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Mitsubishi Electronics Q172HCPU, Q173HCPU 6 POSITIONING CONTROL, 6.18 Position Follow-UpControl

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6 POSITIONING CONTROL

6.18 Position Follow-Up Control

Positioning to the address set in the word device of the Motion CPU specified with the servo program at one start is executed.

Position follow-up control is started using the PFSTART servo program instruction.

Items are set in peripheral devices

Common

Arc

Parameter block

No.blockParameter

Axis

valueAddress/travel

speedCommand

timeDwell

code-M

valuelimitTorque

pointAuxiliary

Radius

pointCentral

unitControl

valuelimitSpeed

timeAcceleration

timeDeceleration

timedecelerationstopRapid

valuelimitTorque

input

interpolation

Servo

Positioning

Number of

stoponprocessingDeceleration

circularforrangeerrorAllowable

instruction

method

control axes

PFSTART

Absolute

1

[Control details]

Control using PFSTART instruction

Others

Speed change

WAIT-ON/OFF

Cancel

S-curve ratio

Valid

: Must be set

: Set if required

(1)Positioning to the address set in the word device of the Motion CPU specified with the servo program is executed.

(2)Position follow-up control is executed until the stop instruction is input.

If the word device value changes during operation, positioning is executed to the changed address.

	V				Positioning address has not
					Positioning address has not
					change using PFSTART instruction
						t
						t

					Before reaching A, positioning address
					changed to B (return direction)
Positioning address
Positioning address			A	B

