box will open The default is 'C:\Program files\'. If the installation destination does not need to be changed, click on the Next button to skip to step 13). If the installation destination must be changed, click on the Reference button to advance to step 12).
(Continued from previous page) 13) Input the program folder name to be registered in the Start menu. The default is 'SWnRNC-GSV'. If the program folder name does not need to be changed, click on the Next button. If the program folder name must be changed, select the program folder name from "Existing folder", or input the folder name to be newly created in "Program folder", and click on the Next button. Installation will start.
Appendix 4 Comparison between A173UHCPU/A172SHCPUN The following shows the comparison between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN.
Items Device memory Data exchange between PCPU and SCPU Number of pulses per rotation Movement amount per rotation Unit magnification Fixed parameter Others PLC READY flag (X2000) Emergency stop input Back-up battery for internal memory Outside dimension [mm] Q173CPU(N) Q172CPU(N) Independent Data exchange method using automatic refresh between multi-CPU 1 to 2147483647 [pls] Unit setting PLS: 1 to 2147483647 [pls] – M2000 is set to RUN when the switch changes from STOP to RUN, or M2000 is turned ON
Appendix 5 Sequence command dedicated to motion This appendix describes the details of the SVST command, CHGA current value change command, CHGV speed change command and CHGT torque change command. Appendix 5.1 SVST servo program start request command This command is used to request starting of the designated servo program for start. [Command symbol] [Execution condition] Command SP.SVST (n1) (S1) (S2) (D1) (D2) SP.SVST Command S.SVST (n1) (S1) (S2) (D1) (D2 S.
(2) Execution timing Starting of the designated servo program is requested at the rising edge of the SVST command (OFF → ON).
Appendix 5.2 CHGA current value change command This command is used to change the current value of a stopped axis. [Comman symbol] [Execution condition] Command SP.CHGA (n1) (S1) (S2) (D1) (D2) S.CHGA (S1) (S2) (D1) (D2) SP.CHG Command (n1) S.
(2) Execution timing The current value is changed for a designated axis at the rising edge (OFF → ON) of the CHGA command.
Appendix 5.3 CHGV speed change command The CHGV speed change command is used to change the speed during positioning and JOG operation. [Comman symbol] [Execution condition] Command SP.CHGV (n1) (S1) (S2) (D1) (D2) S.CHGV (n1) (S1) (S2) (D1) (D2) SP.CHG Command S.
(2) Execution timing The speed is changed for the designated axis at the rising edge (OFF → ON) of the CHGV command.
Appendix 5.4 CHGT torque limit value change request command This command is used to change the torque limit value regardless of whether the operation is executing or stopping in the real mode. [Comman symbol] [Execution condition] Command SP.CHGT (n1) (S1) (S2) (D1) (D2) S.CHGT (n1) (S1) (S2) (D1) (D2) SP.CHG Command S.
(2) Execution timing The torque limit value is changed for the designated axis at the rising edge (OFF → ON) of the CHGT command.
Appendix 6 Explanation of terms A ACCELERATION ABSOLUTE SYSTEM Refers to the cam's dimensionless acceleration rate. The dimensionless acceleration rate is the dimensionless speed differentiated by the dimensionless time. The maximum value is expressed as Am. Refer to the term "Am". Refer to the term "V". This is one system for expressing a positioning address. This system uses 0 as a reference, and expresses the address as the distance from 0.
AUTO TUNING (Automatic Tuning) ACTUAL CURRENT VALUE Properties such as responsiveness and stability of machines driven with a servomotor are affected by changes in the inertia moment and rigidity due to changes in the machine load, etc. This function automatically adjusts the speed loop gain and position loop gain to match the machine state, so the machine's performance can be maintained at its optimum state. Number of pulses for real servo movement, calculated from the feedback pulses.
BALL SCREW CAMP This is a type of screw, with balls lined up in the threads like ball bearings. This is used for positioning as the backlash is small, and rotation is possible with little force. Refer to the term "FEED SCREW". Refers to the software package (SW3RNCAMP) used to create the cams for the virtual mode's cam output. CHANGE signal The CHANGE signal is an external signal used to change the speed/position control from the speed control being executed to position control.