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Contents

MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC ! DANGER CAUTION For Safe Operations 1. Prevention of electric shocks !DANGER 2. For fire prevention !CAUTION 3. For injury prevention 4. Various precautions (1) System structure (2) Parameter settings and programming (3) Transportation and installation Page (4) Wiring (5) Trial operation and adjustment (6) Usage methods (7) Corrective actions for errors (8) Maintenance, inspection and part replacement (9) About processing of waste (10) General cautions Page Page Page Page Page Page Page Page 1. OVERVIEW REMARK 1.2 Features 1.2.1Performance Specifications (1)Motion control specifications Motion control specifications (continued) 1.2.2 Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N) (1)Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N) Page 2. POSITIONING CONTROL BY THE MOTION CPU Page Page Page Page Page Page Page Page Page Page (1) Positioning control parameters (2) Servo program (3) Motion SFC program (4) PLC program Page 3. POSITIONING DEDICATED SIGNALS 3.1 Internal Relays (1) Internal relay list Internal relay list (Continued) POINT Axis status list (3) Axis command signal list Common device list Common device list (Continued) 3POSITIONING DEDICATED SIGNALS Page (5) Special relay allocated device list (Status) (6)Common device list (Command signal) (7) Special relay allocated device list (Command signal) 3.1.1 Axis statuses (1)Positioning start complete signal (M2400+20n) .......... Status signal (2)Positioning complete signal (M2401+20n) ..................Status signal In-position (4)Command in-positionsignal (M2403+20n) .................Status signal (5)Speed controlling signal (M2404+20n) ........................Status signal (6)Speed/position switching latch signal (M2405+20n) .........................Status signal (7) Zero pass signal (M2406+20n) (8)Error detection signal (M2407+20n) ............................Status signal (9)Servo error detection signal (M2408+20n) ..................Status signal (10)Home position return request signal (M2409+20n) (11)Home position return complete signal (M2410+20n) .......................Status signal (12) FLS signal (M2411+20n) (13) RLS signal (M2412+20n) STOP signal (M2413+20n) ........................................Status signal (15)DOG/CHANGE signal (M2414+20n) (Note-1) ..................Statussignal (16)Servo ready signal (M2415+20n) ..............................Status signal (17) Torque limiting signal (M2416+20n) (18)M-codeoutputting signal (M2419+20n) .....................Status signal POINTS 3.1.2Axis command signals (1)Stop command (M3200+20n) ............................... Command signal (2)Rapid stop command (M3201+20n) ..................... Command signal (4) Complete signal OFF command (M3204+20n) ......................... Command signal (5) Speed/position switching enable command (M3205+20n) ......... Command signal (6) Error reset command (M3207+20n) ..................... Command signal (7) Servo error reset command (M3208+20n) ........... Command signal (8)External stop input disable at start command (M3209+20n) ....................... Command signal (9)Feed current value update request command (M3212+20n) (10) Servo OFF command (M3215+20n) Command signal (11)Gain changing command (M3216+20n) ............. Command signal (12) Control loop changing command (M3216+20n) (13) FIN signal (M3219+20n) 3.1.3 Common devices (1)PLC ready flag (M2000) ..............………………… Command signal Page Start accept flag (M2001 to M2032) ............................ Status signal (3)Personal computer link communication error flag (M2034) ....………. Status signal (4) Motion SFC error history clear request flag (M2035) .……. Command signal (5) Motion SFC error detection flag (M2039) .....….…… Status signal (6)Speed switching point specified flag (M2040) ...... Command signal (8) All axes servo ON command (M2042) (9) Motion slot fault detection flag (M2047) (10)JOG operation simultaneous start command (M2048) (11) All axes servo ON accept flag (M2049) (12) Manual pulse generator enable flag (M2051 to M2053) .......... Command signal (13) Operation cycle over flag (M2054) (14) Speed changing flag (M2061 to M2092) (15) Automatic decelerating flag (M2128 to M2159) (16) Speed change "0" accepting flag (M2240 to M2271) Page Page (17)Control loop monitor status (M2272 to M2303) ............................... Command signal 3.2 Data Registers Data register list (2) Axis monitor device list (3) Control change register list (4)Common device list 3.2.1 Axis monitor devices (1) Feed current value storage register (D0+20n, D1+20n) ....…….. Monitor device (2)Real current value storage register (D2+20n, D3+20n) (3)Deviation counter value storage register (D4+20n, D5+20n) (5)Major error code storage register (D7+20n) ............. Monitor device (6)Servo error code storage register (D8+20n) ......... Monitor device (7)Home position return re-travelvalue storage register (D9+20n) (8)Travel value after proximity dog ON storage register (D10+20n, D11+20n) ………………………………… Monitor device (9) Execute program No. storage register (D12+20n) (10)M-codestorage register (D13+20n) ..........……….. Monitor device (11) Torque limit value storage register (D14+20n) Monitor device (12) Data set pointer for constant-speedcontrol (D15+20n) Page (13) Travel value change register (D16+20n, D17+20n) ....…….. Command device (14)Real current value at STOP input storage register (D18+20n, D19+20n) .............……………………... Monitor device 3.2.2 Control change registers Table 3.1 Data storage area for control change list (1)JOG speed setting registers (D640+2n) ....…….. Command device 3.2.3Common devices Details of the request register (3)Manual pulse generator axis No. setting registers (D714 to D719) (4)Manual pulse generator 1-pulseinput magnification setting registers (D720 to D751) Command device Page (6) Real mode axis information register (D790, D791) .................................................... Monitor device 3.3 Motion Registers (#) (1) Servo monitor devices (#8064 to #8191) ................. Monitor device 3.4 Special Relays (SP.M) Table 3.2 Special relay list (2) PCPU REDAY complete flag (M9074) ………............ Status signal (3)TEST mode ON flag (M9075) ........……...................... Status signal (4)External forced stop input flag (M9076) ....…………… Status signal (5)Manual pulse generator axis setting error flag (M9077) .………...... Status signal (6)TEST mode request error flag (M9078) ..........………. Status signal 3.5 Special Registers (SP.D) Table 3.3 Special register list (1) Connect/disconnect (D9112) ..................................... Command device/Monitor device (2)Test mode request error information (D9182, D9183) ........... Monitor device (3)Motion CPU WDT error cause (D9184) ………........ Monitor device (4)Manual pulse generator axis setting error information (5) Motion operation cycle (D9188) ….……..…………. Monitor device (6)Error program No. (D9189) .................……….......... Monitor device (7)Error item information (D9190) ...........………........... Monitor device (8) Servo amplifier loading information (D9191 to D9192) (9) PC link communication error codes (D9196) ........... Monitor device (10)Operation cycle of the Motion CPU setting (D9197) (11) State of switch (D9200) ………………………….. Monitor device (12) State of LED (D9201)…………………………..…… Monitor device Page 4. PARAMETERS FOR POSITIONING CONTROL 4.2Fixed Parameters Table 4.1 Fixed parameter list 4.2.1 Number of pulses/travel value per rotation (1) Number of pulses/travel value per rotation Fig. 4.1 Control content of the Motion CPU Page 4.2.2Backlash compensation amount 4.2.3 Upper/lower stroke limit value Fig. 4.3 Travel range at the upper/lower stroke limit value setting (1) Stroke limit range check 4.2.4 Command in-positionrange 4.2.5 Speed control 10multiplier setting for degree axis Page Page 4.3Parameter Block Table 4.2 Parameter Block Setting List Page 4.3.2 S-curveratio 4.3.3 Allowable error range for circular interpolation Fig. 4.4 Spiral Interpolation 5. SERVO PROGRAMS FOR POSITIONING CONTROL 5.1.2Servo program area (1)Servo program area (2) Servo program capacity Fig. 5.2 Servo program area 5.2 Servo Instructions (1) Guide to servo instruction list Table. 5.1 Guide to Servo Instruction List (2) Servo instruction list Table 5.2 Servo instruction list Page Table 5.2 Servo Instruction List (continued) Page Page Page Page Page Page Page Page Page 5SERVO PROGRAMS FOR POSITIONING CONTROL 5.3 Positioning Data Table 5.3 Positioning data Page Table 5.3 Positioning data (Continued) Page Page Page 5.4 Setting Method for Positioning Data 5.4.1 Setting method by specifying numerical values Fig. 5.3 Setting example of positioning data by specifying numerical value 5.4.2 Indirect setting method by word devices (D, W and #) (1) Devices for indirect setting data Fig. 5.4 Example of setting positioning data by numerical value setting (2) Inputting of positioning data 6. POSITIONING CONTROL 6.1.2 Positioning speed at the interpolation control (1) 1 axis linear control (2) Linear interpolation control Page Page Page Page 6POSITIONING CONTROL (3)Circular interpolation control 6.1.3 Control units for 1 axis positioning control 6.1.4Control units for interpolation control Remarks 6.1.5 Control in the control unit "degree (1) Current value address (2) Stroke limit valid/invalid setting (3)Positioning control 6.1.6 Stop processing and restarting after stop (1)Stop processing Page (c)Stop commands and stop causes (2)Re-startingafter stop (3)Continuation of positioning control Page 6.1.7 Acceleration/deceleration processing (1) Trapezoidal acceleration/deceleration processing (2) S-curveacceleration/deceleration processing (a) Direct specification (b) Indirect specification 6.2 1 Axis Linear Positioning Control Fig.6.1 Positioning using absolute data method Fig.6.2 Positioning using incremental data method (1) System configuration (2) Positioning operation details (3) Operation timing (4) Servo program (5) Motion SFC program 6.3 2 Axes Linear