CONSTANT SPEED CONTROL (Uniform speed control) CP CONTROL (Continuous Path Control) Continuous path is a control method in which a path is followed without interrupting such as in uniform speed control. With one start command, the positioning control to the preset pass point with linear or circular movement, and carries out positioning to the end positioning to the end point at a set speed. The same control of the pass points can be repeated by using the FOR/NEXT command.
CURSOR DEVIATION COUNTER This is the point on the display screen of a peripheral device, CRT, etc., which shows the operator where the next character will appear. Counter built into the drive unit for positioning. The feedback pulses are subtracted from the motion controller's command pulses, and the deviation value (droop pulses) of the commanded pulse sand feedback pulses are sent to the D/A converter to operate the motor.
DIRECT CLUTCH DROOP PULSE One of the mechanism programs for the virtual mode. This is the conveyance module clutch, and is a clutch with zero setting time for which the smoothing time constant is not set. Refer to the term "SMOOTHING CLUTCH". Because of inertia (GD2) in the machine, it will lag behind and not be able to track if the positioning module speed commands are issued in their normal state.
EIA EMERGENCY STOP Refers to the EIA codes (EIA Standards) punched into the paper punch paper to instruct machining to the NC unit. In addition to NC language, ISO Codes (ISO Standards) and JIS Codes (JIS Standards) can be used. Emergency stop or a program to safety stop is placed in the PLC program. In addition, a circuit must be provided outside the PLC to ensure that the system stops.
EXTERNAL REGENERATIVE BRAKE RESISTOR ENCODER This refers to an encoding device, such as a pulse generator, that inputs the position information into the control unit. Main signal slit This is also called the regenerative brake. When a machine is moved with a motor, power is normally supplied to the motor from an amplifier. However, the rotation energy in the motor and machine counterflows (regenerates) to the amplifier when the motor is decelerating or when driving a descending load.
FEED PULSE FORMATTING Pulses issued to the servo unit or stepping motor from a command device such as a positioning unit. Also called the command pulse. Refers to initializing the HD or FD disk. Operation to write the personal computer rules and directly, etc., into the disk. The disk memory size will decrease according to the format. The disk is for general-purpose use, so it must be formatted according to the personal computer. Formatting only needs to be carried out once.
G CODE INCREMENTAL ENCODER 2-digit (00 to 99) coded to designate the NC unit axis control function. Also called the G function. Example: G01 Linear interpolation G02 Circular interpolation CW (clockwise) G04 Dwell G28 Zero point return G50 Maximum spindle rotation speed setting A device that simply outputs ON/OFF pulses by the rotation of the axis. 1-phase types output only A pulses, and do not indicate the axis rotation direction.
IN POSITION LINEAR INTERPOLATION Signal that relies on the positioning data's servo parameters. The droop pulse amount in the deviation counter (difference of position feedback from position command value and servomotor) is detected, and if the result matches the setting value, this signal turns ON. This can be used to disregard fractional droop pulses, and start the next positioning.
MANUAL PULSE GENERATOR MECHANISM SUPPORT LANGUAGE The handle of this device is manually rotated to generate pulses. This device is used when manually carrying out accurate positioning. By using software to process the synchronous control that mechanically combines the mechanisms such as the conventional main shaft, gears and cam, etc., the positioning control is switched to control(roller output, ball screw output, rotary table output, cam output) by the servomotor. Refer to the term "MECHANISM PROGRAM".
Zero point return direction v MOTION CONTROL Zero point return speed Zero point return start Refers to positioning control. Creep speed t MOVEMENT AMOUNT PER PULSE Near-point dog When using mm, inch, or angle units, the movement amount is calculated and output from the machine side showing how much the motor shaft moves per pulse. Equivalent to the positioning detection units. Positioning accuracy in smaller units is not possible.
OPTION SLOT PG0 (PG ZERO) Slot for mounting motion unit or MELSEC-Q Series to match working purposes. Refer to the term "ZERO POINT SIGNAL". PLC READY OUTPUT MODULE This signal indicates that the PLC CPU is ready. The special function unit's function can be used only in this state. Module that moves the servomotor in the virtual mode. Includes the roller, ball screw, rotary table and cam. PLURAL HARMONIC MOTION PANCAKE MOTOR This is a type of cam curve.