Interpolation Control Fig.6.3 Positioning using absolute data method Fig.6.4 Positioning using incremental data method (2)Positioning operation details (3)Positioning conditions (4)Operation timing (5) Servo program (6) Motion SFC program 6.4 3 Axes Linear Interpolation Control Fig.6.5 Positioning using absolute data method Fig.6.6 Positioning using incremental data method Page (4) Operation timing Page 6.5 4 Axes Linear Interpolation Control Fig.6.7 Axis configuration Fig.6.8 Positioning for 4 axes linear interpolation control Page Page 6.6 Auxiliary Point-SpecifiedCircular Interpolation Control Fig.6.9 Circular interpolation control using absolute data method Fig.6.10 Maximum arc Fig.6.11 Circular interpolation control using incremental data method Fig.6.12 Maximum arc (2) Positioning details Page Page 6.7 Radius-SpecifiedCircular Interpolation Control Fig.6.13 Circular interpolation control using absolute data method Fig.6.14 Maximum arc Fig.6.15 Circular interpolation control using incremental data method Fig.6.16 Maximum arc Page Page Page 6.8 Central Point-SpecifiedCircular Interpolation Control Fig.6.17 Circular interpolation control using absolute date method Fig.6.18 Positioning control of a complete round Fig.6.19 Maximum arc Fig.6.20 Circular interpolation control using incremental data method (INC ) Fig.6.21 Positioning control of a complete round Fig.6.22 Maximum arc radius Page Page Page 6.9 Helical Interpolation Control 6.9.1 Circular interpolation specified method by helical interpolation Page Page (1) Servo program (2) Motion SFC program Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page 6.10 1 Axis Fixed-PitchFeed Control Fig.6.23 1 axis fixed-pitchfeed control (2)Fixed-pitchfeed control conditions (3)Operation timing Page 6.11 Fixed-PitchFeed Control Using 2 Axes Linear Interpolation Fig.6.24 Fixed-pitchfeed control using 2 axes linear interpolation (2)Fixed-pitchfeed control Page Page 6.12 Fixed-PitchFeed Control Using 3 Axes Linear Interpolation Fig. 6.25 Fixed-pitchfeed control using 3 axes linear interpolation Page Page Page 6.13Speed Control () Table.6.1 Stop commands and stop processing (2)Speed control () conditions Page 6.14Speed Control () Page Page Page Page Page Page Page (2)Positioning conditions Page 6.15.2 Re-startingafter stop during control Fig. 6.27 Re-startingduring speed control Fig.6.28 Re-startingduring speed control Fig.6.29 Re-startingafter speed change Page Page Page 6.16Speed-SwitchingControl (1) VSTART (2) VEND (1) ABS-1/INC-1 (2) ABS-2/INC-2 (3) ABS-3/INC-3 Page (2) Positioning conditions (3) Operation timing and speed-switchingpositions Page Page (3)FOR-OFF (loop-outtrigger condition setting) (1) Operation in condition (2) Operation in condition (3)Operation in condition (3)Operation timing and speed-switchingpositions Page Page 6.17Constant-SpeedControl Page Page Page 6.17.1 Specification of pass points by repetition instructions Page Page Page Page 6.17.2 Speed-switchingby instruction execution Page Page Page Page 6.17.3 1 axis constant-speedcontrol (1) CPSTART1 (2) CPEND (3)Details of positioning operation Page Page 6.17.4 2 to 4 axes constant-speedcontrol (1) CPSTART2 (2) CPSTART3 (3) CPSTART4 (4) CPEND (1) ABS-2/INC-2 (6)ABS/INC , ABS/INC Fig.6.30 Positioning for Axis 2 and Axis Page Page Page Page 6.17.5 Constant speed control for helical interpolation Page Page 6.17.6 Pass point skip function (1) Skip signal devices Page 6.17.7 FIN signal wait function (1)FIN signal wait function by the PLC program Page Page (2)FIN signal wait function using the Motion SFC program Page Page Page Page 6.18 Position Follow-UpControl Page Page Page Page Page 6.19 Speed control with fixed position stop Page Page Page Page 6.20Simultaneous Start (2) Number of specified servo programs and program No Start conditions Servo program Page 6.21 JOG Operation 6.21.1 JOG operation data Table 6.2 JOG operation data list 6.21.2 Individual start Page Page (2)JOG operation conditions Page 6.21.3 Simultaneous start Page Page 6.22 Manual Pulse Generator Operation Page Page Page Page (2)Manual pulse generator operation conditions (3)Motion SFC program 6.23Home Position Return Page 6.23.1 Home position return data Table 6.3 Home position return data list Page (1)Travel value after proximity dog ON Fig. 6.31 Operation for home position return retry function (3)Home position shift amount/speed set at the home position shift Fig. 6.32 Home position shift amount/speed set at the home position shift (4)Torque limit value at the creep speed (5)Operation setting for incompletion of home position return (6)Indirect setting of home position return data (7)Setting items for home position return data 6.23.2 Home position return by the proximity dog type (1) Proximity dog type (2) Home position return by the proximity dog type Fig. 6.33 Home position return operation by the proximity dog type (3) Home position return execution (4)Cautions Page 6.23.3 Home position return by the proximity dog type Page 6.23.4Home position return by the count type (1)Count type (2) Home position return by the count type Fig. 6.35 Home position return operation by the count type Page 6.23.5Home position return by the count type Fig. 6.36 Home position return operation by the count type 6.23.6Home position return by the count type Page 6.23.7 Home position return by the data set type (1) Data set type (2) Home position return by the data set type Fig. 6.38 Home position return operation by the date set type 6.23.8 Home position return by the data set type Fig. 6.39 Home position return operation by the date set type 6.23.9 Home position return by the dog cradle type (1) Dog cradle type (2) Home position return by the dog cradle type Fig. 6.40 Home position return operation by the dog cradle type Page Page Page 6.23.10 Home position return by the stopper type (1) Stopper type (2) Home position return by the stopper type Fig. 6.41 Home position return operation by the stopper type Page 6.23.11 Home position return by the stopper type Fig. 6.42 Home position return operation by the stopper type Page 6.23.12 Home position return by the limit switch combined type (1) Limit switch combined type (2) Home position return by the limit switch combined type Fig. 6.43 Home position return operation by the limit switch combined type Page 6.23.13 Home position return retry function [Data Setting] Table 6.4 Home position return data Fig. 6.44 Operation for home position return retry (proximity dog type) Page Fig. 6.45 Dwell time setting at the home position return retry Page 6.23.14 Home position shift function Table 6.5 Home position return data Fig. 6.46 Operation for home position shift Fig. 6.47 Setting range of home position shift amount Fig. 6.48 Operation for home position shift with the home position return speed Fig. 6.49 Operation for home position shift with the creep speed 6.23.15 Condition selection of home position set Table 6.6 Servo parameter (expansion setting parameter) 6.23.16 Servo program for home position return (2)Servo program example 6.24 High-SpeedOscillation Page 7. AUXILIARY AND APPLIED FUNCTIONS (3) Resetting of M-codes 7AUXILIARY AND APPLIED FUNCTIONS (4)Program example 7.2 Backlash Compensation Function Fig.7.1 Backlash compensation amount (1) Setting of the backlash compensation amount (2)Backlash compensation processing Table 7.2 Details of backlash compensation processing 7.3 Torque Limit Function Page 7.4 Skip Function in which Disregards Stop Command Page 7.5 Cancel of the Servo Program 7.5.1 Cancel/start Page APPENDICES Table 1.1 Error code storage registers, error detection signals APPENDIX 1.1 Servo program setting errors (Stored in D9190) Table 1.2 Servo program setting error list Table 1.2 Servo program setting error list (Continued) Page Page APPENDIX 1.2 Minor errors (1) Setting data errors (1 to 99) Table 1.3 Setting data error (1 to 99) list (2) Positioning control start errors (100 to 199) Table 1.4 Positioning control start error (100 to 199) list Table 1.4 Positioning control start error (100 to 199) list (Continued) Page Page (3) Positioning control errors (200 to 299) Table 1.5 Positioning control error (200 to 299) list Table 1.5 Positioning control error (200 to 299) list (Continued) Page (4) Current value/speed change errors (300 to 399) Table 1.6 Current value/speed change error (300 to 399) list (5) System errors (900 to 999) Table 1.7 System error (900 to 999) list APPENDIX 1.3 Major errors (1) Positioning control start errors (1000 to 1099) Table 1.8 Positioning control start error (1000 to 1099) list (2) Positioning control errors (1100 to 1199) Table 1.9 Positioning control error (1100 to 1199) list (3) Absolute position system errors (1200 to 1299) Table 1.10 Absolute position system error (1200 to 1299) list (4) System errors (1300 to 1399) Table 1.11 System error (1300 to 1399) list APPENDIX 1.4 Servo errors (1) Servo amplifier errors (2000 to 2899) Table 1.12 Servo error (2000 to 2899) list Table 1.12 Servo error (2000 to 2899) list (Continued) Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page APPENDIX 1.5 PC link communication errors Table 1.13 PC link communication error codes list APPENDIX 2 Special Relays/special registers APPENDIX 2.1 Special relays Table 2.1 Special relay list Table 2.1 Special relay list (continued) APPENDIX 2.2 Special registers Table 2.2 Special register list Table 2.2 Special register list (continued) Page APPENDIX 3 Example Programs APPENDIX 3.1 Reading M-code APPENDIX 3.2 Reading error code Page APPENDIX 4 Setting Range for Indirect Setting Devices (1) Device range (2) Inputting device data APPENDIX 5 Processing Times of the Motion CPU (1) Motion operation cycle [ms] (Default) (2) CPU processing time [ms] Page (4) Axis command signal list Page Page Page (6) Special relay allocated device list (Status) (7) Common device list (Command signal) (8) Special relay allocated device list (Command signal) (9) Axis monitor device list (10) Control change register list (11) Common device list (12) Motion register list (#) (13) Special relay list (14) Special register list