PTP Control (Point To Point Control) POSITIONING PARAMETERS This is a type of positioning control. With this control method, the points to be passed are designated at random locations on the path. Movement only to a given target positioning is requested. Path control is not required during movement from a given point to the next value. This is basic data for carrying out positioning control.
PULSE RATE (P RATE) RECIPROCATING CAM Coefficient that doubles, triples, halves or thirds the feedback pulses per motor axis rotation during positioning. Ratio of the feed pulse and feedback pulse. For example, if the P rate is set to 2 when the pulses per rotation are 2400, this will be equivalent to 1200 pulses. The axis rotation per pulse for 2400 pulses is 0.15°, but with 1200 pulses, this becomes 0.3°. The positioning accuracy drops as the P rate increases. Refer to the term "ELECTRONIC GEAR".
SCPU SERVOMOTOR Sequence CPU used in the motion controller CPU configuration. There is also a positioning control CPU called the PCPU. A motor that rotates true to the command. Servomotors are highly responsive, and can carry out frequent high-speed and highaccuracy starts and stops. DC and AC types are available, as well as large-capacity motors. A pulse generator accessory for speed detection is common, and feedback control is often carried out.
SIMULTANEOUS START CONTROL SERVO RESPONSE A START command that simultaneously executes two to three types of servo programs, and starts several servomotors simultaneously. Multiple axes designated in the special registers for JOG operation are simultaneously started by the special relay. Set the responsiveness for automatic tuning. Optimum response corresponding to the machine's rigidity can be selected. The higher the machine's rigidity is, the higher the responsiveness can be set.
SPEED CHANGE GEAR SPEED LOOP GAIN This is a transmission module in the mechanism program for the virtual mode. The main shaft's rotation speed is changed and conveyed to the roller output module. This is one item in the servo parameters of the positioning data. It expresses the speed of the control response during speed control. When the load inertia moment ratio increases, the control system speed response decreases and the operation may become unstable.
STARTING AXIS STOPPER-FORCED STOP This is the axis to be started, and refers to axis 1 to axis 8/32. Method of zero point return during positioning, which places a stopper at the zero on and presses against the stopper to stop. If the axis is kept pressed against the stopper, the motor could burn or the stopper could be damaged. Thus, provide a timer and turn the motor OFF after a set time, or provide means to detect a sudden increase in the motor torque when pressing and turn the motor OFF, etc.
SUDDEN STOP SV43 A stop carried out in a shorter time than the deceleration time designated in the parameters. Motion controller OS prepared for machine tool peripheral devices. Linear interpolation, 2-axis circular interpolation, CP control (uniform speed control) and speed control, etc., can be carried out with NC language (EIA), making this suitable applications such as machine tools. Full speed Sudden stop SV51 Time Motion controller OS prepared for dedicated robots.
TEACHING UNIT TORQUE RIPPLE Device that allows teaching such as writing/reading data, operation and monitor during positioning. The A30TU/A31TU type teaching unit is available. Torque width variations, deviations in the torque. TRACKING In this function, positioning is carried out at a speed relative to a moving target object by inputting the movement amount from an external encoder and adding it to the servo command value.
VICINITY PASSAGE VIRTUAL SERVOMOTOR This allows the pass points to be moved smoothly during 3D interpolation CP control of the SV51 dedicated robot. A drive module used in the mechanism program for the virtual mode, which is started by the servo program. The main shaft is coupled to the virtual servomotor. Pass point P1 A3 A2 A1 Vicinity amount (radius) P2 Vicinity amount (radius) Vm VELOCITY Refers to the cam's maximum dimensionless speed. Refer to the term "V".
WORD DEVICES ZERO POINT RETURN DATA This is a device used in the PLC, and is an element having data. One point is a device configured of one word. Word devices include the timer (T), counter (C) and various registers (D, R, W, Z, V, A), etc. Data required by the motion controller to return to the zero point. This value is determined by the machine design, and requires the machine design to be changed to change to value later.
